Computing device, assistance system and method for performing automated lane change maneuver for assistance system of vehicle taking into account rear traffic

Abstract

The invention relates to a computing device (3) for an assistance system (2) for automated lateral guidance of a vehicle (1), wherein the computing device (3) is configured to identify a traffic condition requiring an automated lane change maneuver; the automatic lane changing operation is planned; outputting a proposal signal at a proposal time for proposing the driver for the automated lane change maneuver, and / or outputting a steering signal at a lane change time for controlling a steering system (9) of the vehicle (1) for performing the automated lane change maneuver; receiving environment data for describing further traffic participants (18, 19) in the surroundings (5) of the vehicle (1); identifying a traffic participant (19) approaching the vehicle (1) from behind on the basis of the environment data; determining a collision time between a road user (19) approaching from the rear and the vehicle (1); if the collision time is below a predetermined first extreme value, the output of the proposal signal and / or the turn signal is suppressed.

Description

TECHNICAL FIELD

[0001] The present application relates to a computing device for an assistance system of a vehicle. Furthermore, the present application also relates to an assistance system for a vehicle. Furthermore, the present application relates to a method for automated lateral guidance of a vehicle. BACKGROUND

[0002] From the prior art, assistance systems are known by means of which at least partially automated lateral guidance of a vehicle can be performed. Such assistance systems with partially automated lateral guidance assist the driver by taking over the steering task. In contrast to assistance systems for lane keeping, the assistance does not only limit itself to interventions depending on the situation, for example a deviation from the lane, but also continuously assists the driver when guiding the lane. In the course of the operation of the assistance system, lane markings and / or the driving trajectory of a preceding vehicle are usually detected and serve as a basis for a trajectory to be planned for the own vehicle.

[0003] The known assistance systems for partially automated lateral guidance allow the driver to temporarily remove his hands from the steering wheel, at least partially. This is also referred to as a tolerated hands-off state. However, in the course of the operation of the assistance system, the driver is reminded of the driving task after a relatively short time by means of a visual and / or acoustic prompt and is required to place his hands back on the steering wheel.

[0004] Furthermore, from the prior art, lane change assistance systems are known which assist the driver during a lane change maneuver. In known lane change assistance systems with automated or automatic lane change functions, the driver usually indicates a lane change desire by a defined operating action. When such an operating action is recognized, the vehicle is maneuvered onto the adjacent or target driving lane along a planned trajectory by means of the lane change assistance system, usually also by means of automated longitudinal guidance. In such a lane change assistance system, the lane change desire on the part of the driver is usually signaled by actuating a corresponding operating element, for example a turn signal lever, for triggering a driving direction indicator visible outside the vehicle.

[0005] From the prior art, lane change assistance systems are also known which propose an automated lane change maneuver to the driver. For example, these systems can recognize that a lane change is sensible or necessary. This can be the case, for example, when a slower traffic participant is to be overtaken. If the lane change proposed by the lane change assistance system is confirmed by the driver, an automated lane change maneuver can be performed by means of the lane change assistance system. Furthermore, from the prior art, lane change assistance systems are known which automatically plan a lane change maneuver and subsequently perform it without confirmation by the driver.

[0006] Within the scope of assistance functions according to level L2, both automated execution of a lane change maneuver and a lane change proposal confirmed by the driver require active monitoring by the driver. Especially when a vehicle behind is approaching at a large relative speed, e.g. on a highway, a conservative system design helps to avoid dangerous scenarios and corresponding driver interventions. A special scenario is when the ego vehicle is about to overtake another vehicle during the overtaking process. The fast approaching traffic participant can approach on any of the lanes. Furthermore, this fast approaching traffic participant can change lanes one or more times to overtake the ego vehicle at a very close distance behind the ego vehicle. This requires a very high safety requirement of the driver of the ego vehicle to ensure the safety of the automated lane change maneuver, because the situation has to be estimated accurately at the right point in time, e.g. by looking at different areas. SUMMARY

[0007] It is the task of the present application to propose a solution how a lane change assistance system of the type initially described can be operated more safely.

[0008] This task is solved according to the present application by the computing device, the assistance system and the method having the features according to the independent claims. Preferred refinements of the present application are given in the dependent claims.

