Method for assisting user of vehicle by displaying intention for planned lane change maneuver when maneuvering vehicle on multi-lane road, and driver assistance system of vehicle

Abstract

The invention relates to a method for assisting a user of a vehicle when the vehicle is manipulated on a multi-lane road, comprising the following steps: receiving a navigation instruction for guiding the vehicle from a second lane of the road through a first lane of the road to an exit of the road, preparing a lane change maneuver from the second lane to the first lane, and finding a suitable gap for the vehicle between further traffic participants on the first lane to perform the lane change maneuver, wherein if a suitable gap is not found on the first lane, a gap that is currently not suitable in terms of size is found between the traffic participants on the first lane and at least one driving maneuver and / or at least one vehicle function is carried out, the method is configured such that an intention of the lane change maneuver performed by the vehicle into the improper gap is displayed at least to traffic participants that limit the improper gap.

Description

Technical Field

[0001] The invention relates to a method for assisting a user of a vehicle when maneuvering the vehicle on a multi-lane road. In addition, the invention relates to a driver assistance system for a vehicle. Background Art

[0002] Driver assistance systems or so-called lane change assistance systems for performing at least partially automated lane change maneuvers are known in the prior art. In these driver assistance systems with automated or automatic lane change functions, the user or driver usually indicates the desired lane change by a specific operating action. If such an operating action is detected, the vehicle is steered along the planned trajectory in the adjacent lane or the target lane by means of the driver assistance system by automatic lateral guidance and usually also by automatic longitudinal guidance. In such driver assistance systems or lane change assistance systems, the driver's desire to change lanes is usually signaled by operating a corresponding operating element, such as a turn signal lever, to activate a driving direction display visible outside the vehicle.

[0003] Known driver assistance systems or lane change assistance systems usually use suitable environmental sensors to monitor the vehicle's surroundings before the lane change maneuver. If an available space for the own vehicle is detected in the adjacent lane, the lane can be changed according to the user's operating action. This empty or suitable gap is dimensioned so that the vehicle can turn between other road users in the target lane without the risk of collision.

[0004] In addition, driver assistance systems are known in the prior art that assist vehicle users when reaching an exit on multi-lane roads. Here, the driver assistance system can prepare all necessary lane changes until the exit is reached, for example due to the input of a navigation destination. To this end, the driver assistance system can first identify a suitable empty gap for the vehicle in the adjacent lane and then adapt the vehicle speed to the identified gap for the subsequent lane change maneuver. The lane change maneuver itself can be performed with the aid of a lane change assistance system, wherein the lane change assistance system is triggered automatically or after an operating input by the user.

[0005] In heavy traffic and / or traffic jams, situations may arise where it is not possible to find a suitable gap for the vehicle in the adjacent lane or in the target lane. This can result in the driver assistance system being unable to prepare a lane change maneuver and thus no longer being able to reach an exit if necessary. Summary of the invention

[0006] The object of the present invention is to provide a solution for how the operation of a driver assistance system of the type mentioned in the introduction can be improved with regard to the preparation of a lane change maneuver.

[0007] This object is achieved according to the invention by a method and a driver assistance system having the features according to the independent claims. Advantageous developments of the invention are given in the dependent claims.

[0008] The method according to the invention is used to assist a user of a vehicle when maneuvering the vehicle on a multi-lane road. The method comprises receiving a navigation instruction for guiding the vehicle from a second lane of the road through a first lane of the road to an exit of the road. In addition, the method comprises preparing a lane change maneuver from the second lane to the first lane. The method also comprises finding a suitable gap for the vehicle between other traffic participants on the first lane for performing the lane change maneuver. If no suitable gap is found for the vehicle on the first lane, the following steps are performed: finding a gap between traffic participants on the first lane that is currently unsuitable in terms of size. In addition, at least one driving maneuver of the vehicle and / or at least one driving function of the vehicle is performed so that at least those of the traffic participants or other traffic participants who define the unsuitable gap are displayed with respect to the intention of the lane change maneuver to be performed by the vehicle into the unsuitable gap.

