Method for a lane guide assist device for operating a vehicle in a branching-off area taking into account the driver's intention, lane guide assist device, and vehicle

Abstract

The present invention relates to a method for a lane guidance assist device (2) for operating a vehicle (1), the method comprising the steps of: performing a steering intervention for automated lateral guidance of the vehicle (1); identifying a fork (15) of a driving lane (12), wherein at the fork (15) a first driving lane (14) branches off from a second driving lane (13); selecting the first driving lane (14) to follow a preset navigation route; planning a first trajectory (17) for automated lateral guidance in the area of ​​the fork (15), wherein the first trajectory (17) guides the selected first driving lane (14); checking whether there is a different driver intention to continue following the second driving lane (13) before the vehicle (1) reaches the fork (15); and if there is a different driver intention, selecting the second driving lane (13) and planning a second trajectory (16) for automated lateral guidance in the area of ​​the fork (15), wherein the second trajectory (16) guides the second driving lane (13).

Description

Technical Field

[0001] This invention relates to a method for using a lane guidance assist device for operating a vehicle. Furthermore, this invention relates to a lane guidance assist device for a vehicle. Finally, this invention relates to a vehicle having such a lane guidance assist device. Background Technology

[0002] Lane guidance assist devices for vehicles are well known from the prior art. Such lane guidance assist devices (also called steering and lane guidance assist devices or active lane keeping assist devices) are specifically designed to keep a vehicle within its driving lane or lane markings. These lane guidance assist devices utilize environmental data from the vehicle's environmental sensors to identify the boundaries or lane markings of the driving lane. If such lane markings are identified with sufficient certainty, the lane guidance assist device can be activated and steering intervention can be performed to keep the vehicle within its driving lane. For example, the steering intervention can be performed to keep the vehicle centered within its driving lane.

[0003] In known prior art, there are active steering assist devices or lane guidance assist devices that actively follow the current lane based on lane boundaries identified by sensors. This so-called lane following can be based on lane markings identified by cameras or lidar sensors, position information of other objects traveling ahead identified by radar sensors or cameras, or positioning with a high-precision map, or a combination of the above. In particular, some forms of assistance systems operating on high-precision digital maps are known, in which, at lane forks (where the driving lanes are divided into multiple lanes), the most suitable driving lane is automatically selected based on a set navigation goal. The system merges into the selected driving lane and then can follow the lane thus determined or selected. Furthermore, implementations that do not require high-precision maps are known, in which lane selection follows simple rules, such as adhering to right-hand driving rules or following a straight lane.

[0004] Known lane guidance assist devices suffer from problems in finding a suitable lane in lane divisions or at forks, even with driver cooperation. For example, existing systems exhibit the following issues: at least one high-precision map must be available for automatic lane selection. Furthermore, a navigation target must be input by the driver. Even with an input navigation target, optimal cooperation between the driver and the assist system is lacking at forks. For instance, the driver may not want to continue following the navigation target or, for other reasons, decide to choose a lane different from the one selected by the system. In such cases, no scheme designed for cooperative interaction between the driver and the system to achieve optimal lane selection with active steering support exists. Summary of the Invention

[0005] The purpose of this invention is to provide a solution on how to improve the cooperation between the above-mentioned type of lane guidance assist device and the driver of the vehicle.

[0006] According to the invention, the objective is achieved by a method having the features of the independent claim, by a lane guidance assist device having the features of the independent claim, and by a vehicle having the features of the independent claim. Advantageous further developments of the invention are given in the dependent claims.

[0007] One aspect of the invention relates to a method for a lane guidance assist device for operating a vehicle. The method includes performing a steering intervention for automated lateral guidance of the vehicle. Furthermore, the method includes receiving a preset navigation route for driving with the assistance of the vehicle. Additionally, the method includes identifying a fork in the driving lane over which the vehicle is currently moving, wherein at the fork, a first driving lane branches off from a second driving lane. Furthermore, the method involves selecting a first driving lane to follow the preset navigation route, and planning a first trajectory in the fork region for automated lateral guidance, wherein the first trajectory guides the selected first driving lane. Furthermore, the method involves checking for a different driver intention to continue following a second driving lane before the vehicle reaches the fork, and selecting a second driving lane and planning a second trajectory in the fork region for automated lateral guidance, wherein if a different driver intention exists, the second trajectory guides the second driving lane.