[0009] The computing device of an assistance system for automated lateral guidance of a vehicle according to the present application is configured to recognize a traffic situation requiring an automated lane change maneuver. Furthermore, the computing device is configured to plan the automated lane change maneuver. Furthermore, the computing device is configured to output a proposal signal at a proposal point in time for signaling to a driver a proposal for the automated lane change maneuver and / or to output a steering signal at a lane change point in time for maneuvering a steering system of the vehicle to execute the automated lane change maneuver. Furthermore, the computing device is configured to receive environmental data describing further traffic participants in a surrounding of the vehicle. Furthermore, the computing device is configured to identify a traffic participant approaching the vehicle from behind from the environmental data. Furthermore, the computing device is configured to determine a collision time between the traffic participant approaching from behind and the vehicle. If the collision time is below a predetermined first extreme value, the output of the proposal signal and / or the steering signal is suppressed.

[0010] An automated lane change maneuver can be prepared and executed with the aid of a computing device. In order to be able to evaluate the current traffic situation with regard to the necessity of a lane change, environmental data describing further traffic participants in the surroundings of the vehicle can be received with the aid of the computing device. The environmental data can describe the position of the further traffic participants. In particular, the environmental data can describe the lane in which the respective traffic participant is currently located. Furthermore, the environmental data can also describe the respective current speed of the further traffic participants. The environmental data can be received with the aid of the computing device from at least one environmental sensor of the vehicle or of the assistance system. The at least one environmental sensor can be a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.

[0011] A lane change maneuver from the lane in which the vehicle is currently located to an adjacent lane, i.e. to a target lane, can be planned with the aid of the computing device of the assistance system. For example, for this purpose a respective trajectory can be calculated along which the vehicle should be maneuvered. In order to plan the lane change maneuver, it can first be checked whether there is a free gap for the vehicle between the further traffic participants on the adjacent lane. The free gap describes in particular a sufficiently large maneuvering space for the safe execution of the lane change. If a free gap is identified, it can be checked whether the free gap is suitable for the lane change maneuver in terms of its size and the speed difference between the vehicle and the traffic participants delimiting the potential free gap.

[0012] If there is a free gap that is suitable for the lane change maneuver, a proposal signal can be output or transmitted to an output device with the aid of the computing device. With the aid of the output device, the proposal or the suggestion of the automated lane change maneuver can be output to the driver. The output device can comprise a display or a display screen and output the proposal in a visual manner, i.e. in the form of a display, to the driver. With the aid of the display, the current traffic situation in the surroundings of the vehicle can be visualized to the driver. For example, an image of the vehicle and the further traffic participants in the surroundings of the vehicle can be shown on the display, and in addition, the lanes can be displayed on the display.

[0013] When outputting the proposal, a symbol describing the planned lane change maneuver can be displayed to the driver. The symbol can be, for example, a trajectory or an arrow, which intuitively shows the movement of the vehicle when the planned lane change is carried out. Alternatively or additionally, a text can be displayed to the driver in the proposal, which prompts the planned lane change maneuver. Furthermore, the proposal can be output acoustically, for example in the form of an additional beep or as a voice prompt. Alternatively or additionally, a haptic signal can be output to the driver in the proposal.

[0014] Furthermore, it can be checked by means of the computing device whether the driver accepts the proposal for the automated lane change maneuver. To this end, it can be checked, for example, whether the driver performs a predetermined acceptance operation. If the driver confirms the proposal, it can be assumed that the driver generates a situational awareness in terms of the lane change maneuver. If this is not the case, a further operation instruction, for example a second proposal, can be output to the driver in terms of the situation.

[0015] If a free gap for the vehicle is identified and confirmed by the driver, the vehicle can be maneuvered onto the adjacent driving lane at least partially automatically by means of the assistance system. Here, the steering or the lateral guidance of the vehicle can be intervened by the assistance system. It is preferably provided that the longitudinal guidance of the vehicle is also controlled by means of the assistance system when the automated lane change. For example, the speed of the vehicle can additionally be adapted for the lane change maneuver.