[0009] The method is intended to assist a user or driver of a vehicle when maneuvering a vehicle on a multi-lane road. A multi-lane road can in principle be a main road, a federal highway, a motorway, a road similar to a motorway, etc. A multi-lane road is preferably a motorway. For example, the road can be two directional lanes each having at least two lanes, which are currently referred to as a first lane and a second lane. The own vehicle and other traffic participants can move on these lanes in a predetermined direction of travel. The road can also have other lanes. In this case, the first lane can be a deceleration lane adjacent to an exit or leading to an exit. For example, the first lane can be the right lane of a motorway.

[0010] A navigation instruction is received with the aid of a driver assistance system of the vehicle, which describes that the vehicle should perform a lane change maneuver in the first lane starting from the second lane. Furthermore, the navigation instruction describes that the vehicle should maneuver from the first lane via the deceleration lane to the exit of the road. In other words, the lane change from the second lane to the first lane should first be performed and then the vehicle should leave the road via the exit. Furthermore, the vehicle can also change from this road to another road via the exit. This may be the case, for example, at highway intersections or the like. In principle, the navigation instruction can be predetermined by route guidance or the navigation system of the vehicle. Alternatively or additionally, the navigation instruction can be supported by corresponding operating inputs from the user.

[0011] Furthermore, a lane change or a lane change maneuver from the second lane to the first lane can be prepared with the aid of a driver assistance system. For this purpose, a free gap can first be found for the vehicle in the first lane using the driver assistance system or corresponding environmental sensors of the vehicle. Thus, a suitable free gap can be found between other traffic participants in the first lane for the subsequent lane change maneuver. For example, a suitable gap can be dimensioned so that the vehicle can be turned or maneuvered between the first lane and other traffic participants with high safety and without collision. For example, this can mean that the free gap in relation to the direction of travel is significantly greater than the length of the vehicle. For example, a suitable gap in relation to the direction of travel or the longitudinal direction of the vehicle can be greater than the length of the vehicle plus a predetermined safety distance.

[0012] It can also be provided that the speed or the longitudinal speed of the vehicle is adapted by means of the driver assistance system in order to prepare for the lane change maneuver. In particular, the longitudinal speed of the host vehicle can be reduced or adapted to the speed of the other road users in the first lane. For example, the longitudinal speed of the vehicle can be adapted such that the difference between the longitudinal speed of the vehicle and the speed of the other road users is below a predetermined limit value.

[0013] If a suitable free space is found for the vehicle, a corresponding prompt can be output to the user to actuate the operating element or the flasher lever. Due to the actuation of the operating element, a lane change maneuver from the second lane to the first lane can then be triggered or initiated. The lane change maneuver can be performed automatically or automatically with the aid of a driver assistance system or a lane change assistance system.

[0014] In the case of heavy traffic and / or traffic jams, it may happen that a suitable gap for the vehicle cannot be found on the first lane. However, in this case, it is still desirable to perform a lane change maneuver from the second lane to the first lane before reaching the exit, so that the vehicle can leave the road through the exit. If a suitable gap is not found for the vehicle on the first lane, a currently unsuitable gap is found between the traffic participants on the first lane according to the present invention. This unsuitable gap especially represents a gap between other traffic participants that is too small for the vehicle in terms of the size along the direction of travel or along the longitudinal direction of the vehicle. This means that this unsuitable gap can have a size that is less than the length of the vehicle in the longitudinal direction of the vehicle. It is usually not possible to perform a lane change maneuver into an unsuitable gap using a lane change assistance system. In the case of this currently unsuitable gap, it is considered that the gap is currently too small or unsuitable in terms of the size for the lane change maneuver, but the possibility of a lane change maneuver into the gap may appear at a later point in time. For example, this can be achieved by the driving behavior of the traffic participants that define the gap. For example, the other traffic participants that define the unsuitable gap can adapt their longitudinal speed so that the gap becomes larger.