[0016] It can also be provided that the automated lane change maneuver is planned by the assistance system and directly automated without confirmation by the driver. Here, the lane change maneuver can be executed or initiated at the lane change point in time. It can also be provided that the lane change maneuver is executed without prior proposal to the driver.

[0017] Before the proposal for the automated lane change maneuver is output or before the automated lane change maneuver is executed, it can be checked by means of the computing device on the basis of the environmental data whether a rearwardly approaching traffic participant is present. The rearwardly approaching traffic participant can be located behind the vehicle in the driving direction and approach the vehicle from behind. It can now be checked whether such a traffic participant is present in a defined area behind the vehicle.

[0018] On the basis of the environmental data, the position and the relative speed between the vehicle and the rearwardly approaching traffic participant can be continuously determined. It can furthermore be checked whether the relative speed or speed difference exceeds a threshold value. It can furthermore be determined whether a collision time between the rearwardly approaching traffic participant and the vehicle exceeds a first extreme value. The collision time, also referred to as time to collision TTC, describes the quotient of the distance between the traffic participant and the vehicle and the relative speed between the vehicle and the traffic participant. The collision time can describe the remaining duration for a possible collision between the approaching traffic participant and the vehicle. If the collision time is below a predetermined first extreme value, the output of the proposal signal and / or the steering signal is suppressed. The first extreme value can be, for example, between 10 s and 25 s, preferably between 15 s and 20 s. It can also be provided that a rate of change of the speed difference or a rate of change of the collision time is taken into account.

[0019] The lane change assistance systems known so far only check whether there is another road user on the target lane or target driving lane. According to the present application it is checked independently of the driving lane whether there is a road user in the space behind the vehicle. The relevance of traffic approaching from behind at a high speed difference is more difficult to determine when the system initiates a lane change or a lane change recommendation. The higher the speed difference, the less time the approaching road user has to perform a lane change and to reach the overtaking lane or target driving lane. This leads to the fact that the stay of the approaching road user on the respective driving lane can be very short and before a collision of both overtaking maneuvers of the approaching road user and the own vehicle on the target driving lane, both reach the overtaking lane potentially in a very short time.

[0020] According to the present application, the proposal of an automated lane change maneuver and / or the execution of an automated lane change maneuver only takes place if the speed difference between the approaching road user from behind and the vehicle is sufficiently low. Furthermore, the automated lane change maneuver or overtaking process can only be executed if the rate of change of the speed difference lies within a predetermined range. Thus, it is possible to reliably prevent dangerous traffic situations when an automated lane change maneuver is initiated. Overall, it is thus possible to increase safety in the lateral guidance when operating an assistance system for assisting a driver.

[0021] Preferably, the computing device is configured to output a withdrawal signal for withdrawing the issued proposal if the collision time is below a predetermined second extreme value. If a proposal for an automated lane change maneuver has been issued and then it is recognized from the environmental data that there is a road user approaching quickly from behind, the proposal for the lane change maneuver can be withdrawn again. In particular, the proposal is withdrawn if the collision time is below the second extreme value. The second extreme value can be for example 5 s to 10 s.

[0022] The withdrawal of the proposal is in particular suitable if the driver has not yet accepted the proposal. If the driver has accepted the proposal, it is possible to issue or report that the lane change maneuver cannot currently be executed. Thus, the driver can be informed about the planned steps of the assistance system, whereby the user acceptance of the system can be increased.

[0023] In one embodiment, the computing device is configured to plan a lane change maneuver to the target driving lane and to determine a probability that the road user approaching from behind changes to the target lane. That is, it is possible with the computing device to estimate whether the road user approaching from behind changes to the target driving lane. This estimation can be performed on the basis of the collision time or the speed difference. For example, it can be assumed that the road user approaching from behind wants to overtake the own vehicle when the speed difference is high. The current traffic situation, the current weather conditions, etc. can also be taken into account when estimating the probability.

[0024] Furthermore, it is possible to determine from the environmental data in which lane a traffic participant approaching from behind is located. Thereby, it is also possible to determine a probability that the traffic participant approaching from behind will overtake the ego vehicle or change to the target lane. For example, if the traffic participant approaching from behind is in the lane of the ego vehicle and has a high speed difference to the vehicle, it can be assumed that the traffic participant will overtake the vehicle. Furthermore, it is possible to determine the lateral speed and / or the lateral acceleration of further traffic participants with respect to the lane and to derive therefrom which traffic participants will be relevant for the corresponding lane.