[0015] Furthermore, it is provided that if no suitable gap is found in the first lane, at least one driving maneuver and / or at least one driving function is performed. Here, the driving maneuver and / or the driving function is performed so that the intention to perform a lane change maneuver into an unsuitable gap is displayed to other traffic participants in the first lane and in particular to other traffic participants in the first lane that define the unsuitable gap. In other words, the vehicle should be operated in such a way or the functions and / or components of the vehicle should be controlled in such a way that it is clearly displayed to other traffic participants that the vehicle intends to perform a lane change maneuver into a gap that is not currently suitable. Thus, other traffic participants and in particular other traffic participants that define the unsuitable gap can influence the driving behavior so that the currently unsuitable gap increases in terms of its spatial dimensions with respect to the direction of travel, and then the gap increases to a suitable gap. Thus, for example, it can be achieved that the own vehicle can still perform a lane change maneuver into the gap and thus reach the exit in time if necessary.

[0016] Preferably, as at least one driving maneuver and / or at least one driving function, an adaptation of the longitudinal speed, a reduction of the lateral distance of the vehicle to the first lane and / or an activation of a driving direction display are performed. The term "driving maneuver" is to be understood essentially as an intervention in the longitudinal guidance and / or lateral guidance of the vehicle by means of a driver assistance system. For example, the longitudinal speed of the vehicle can be adapted. In particular, the longitudinal speed of the vehicle can be reduced in order to indicate to other road users the intention of a planned lane change maneuver into a currently unsuitable gap.

[0017] Alternatively or additionally, it can be provided that as a driving maneuver, the lateral distance of the vehicle to the first lane or to a road user in the first lane is reduced. The lateral distance describes the distance in the lateral direction of the vehicle toward the first lane. In other words, the distance to other road users in the first lane or to a currently unsuitable gap can be reduced in order to indicate to other road users the intention regarding the planned lane change maneuver.

[0018] The term "vehicle function" is to be understood in particular as a function of the vehicle which signals to other road users a planned lane change maneuver into a currently unsuitable gap. Preferably, the vehicle function is in particular the control or activation of a direction of travel display. By means of the previously described driving maneuvers and / or vehicle functions, the planned lane change maneuver can be intuitively displayed to other road users who define a currently unsuitable gap.

[0019] Preferably, at least one driving maneuver and / or at least one driving function is provided in different upgrade levels. These upgrade levels or the selection of the upgrade levels can be performed according to a setting, such as a user's presetting. Alternatively or additionally, the corresponding upgrade level can be determined according to the speed of the vehicle, the current traffic density, the distance of the vehicle from the exit, etc.

[0020] In one embodiment, it is provided that in a first upgrade level, the longitudinal speed of the vehicle is adapted so that the vehicle is at the level of an unsuitable gap. In other words, the longitudinal speed of the vehicle can be adapted so that the vehicle in the second lane moves next to the currently unsuitable gap in the first lane. It is provided in particular that the longitudinal speed of the vehicle is adapted or regulated so that the vehicle follows the gap that is not currently suitable or is at the level of the gap that is not currently suitable. Thus, the intention regarding the planned lane change maneuver can be displayed to other traffic participants and in particular to other traffic participants that define this currently still unsuitable gap at the first upgrade level.

[0021] In another embodiment, in the second upgrade level, the lateral distance is reduced so that the vehicle approaches the lane marking between the first lane and the second lane and / or the driving direction display on the side of the vehicle facing the first lane is activated. The second upgrade level preferably includes a driving maneuver from the first upgrade level, after which the longitudinal speed of the vehicle is reduced so that the vehicle is at the level of the currently inappropriate gap. In particular, if the inappropriate gap is not changed for the execution of the lane change maneuver after the first upgrade level, the second upgrade level can be executed. In the second upgrade level, the lateral distance between the vehicle and the first lane or the currently still inappropriate gap can also be reduced. In this setting, the vehicle approaches the road marking between the first lane and the second lane when the lateral distance is reduced. In other words, it is set that when the lateral distance is adapted, the vehicle will not leave the second lane or will not pass the lane marking. Alternatively or additionally, it can be set that the driving direction display or flasher facing the first lane or the currently still inappropriate gap is activated. Therefore, in the second upgrade level, the intention of planning the lane change maneuver into the currently inappropriate gap can be displayed.

[0022] Furthermore, it is advantageous that the lateral distance is adapted in the third upgrade level so that the vehicle passes the road marking between the first lane and the second lane. In the third upgrade level, the previously described driving maneuvers from the first upgrade level and / or the second upgrade level can be performed. In particular, the third upgrade level can be performed if the unsuitable gap after the first and / or second upgrade level is not changed in order to perform the lane change maneuver. However, compared to the second upgrade level, the lateral distance can be reduced so that the vehicle with at least one wheel or tire passes the road marking between the first lane and the second lane. In other words, the vehicle can already turn to the first lane at least regionally in the third upgrade level and thus show the intention of the planned lane change maneuver to the currently still unsuitable gap. Therefore, the vehicle can basically squeeze into the unsuitable gap.

[0023] In another embodiment, if a lane change maneuver into an unsuitable gap is not feasible after the expiration of a predetermined search duration, the longitudinal speed is adapted again and at least one driving maneuver and / or at least one driving function is performed in the case of another unmatched gap. In other words, the vehicle can back up and perform the previously described driving maneuver and / or vehicle function again in the case of another unmatched gap. Thus, the vehicle can back up to the next unsuitable gap and display the intention of the lane change maneuver to the gap to the traffic participants defining the other unsuitable gap. The predetermined search duration can describe the duration for performing the driving maneuver and / or vehicle function. Here, the driving maneuver and / or vehicle function can be performed according to at least one of the aforementioned upgrade levels. The predetermined search duration can be pre-set according to the distance of the vehicle relative to the exit, the current speed of the vehicle, the traffic volume, the driving behavior of the driver, etc. In principle, it is also possible to set the vehicle to back up or reduce its speed multiple times and continuously attempt the lane change maneuver at multiple unsuitable gaps.

[0024] Furthermore, it is advantageous that at least one driving maneuver and / or at least one vehicle function is performed at different levels of intensity depending on the user's driving behavior and / or the current traffic situation. Basically, these levels of intensity can describe how the vehicle's intention to change into an inappropriate gap should be clearly displayed to other traffic participants. These levels of intensity can be selected according to the driving behavior of the user or driver. For example, a low level of intensity can be selected if the driver is conservative or anxious. However, a high level of intensity can be selected if the driver is sporty or not anxious. The driver's driving behavior can be predetermined during the driving of the vehicle under manual control of the user. Alternatively or additionally, it can be provided that the driving behavior can be set. Furthermore, the level of intensity can be selected according to the current traffic situation. For example, a high intensity can also be selected in the case of very high traffic volume. In addition, the level of intensity can be selected according to the distance of the vehicle from the exit, the current speed of the vehicle, etc. Therefore, the driver assistance system can be selected according to the driver's driving behavior and / or the current traffic situation.

[0025] In another embodiment, the intensity levels differ from one another in terms of the upgrade levels performed and / or the duration that passes between the upgrade levels and / or the search duration. For example, in the case of a low intensity level, only the first and second upgrade levels can be set. In the case of a higher intensity level, all three of the above-mentioned upgrade levels can be set. In addition, the intensity levels can differ in terms of the duration for which, for example, a higher upgrade level is performed thereafter. In the case of a low intensity level, this duration may be longer than in the case of a higher intensity level. In addition, the intensity levels can differ in terms of the search duration after which the vehicle will reduce speed again or allow itself to back up after expiration. For example, the search duration can be selected to be smaller in the case of a higher intensity level than in the case of a lower intensity level. In this way, the operation of the driver assistance system can be provided according to the situation.