[0025] In another embodiment, the computing device is configured to determine the above-mentioned probability in accordance with country-specific rules for overtaking. First, it is possible to determine the country in which the vehicle is currently located. Furthermore, it is possible to check whether there are country-specific rules for overtaking prescribed by law for this country. Here, it is also possible to take into account the road class of the road or lane on which the vehicle is currently located and / or the current speed of the vehicle. For example, on German motorways, right-side overtaking is suppressed from a defined speed. However, there are also countries in which right-side overtaking is allowed or at least common. Based on this information, it is possible to determine more precisely the probability that the traffic participant approaching from behind will change to the target lane.

[0026] Furthermore, it is possible to provide that the lane in which the traffic participant approaching from behind is located is determined from the environmental data. Furthermore, it is known in which lane or target lane the planned automated lane change maneuver is to be guided. Thereby, it is possible to determine how many lane changes should be performed by the approaching traffic participant in order for the traffic participant to reach the target lane. Furthermore, it is possible to take into account the number of lane changes to be performed when estimating the probability.

[0027] In another embodiment, the computing device is configured to determine the course of the lane from the environmental data and / or from the electronic map data and to adapt the first extreme value in accordance with the course of the lane. In particular, it is possible to determine the curvature of the lane by means of the computing device. Then, it is possible to adapt the first extreme value and the second extreme value in accordance with the curvature. Here, it is also possible to take into account the current speed of the vehicle and / or the range of action or visibility range of the environmental sensors.

[0028] The computing device is configured to output a proposal signal for outputting a proposal during a hands-off operation by means of the assistance system and / or to perform an automated lane change maneuver during the hands-off operation, wherein the driver's attention is checked during the hands-off operation. In other words, an automated lane change maneuver can be proposed to the driver when the vehicle is in a so-called hands-off operation. During the hands-off operation, automated lateral guidance is controlled by means of the assistance system in order to keep the vehicle within the lane. Thus, in particular the functions of a steering and lane-keeping assistant or rather an active lane-keeping assistant are provided. Preferably, the longitudinal guidance of the vehicle is also controlled in the form of an adaptive cruise control (ACC) during the hands-off operation.

[0029] The driver's attention can be determined during the hands-off operation on the basis of attention data of a driver monitoring device. The driver attention data can be received by means of the computing device from the driver monitoring device. The driver attention data can describe the current gaze direction of the driver and / or the current posture of the head by means of the driver monitoring device. The driver monitoring device can comprise, for example, an in-vehicle camera directed at the driver. The head position or head orientation can be determined by means of the driver monitoring device from the recognized nose of the driver. Furthermore, the position of the driver's pupils and thus the gaze direction of the driver can be determined by means of the driver monitoring device. It is also possible for the driver monitoring device to recognize whether the eyes are open or closed. The driver monitoring device can have an infrared light source, so that the head position and / or the gaze direction of the driver can be determined even when sunglasses are worn and / or the environmental conditions are dark. Furthermore, the body posture or upper body posture of the driver can be determined from the attention data or from the data of the driver monitoring device.

[0030] In particular, the attention data can be continuously analyzed for whether the driver is deviating from his actual driving task. For example, it can be checked whether the gaze of the driver is directed at the lane. Here, the gaze direction and / or the head orientation can be analyzed from the attention data. If it is determined that the driver is not paying attention, the hands-off operation can be interrupted and the driver can be required to place his hands on the steering wheel or to take over the steering wheel.

[0031] In another embodiment, the computing device is configured to determine whether a scene awareness of the driver to the automated lane change maneuver is generated as an acceptance of the offer, wherein the scene awareness describes a gaze direction and / or a head orientation towards a region which is assigned to the free gap. Based on the data of the driver monitoring device, it can be identified whether the driver has a scene awareness with respect to a subsequent automated lane change maneuver. If the computing device or the assistance system detects a scene awareness of the driver, this can be evaluated as an acceptance of the offer. In order to check whether a scene awareness is generated, it can be ascertained based on the attention data whether the driver directs the gaze and / or the head orientation towards at least one region which is assigned to the free gap. The overall body posture of the driver can also be taken into account in this evaluation. Preferably, it can be checked whether the driver performs a guarantee observation.