[0026] Furthermore, it is advantageous if the aggressiveness level differs in a speed curve, wherein the speed curve describes the course of the longitudinal speed as a function of the distance of the vehicle from the exit. For example, in the case of a low aggressiveness level, at least one driving maneuver and / or at least one driving function can already be started very early or from a greater distance from the exit. In the case of a higher aggressiveness level, the vehicle can still travel further at the current speed in the current lane or in the second lane and, if necessary, reduce the speed at a later point in time. In the case of a very high aggressiveness level, the longitudinal speed of the vehicle can be maintained as long as possible, with the vehicle being in the second lane. Only shortly before reaching the exit can the longitudinal speed be reduced and an intention to enter an unsuitable gap is indicated.

[0027] The driver assistance system for a vehicle according to the invention is configured to carry out the method according to the invention and its advantageous configurations. The driver assistance system may in particular have a computing device, which may be formed by at least one electronic controller. In principle, the computing device may have at least one processor and / or a memory.

[0028] The driver assistance system or the computing device is configured to receive a navigation instruction for guiding the vehicle from the second lane of the road via the first lane of the road to an exit of the road. The driver assistance system is further configured to prepare a lane change maneuver from the second lane to the first lane and to find a suitable gap for the vehicle between other traffic participants in the first lane in order to perform the lane change maneuver. If no suitable gap is found in the first lane, a gap that is currently unsuitable in terms of size can be found between traffic participants in the first lane with the aid of the driver assistance system. In addition, at least one driving maneuver and / or at least one driving function can be performed with the aid of the driver assistance system so that at least a function for performing a lane change maneuver by the vehicle into the unsuitable gap is displayed to the traffic participant defining the unsuitable gap.

[0029] The vehicle according to the invention comprises a driver assistance system according to the invention. The vehicle is designed in particular as a passenger car.

[0030] The preferred embodiments presented with reference to the method according to the invention and their advantages apply correspondingly to the driver assistance system according to the invention and the vehicle according to the invention.

[0031] Further features of the invention emerge from the claims, the drawings and the description of the drawings. The features and combinations of features mentioned above in the description and the features and combinations of features mentioned below in the description of the drawings and / or shown alone in the drawings can be used not only in the combination specified in each case, but also in other combinations or alone without departing from the framework of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The invention will now be explained in more detail with the aid of preferred embodiments and with reference to the accompanying drawings.

[0033] Here it is shown:

[0034] Figure 1 A schematic diagram showing a vehicle having a driver assistance system for assisting a user when maneuvering the vehicle on a multi-lane road;

[0035] Figure 2 Show according to Figure 1 A vehicle, the vehicle being located on a multi-lane road, wherein a lane change maneuver from a second lane to a first lane is to be prepared;

[0036] Figures 3a to 3dshowing different driving maneuvers and / or vehicle functions that may be performed to indicate the intention of a lane change maneuver to other road users;

[0037] Figure 4 a schematic diagram showing a target speed profile and speed limits; and

[0038] Figure 5 Show according to Figure 1 A vehicle that is on a multi-lane road and is preparing to change lanes from the second lane to the first lane. DETAILED DESCRIPTION

[0039] Figure 1 A vehicle 1 , which is in the present case designed as a passenger car, is shown in a top view. The vehicle 1 comprises a driver assistance system 2 , by means of which a user can be assisted when carrying out a lane change maneuver. The driver assistance system 2 comprises a computing device 3 , which can be formed, for example, by at least one electronic control unit.

[0040] In addition, the driver assistance system 2 includes an environment sensor 4. In the present exemplary embodiment, the driver assistance system 2 includes four environment sensors 4, of which two environment sensors 4 are arranged in the front area 6 and two environment sensors 4 are arranged in the rear area 7 of the vehicle 1. In the present case, the environment sensors 4 are arranged in the respective corners of the vehicle 1. The environment sensors 4 can preferably be designed as radar sensors. With the environment sensors 4, corresponding measurements can be performed in order to be able to detect objects in the surroundings 5 ​​of the vehicle 1, in particular other road users 13.

[0041] The computing device 3 is also configured to receive navigation instructions from a navigation system 8. In addition, the computing device 3 is configured to detect operating actions performed by a user on an operating element 9. The operating element 9 can be, in particular, a flasher lever. As soon as the user actuates the flasher lever or the operating element 9, a corresponding driving direction display 11 of the vehicle 1 can be activated. In addition, the driver assistance system 2 includes an output device 10, by means of which instructions can be output to the user. In principle, the instructions can be output visually, acoustically and / or haptically.

[0042] The computing device 3 or the driver assistance system 2 is also configured to control the drive motor and / or the brake system of the vehicle 1. This allows the speed or longitudinal speed of the vehicle 1 to be influenced. It can also be provided that the driver assistance system 2 or the computing device 3 can output control signals in order to be able to intervene in the steering system of the vehicle 1.

[0043] Figure 2A vehicle 1 is shown, which is located on a multi-lane road 12. The road 12 includes a first lane 14, a second lane 15, and a third lane 16. In this example, the vehicle 1 is located in the second lane 15 or the middle lane. Based on the navigation instructions, the vehicle 1 will start to maneuver from the second lane 15 to the first lane 14, and then pass through the deceleration lane 17 to reach the exit 18 of the road 12. For the vehicle 1, a lane change maneuver from the second lane 15 to the first lane 14 and a further lane change maneuver from the first lane 14 to the deceleration lane 17 are to be performed.

[0044] In the area 5 of the vehicle 1 there are a plurality of road users 13 or other vehicles. These other road users 13 can be detected based on measurements with the surroundings sensor 4. In a remote area 19 outside the detection range of the surroundings sensor 4, the presence of other road users 13 can be predicted based on the detected traffic density and / or based on traffic information. Figure 2 In the example shown in FIG, there are a small number of other road users 13 in the second lane 15 in which the host vehicle 1 is also located. However, there are a large number of other road users in the target lane or first lane 14.

[0045] Currently, there is no suitable gap in the first lane 14 for the vehicle 1 to perform a lane change maneuver. However, since the vehicle 1 is approaching the exit 18, a search may be provided for a gap 20 that is initially (still) unsuitable for the vehicle 1. This currently unsuitable gap 20 is still unsuitable for the lane change maneuver with respect to the dimensions in the driving direction or in the longitudinal direction of the vehicle.

[0046] Figure 3a to Figure 3d Different driving maneuvers and / or executed vehicle functions are shown, by means of which the intention of the vehicle 1 to change into the currently unsuitable gap 20 is indicated to other road users 13 in the first lane 14. Figure 3a In this case, the first upgrade level is described. In this case, the longitudinal speed of the vehicle 1 located in the second lane 15 is adapted so that the vehicle 1 is at the level of the gap 20 that is not currently suitable or moves at the level of the gap 20 that is not currently suitable. This longitudinal speed adaptation can indicate to other road users 13 who bound the gap 20 that the lane change of the vehicle 1 from the second lane 15 to the first lane 14 is intentional or planned.

[0047] Figure 3b Describes the second upgrade level. Here, in addition to Figure 3aIn addition to the first upgrade level, it is also provided that the lateral distance L between the vehicle 1 and the first lane 14 is reduced. In this case, the lateral distance is adapted so that the vehicle 1 does not pass the road marking 21 between the first lane 14 and the second lane 15. Alternatively or additionally, it can be provided that the driving direction display 11 on the side of the vehicle 1 facing the first lane 14 is activated.