[0032] This means, in particular, that if the driver looks into the free gap or in the direction of the free gap and thus guarantees the traffic space for the automated lane change maneuver, the scene awareness of the driver with respect to the lane change maneuver is considered to be generated. The driver then assumes full responsibility, in particular, with respect to a subsequent automated lane change maneuver. This preferably also applies to the check whether the target lane is indeed free as has been identified by the vehicle or the assistance system itself.

[0033] Preferably, the computing device is configured to output an activation signal for automatically activating a travel direction indicator of the vehicle if the offer is given. The externally visible travel direction indicator can be activated automatically by means of the computing device for preparing the automated lane change maneuver. In particular, the travel direction indicator can be activated without a prior manipulation of a manipulation element, for example a turn signal lever. In particular, the travel direction indicator can be activated automatically when the offer for the automated lane change maneuver has been accepted by the driver.

[0034] The assistance system for automated lateral guidance of a vehicle according to the application comprises a computing device according to the application. The computing device can be constituted by at least one processor or at least one electronic control unit. Furthermore, the assistance system can have at least one environmental sensor by means of which environmental data can be provided. As an environmental sensor, the assistance system can have a camera by means of which image data describing the surroundings of the vehicle can be provided. Then, by means of the computing device, lane markings and / or other boundaries of a lane or a travel lane can be identified in the image data, furthermore also objects and further road users in the image data. Furthermore, the assistance system can have at least one distance sensor as an environmental sensor, which can be constituted as a radar sensor and / or a lidar sensor. From the sensor data of these distance sensors, for example, further road users can be detected and also the speed of the further road users is determined.

[0035] The assistance system can also have a driver monitoring device by means of which attention data can be provided. The driver monitoring device can have an in-vehicle camera and a corresponding light source, in particular a light source that emits light in the infrared wavelength range. On the basis of these attention data it can be checked by means of the computing device, for example during hands-off operation, whether the driver is attentive or whether his attention is directed at a traffic event. Furthermore, it can be checked on the basis of the attention data whether the driver generates a situational awareness with regard to a planned automated lane change maneuver or whether a look-ahead confirmation is made as acceptance of the automated lane change maneuver.

[0036] Furthermore, the assistance system can have an output device by means of which visual, acoustic and / or haptic information can be output to the driver. The output device can be actuated by means of the computing device after the transmission of the proposal signal, such that the driver is provided with a proposal or suggestion for a lane change maneuver.

[0037] The computing device of the assistance system can actuate a steering system of the vehicle in order to control the lateral guidance of the vehicle. Thus, for example, the vehicle can be kept within a lane or driving lane. Furthermore, the steering system can be actuated for performing a lane change maneuver. Preferably, the brake system and / or the drive motor can also be actuated by means of the computing device in order to control the longitudinal guidance of the vehicle.

[0038] The vehicle according to the application comprises an assistance system according to the application. The vehicle is in particular configured as a passenger car.

[0039] The method according to the application serves for the automated lateral guidance of a vehicle. The method comprises recognizing a traffic situation that requires an automated lane change maneuver. Furthermore, the method comprises planning an automated lane change maneuver. Furthermore, the method comprises outputting a proposal signal at a proposal time point for making a proposal to a driver for an automated lane change maneuver and / or outputting a steering signal at a lane change time point for actuating a steering system of the vehicle in order to perform an automated lane change maneuver. Furthermore, the method comprises receiving environmental data that describe further traffic participants in the surroundings of the vehicle and recognizing a traffic participant approaching from behind the vehicle on the basis of the environmental data. Furthermore, the method comprises determining a collision time between the traffic participant approaching from behind and the vehicle. If the collision time is below a predetermined first extreme value, the output of the proposal signal and / or the steering signal is suppressed.

[0040] A further aspect of the application relates to a computer program comprising instructions which, when the program is executed by a computing device, cause the computing device to carry out the method according to the application and advantageous configurations thereof. Furthermore, the application relates to a computer-readable storage medium comprising instructions which, when executed by a computing device, cause the computing device to carry out the method according to the application and advantageous configurations thereof.

[0041] The preferred embodiments presented with respect to the computing device according to the application and their advantages accordingly apply to the assistance system according to the application, to the vehicle according to the application, to the computer program according to the application and to the computer-readable storage medium according to the application. BRIEF DESCRIPTION OF DRAWINGS

[0042] Further features of the present application result from the claims, the drawings and the drawings description. The features and feature combinations mentioned above in the description and those mentioned below in the drawings description and / or shown alone in the drawings can be used not only in the respectively stated combinations, but also in other combinations or on their own, without leaving the scope of the present application.

[0043] The present application is now explained in more detail according to preferred embodiments and with reference to the drawings. Shown here is:

[0044] Figure 1 : schematic view of a vehicle with an assistance system for automated lateral guidance of a vehicle;

[0045] Figure 2 : schematic view of a traffic situation, in which a vehicle according to the application is located on a middle lane of a lane, another road user is driving in front of the vehicle and another road user is approaching from behind. Figure 1 DETAILED DESCRIPTION

[0046] Figure 1 The vehicle 1 is shown here in a top view and is currently configured as a passenger car. The vehicle 1 comprises an assistance system 2 with the aid of which automated lane change maneuvers can be performed on the vehicle 1. The assistance system 2 comprises a computing device 3, which can be constituted, for example, by at least one electronic control unit of the vehicle 1.

[0047] Furthermore, the assistance system 2 comprises at least one distance sensor 4 as an environmental sensor. In the present example, the assistance system 2 comprises four distance sensors 4, two of which are assigned to the front region 7 and two of which are assigned to the rear region 8 of the vehicle 1. Here, the distance sensors 4 are arranged in each case in a corner region of the rear region 8 of the vehicle 1 and of the front region 7 of the vehicle 1. The distance sensors 4 can be configured, for example, as radar sensors. With the aid of the distance sensors 4, corresponding measurements can be performed in order to be able to detect objects in the surroundings 5 of the vehicle 1. For the sake of clarity, the corresponding data lines between the distance sensors 4 and the computing device 3 are not shown at present.

[0048] ​Furthermore, the assistance system 2 comprises a camera 6 as an environmental sensor by means of which image data or environmental data describing the surroundings 5 of the vehicle 1 can be provided. The environmental data of the distance sensor 4 and the camera 6 can be processed by means of the computing device 3 in order to, for example, identify objects, further road users 18, 19, lane markings, etc. in the surroundings 5.

[0049] Furthermore, the computing device 3 is configured to actuate a currently only schematically illustrated steering system 9 of the vehicle 1. By means of the actuation of the steering system 9 a lateral guidance of the vehicle 1 can be performed for keeping the vehicle 1 within a driving lane 15, 16, 17 and / or for performing a lateral guidance during a lane change maneuver. By means of the actuation of the steering system 9 steerable wheels 10 of the vehicle 1 can be steered and thus the lateral guidance during a lane change maneuver can be controlled. Furthermore, by means of the computing device 3 preferably a drive motor and a brake system of the vehicle 1 can be actuated in order to control a longitudinal guidance of the vehicle 1, especially in the sense of an adaptive cruise control.

[0050] Furthermore, the assistance system 2 comprises a driver monitoring device 12 by means of which an attention of a driver of the vehicle 1 can be detected. The driver monitoring device 12 can have an interior camera by means of which a line of sight of the driver, a head orientation of the driver and / or a body posture of the driver can be detected. Furthermore, the assistance system 2 comprises an output device 13 by means of which information can be output to the driver. Herein, the information can be output in an acoustic, visual and / or haptic manner.

[0051] Furthermore, the computing device 3 is also configured to actuate a direction of travel indicator 11 of the vehicle 1. For this purpose, an activation signal can be transmitted by the computing device 3 to the direction of travel indicator 11. After the actuation the direction of travel indicator 11 can be activated such that a blinking signal is output by the direction of travel indicator 11. By a further actuation the direction of travel indicator 11 can also be deactivated again. Herein, the direction of travel indicator 11 can be actuated by the driver independently of a steering operating element, for example a steering light lever.