[0048] Figure 3c The third upgrade level is shown. Figure 3b Compared to the second upgrade level, the lateral distance L is further reduced. In particular, the lateral distance L is reduced so that the vehicle 1 exceeds the road marking 21 between the first lane 14 and the second lane 15. The intention for the lane change maneuver can thus be clearly displayed to the other traffic participants 13 who define the still unsuitable gap 20.

[0049] Figure 3d It is shown that if a lane change maneuver to a still unsuitable gap 20 is not possible, the vehicle 1 backs up. This can be the case, for example, if at least one of the previously described escalation levels has already been executed or a predetermined search duration has elapsed. In this case, the longitudinal speed of the vehicle 1 can be reduced again and another unsuitable gap 20' can be sought. In the case of a further unsuitable gap 20', an intention according to at least one of the aforementioned escalation levels can then be displayed to the further road users 15 that bound this gap 20'.

[0050] Different aggressiveness levels can also be set for the operation of the driver assistance system 2 or for the preparation of a lane change maneuver. These aggressiveness levels can differ in terms of the clarity with which they display the intention regarding the planned lane change maneuver. For example, in the case of a first aggressiveness level, the preparation for the lane change maneuver can be started as soon as it has been detected that there is no suitable gap for the vehicle 1. Here, a comfortable deceleration of the speed of the further traffic participants 13 in the first lane 14 can be immediately carried out. As soon as the speed difference between the speed of the own vehicle 1 and the speed of the further traffic participants 13 falls below a limiting value, a first adjustment of the gap 20 according to the first escalation level can be set. After the expiration of the time constant for this first aggressiveness level, a second escalation level can be implemented if the gap 20 is large enough for the vehicle for the first time. After the expiration of the time constant for the first aggressiveness level, it can then be carried out as in combination with Figure 3d The vehicle 1 is moved backward as described. This can be repeated until the interruption distance d=0 is reached.

[0051] In the case of the second intensive level, the speed of the vehicle 1 can be maintained up to a distance d=D1 relative to the exit 18. The speed or longitudinal speed of the vehicle 1 can be reduced up to the distance D1, wherein the speed reduction can be performed based on empirical values ​​in the current traffic group. For example, the speed can be reduced so that two and three traffic participants 13 retreat to the first lane 14. As soon as the speed difference permits, the first escalation level can be started. After the time constant of the second intensive level has expired, the second escalation level can be started. After the time constant of the second intensive level has expired, the third escalation level can be started. The vehicle 1 may then retreat to another unsuitable gap 20'. Here, these steps can also be performed until the interruption distance d=0 is reached.

[0052] In the case of the third aggressive level, the speed or longitudinal speed of the vehicle 1 can be maintained up to the distance d=D2. From the distance D1, the speed can be reduced, with the aim of maintaining the speed of the vehicle 1 as much as possible up to the break distance d=0. As soon as the speed difference allows, the first escalation level can be started. After the expiration of the very small time constant of the third aggressive level, a switch can be made to the second escalation level. After the expiration of the time constant of the third aggressive level, a switch can be made to the third escalation level. The position or speed of the vehicle 1 can be maintained until the break distance d=0 is reached, since in this case it is no longer possible to move backwards.

[0053] Figure 4 Shows that according to Figure 2 Schematic diagram of a possible speed profile of vehicle 1 until it reaches exit 18 in a traffic situation. Figure 4 In the figure, the distance d until the outlet 18 is reached is shown on the abscissa. The velocity v or longitudinal velocity is plotted on the ordinate. In this case, v z Describes the target speed that vehicle 1 should reach when it reaches exit 18. Curve v soll describes a target speed that can be predefined. This can describe the speed profile of the vehicle 1 from the current position until it reaches the exit 18. In addition, a hard limit or a speed limit that cannot be exceeded is defined by the set speed v s and the maximum permissible top speed v L Given, the set speed v s Can be specified by the user for speed regulation.