[0052] The computing device 3 also has data describing a current speed of the vehicle 1 and / or a set speed for an adaptive cruise control. On the basis of the measurements of the environmental sensors, i.e. the distance sensor 4 and the camera 6, the speed of further road users 18, 19 can be determined. Furthermore, it can be determined on the basis of the data of the environmental sensors 4, 6 and / or in accordance with digital map data together with a satellite-supported positioning system in which driving lane 15, 16, 17 of the lane 14 the vehicle 1 is currently located on. On the basis of these information, by means of the computing device 3 it can be determined for the current traffic situation whether a lane change is necessary or meaningful.

[0053] Furthermore, with the aid of the assistance system 2 a so-called hands-off operation can be realized. This means that as soon as it is recognized from the data of the driver monitoring device 12 that the driver is concentrating, the driver can remove his hands from the steering wheel. If the driver directs his gaze towards the lane 14, it can be assumed that the driver is concentrating. If it is concluded that the driver is concentrating, the automated lane guidance is continuously controlled by the assistance system 2 and the driver does not have to put his hands back on the steering wheel after a certain time. Furthermore, with the aid of the assistance system 2 the speed of the vehicle 1 can be adjusted to a set speed and the distance to the further road users 18 driving ahead can be maintained.

[0054] Figure 2 A schematic representation of a traffic situation is shown in which the vehicle 1 according to Figure 1 drives on the middle driving lane 16 of the lane 14. Furthermore, there is a road user 18 driving ahead in front of the vehicle 1 in the driving direction on the middle driving lane 16. It is assumed that the current speed of the road user 18 driving ahead is less than the set speed set for the vehicle 1. Therefore, a lane change maneuver for overtaking the road user 18 driving ahead is required or rather makes sense.

[0055] With the aid of the assistance system 2 it can be recognized automatically that a lane change from the middle driving lane 16 onto the left driving lane 15 of the lane 14 is required. Furthermore, with the aid of the assistance system 2 it is checked whether a lane change maneuver from the middle driving lane 16 onto the left driving lane 15 of the lane 14 is possible. For this purpose, based on the sensor data of the environmental sensors 4, 6 it is checked whether there is a free gap on the driving lane 15 for the lane change maneuver. If there is a free gap, then with the aid of the assistance system 2 a lane change maneuver from the middle driving lane 15 onto the right driving lane 16 is proposed to the driver. For this purpose, with the aid of the output device 13 a proposal for an automated lane change maneuver can be issued to the driver.

[0056] Furthermore, the driver is required to accept or rather confirm the proposal for the lane change maneuver. For this purpose, it can be provided that the driver manipulates an operating key or a driving direction indicator. Preferably, however, it is provided that the driver ensures the traffic space for the lane change maneuver or rather for the planned lane change maneuver. For this purpose, it is provided that the driver directs his gaze towards the free gap on the left driving lane 15. That is, the acceptance of the proposal for the automated lane change maneuver can be carried out by gaze confirmation.

[0057] Furthermore, the computing device 3 monitors the area 20 or rather the rear traffic space behind the vehicle 1 based on the environmental data. The area 20 Figure 2 schematically represented in Fig. 1 1 is monitored for the presence of road users 19 approaching from behind. Here, the space 20 is monitored independently of the driving lanes 15, 16, 17 of the lane 14. The space 20 can be limited depending on the curvature of the lane 14, the current traffic situation and / or the viewing range of the environmental sensors 4.

[0058] In Figure 2 the example, in the space 20, a rearwardly approaching traffic participant 19 is located on the right-hand lane 17. From the environmental data, a time to collision (TTC) between the rearwardly approaching traffic participant 19 and the vehicle 1 is determined. If the time to collision is below a first extreme value, the issuance of a proposal for an automated lane change maneuver is suppressed.

[0059] In a first example, it is assumed that the vehicle 1 is located in a country where right-side overtaking is suppressed when the traffic situation according to Figure 2 is such. A rearwardly fast-approaching traffic participant 19 approaches from the right rear. This traffic participant 19 is relevant for a planned lane change maneuver of the own vehicle 1 from the middle lane 16 to the left-hand lane 15. It is assumed that the traffic participant 19 performs two lane change maneuvers from the right-hand lane 17 to the left-hand lane 15 in order to overtake the vehicle 1 from the left in order to comply with legal provisions, for example road traffic regulations. As long as the traffic participant 19 approaches from the rear fast, the system-initiated lane change is suppressed.

[0060] In a second example, it is assumed that the vehicle 1 is located in a country where right-side overtaking is also allowed or is common when the traffic situation according to Figure 2 is such, where the area to the right rear is irrelevant for a planned automated lane change maneuver to the left, since it is not assumed that a rearwardly approaching traffic participant 19 performs two unnecessary lane changes in order to overtake the own vehicle 1 from the left. However, for a planned lane change to the right, the traffic participant 19 would be relevant.

Claims

1. A computing device (3) for an automated lateral guidance assistance system (2) for a vehicle (1), wherein the computing device (3) is configured to: - Identify traffic situations requiring automated lane change control; - The plan outlines the automated lane-changing maneuvering; - Output a proposal signal at the proposal time point to propose the automated lane change operation to the driver, and / or output a steering signal at the lane change time point to control the steering system (9) of the vehicle (1) to perform the automated lane change operation; - Receive environmental data from other traffic participants (18, 19) in the surrounding environment (5) of the vehicle (1); - Identify traffic participants (19) approaching the vehicle (1) from behind based on the environmental data. Its features are, The computing device (3) is further configured to: - Determine the collision time between the traffic participant (19) approaching from behind and the vehicle (1); - If the collision time is lower than a predetermined first extreme value, then suppress the output of the proposal signal and / or the steering signal.

2. The computing device (3) according to claim 1. Its features are, The computing device (3) is configured to output a withdrawal signal to withdraw the proposal if the collision time is lower than a predetermined second extreme value.

3. The computing device (3) according to claim 1 or 2. Its features are, The computing device (3) is configured to plan lane change maneuvers to the target driving lane and determine the probability of a traffic participant (19) approaching from behind changing to the target driving lane.

4. The computing device (3) according to claim 3. Its features are, The computing device (3) is configured to determine the probability based on country-specific rules for overtaking.

5. The computing device (3) according to any one of the preceding claims, characterized in that, The computing device (3) is configured to determine the trend of the lane (14) based on environmental data and / or electronic map data, and to adapt the first extreme value based on the trend of the lane (14).

6. The computing device (3) according to any one of the preceding claims, characterized in that, The computing device (3) is configured to output the proposal signal for outputting the proposal during hands-free operation via the assistance system (2), and / or to perform the automated lane change maneuver during hands-free operation, wherein the driver’s attention is checked during hands-free operation.

7. The computing device (3) according to any one of the preceding claims, characterized in that, The computing device (3) is configured to determine whether the driver’s scene perception of the automated lane change maneuver results in acceptance of the proposal, wherein the scene perception describes the direction of the gaze and / or the orientation of the head toward an area belonging to the clearance.

8. The computing device (3) according to any one of the preceding claims, characterized in that, The computing device (3) is configured to output an activation signal if the proposal is generated, the activation signal being used to automatically activate the driving direction indicator (11) of the vehicle (1).

9. An automated lateral guidance assistance system (2) for a vehicle (1), the assistance system comprising a computing device (3) according to any one of the preceding claims.

10. A method for automated lateral guidance of a vehicle (1), comprising the following steps: - Identify traffic situations requiring automated lane change control; - The plan outlines the automated lane-changing maneuvering; - At the proposed time point, output a proposal signal for outputting a proposal to the driver for the automated lane change operation, and / or at the lane change time point, output a steering signal for controlling the steering system (9) of the vehicle (1) to perform the automated lane change operation; - Receive environmental data from other traffic participants (18, 19) in the surrounding environment (5) of the vehicle (1); - Identify traffic participants (19) approaching the vehicle (1) from behind based on the environmental data. The method is characterized by comprising the following steps: - Determine the collision time between the traffic participant (19) approaching from behind and the vehicle (1); - If the collision time is lower than a predetermined first extreme value, then suppress the output of the proposal signal and / or the steering signal.

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