[0054] Figure 5A vehicle 1 is shown in a traffic situation on a multi-lane road 12 according to another embodiment. In the current situation, the vehicle 1 is located in the first lane 16 or the left lane. There is a large amount of traffic on the road 12 and in particular a traffic jam in the first lane 14 and the second lane 15. Here, two lane change maneuvers must be performed from the third lane 16 to the second lane 15 and from the second lane 15 to the first lane 14. The goal here is to perform a corresponding lane change maneuver into the currently unsuitable gap 20 in order to reach the exit 18. For example, at the first aggressive level, the necessary lane change can be performed as quickly as possible. At the third aggressive level, the vehicle 1 can move in the third lane for as long as possible, wherein a search together with all possible upgrade levels is respectively provided for the corresponding lane change maneuvers into the currently unsuitable gap 20.

Claims

1. A method for assisting a user of a vehicle (1) when maneuvering the vehicle (1) on a multi-lane road (12), comprising the following steps: - receiving navigation instructions for guiding the vehicle (1) from the second lane (15) of the road (12) to an exit (18) of the road (12) via the first lane (14) of the road (12), - preparing a lane change maneuver from said second lane (15) to said first lane (14), and - finding a suitable gap for the vehicle (1) between other road users (13) on the first lane (14) in order to perform the lane change maneuver, It is characterized by comprising the following steps: - If no suitable gap is found on the first lane (14): - searching for a gap (20) between the road users (13) on the first lane (14) which is currently not suitable in terms of size and - performing at least one driving maneuver and / or at least one vehicle function such that an intention to perform the lane change maneuver by the vehicle (1) into the unsuitable gap (20) is displayed at least to a traffic participant (13) delimiting the unsuitable gap (20).

2. The method according to claim 1, It is characterized in that As the at least one driving maneuver and / or as the at least one vehicle function, an adaptation of the longitudinal speed (v), a reduction of the lateral distance (L) of the vehicle (1) relative to the first lane (14) and / or an activation of a driving direction display (11) are performed.

3. The method according to claim 2, It is characterized in that At a first upgrade level, the longitudinal speed of the vehicle (1) is adapted so that the vehicle (1) is at a level of the unsuitable gap (20).

4. The method according to claim 2 or 3, It is characterized in that At a second upgrade level, the lateral distance (L) is reduced so that the vehicle (1) approaches a lane marking (21) between the first lane (14) and the second lane (15) and / or the driving direction display (11) on the side of the vehicle (1) facing the first lane (14) is activated.

5. The method according to any one of claims 2 to 4, It is characterized in that The lateral distance (L) is adapted at a third upgrade level such that the vehicle (1) passes the lane marking (21) between the first lane (14) and the second lane (15).

6. The method according to any one of the preceding claims, It is characterized in that If, after expiration of a predetermined search duration, the lane change maneuver into the unsuitable gap (20) is not possible, the longitudinal speed is adapted again and the at least one driving maneuver and / or the at least one vehicle function is performed in the case of a further unsuitable gap (20').

7. The method according to any one of the preceding claims, It is characterized in that Different aggressiveness levels are predefined for executing the at least one driving maneuver and / or the at least one vehicle function as a function of the user's driving behavior and / or a current traffic situation.

8. The method according to claims 3 to 7, It is characterized in that The aggressiveness levels differ from one another with respect to the upgrade levels performed and / or the duration elapsed between the upgrade levels and / or the seek duration.

9. The method according to claim 7 or 8, It is characterized in that The aggressiveness levels differ in terms of speed profiles, wherein the speed profile describes the course of the longitudinal speed (v) as a function of the distance (d) of the vehicle (1) relative to the exit (18).

10. A driver assistance system (2) for a vehicle (1), wherein the driver assistance system (2) is configured to carry out the method according to any one of the preceding claims.

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