[0008] Lane guidance assist is used to support the driver of a vehicle during steering tasks. It is specifically designed to keep the vehicle within its driving lane or current lane. Lane guidance assist can also be referred to as steering and lane guidance assist, active lane keeping assist, or steering assist. This method can be executed using a corresponding computing device of the lane guidance assist. This computing device can be configured via at least one electronic control unit of the vehicle.

[0009] The computing device can receive sensor data or environmental data. The environmental data can be provided by at least one environmental sensor of the vehicle or lane guidance assist device. The environmental sensor can be, in particular, a camera or front-facing camera and / or a lidar sensor of the lane guidance assist device. The sensor data provided by the environmental sensor or camera describes the boundary of the driving lane or the boundary of at least one driving lane. The driving lane boundary can be, in particular, lane markings, such as solid lines, dashed lines, or interrupted lines. However, the driving lane boundary can also be a structural boundary, such as a wall, guardrail, curb, etc. Furthermore, green belts, gravel beds, etc., can be detected as driving lane boundaries.

[0010] The vehicle's current position relative to the identified lane boundaries or lane markings can be determined. The vehicle's position within the lane or roadway can be calculated based on environmental data. Furthermore, data from other environmental sensors (e.g., radar sensors, lidar sensors, etc.) can be extracted and fused with camera sensor data to determine the vehicle's position. The sensor data from these additional environmental sensors can also describe other road users in the lane.

[0011] Furthermore, it is possible to specify that, based on environmental data, there is at least one traffic participant traveling in front of the vehicle in the vehicle's environment, particularly in the forward direction of travel. The traffic participant traveling in front can be another traffic participant or other vehicle located in front of the vehicle in the forward direction of travel. Specifically, it is not necessary for the traffic participant traveling in front to be the one immediately in front of the vehicle.

[0012] Lane guidance assist devices or computing devices can receive satellite-assisted position data, such as by means of a corresponding receiver in a satellite-assisted positioning system. The receiver can receive the corresponding position data from a Global Navigation Satellite System (GNSS). In particular, a so-called differential global positioning system is used, which can improve the accuracy of positioning or GNSS navigation by transmitting correction data.

[0013] Furthermore, high-resolution map data, high-precision map data, or HD maps are used to determine the vehicle's current location. The high-resolution map data can be received by a computing device. The high-resolution map data can be stored on the storage device of the lane guidance assist device and / or received by an external computing device. Based on satellite-aided location data and high-resolution map data, map-based location data can then be determined.

[0014] During automated lane guidance or automated lateral guidance, lane guidance assist can automatically provide steering intervention or superimposed steering torque to keep the vehicle within the driving lane or lane of travel. For example, lane guidance assist can directly intervene in the driving direction via an active steering system. However, the steering torque or steering intervention provided by lane guidance assist can be overridden by the driver at any time by maneuvering the steering wheel.

[0015] Furthermore, it is stipulated that lane bifurcations be identified. These bifurcations, or lane branching points, can be identified based on digital map data and / or environmental data. Currently, the concept of a bifurcation can be specifically understood as: the lane guidance of at least one second lane deviating from the lane guidance of at least one first lane. A bifurcation can be, for example, a highway junction or a junction on a rural road, federal highway, etc. At or within a bifurcation area, a second lane can branch off from a first lane. In principle, lanes in a bifurcation area can also have multiple lanes branching off from each other. Bifurcations can be identified based on satellite-assisted location data and high-resolution map data. Alternatively or additionally, it can be stipulated that environmental data is also used to identify bifurcations.

[0016] At the fork in the road, the first lane to be followed is selected. This selection is specifically based on a received navigation target or route. The navigation route can, for example, be input by the driver at the navigation system. The selection of the first lane is preferably based on a preset condition that allows the driver to reach the navigation target. Based on the selection of the first lane, a first trajectory is planned to follow in the fork area. Here, the first trajectory leads to the first lane. It is possible that the vehicle, for example, is in the second lane before reaching the fork and then switches to the first lane. It is also possible that the vehicle is already in the first lane and remains in the first lane in the fork area.

[0017] According to the present invention, it is now stipulated that an additional check is performed before the vehicle reaches the fork in the road to determine if there are different driver intentions. These different driver intentions specifically describe the driver's expectation at the fork that they will follow the second lane instead of the first lane. If a different driver intention is identified or exists, the second lane is selected for following. Furthermore, a second trajectory is planned in the fork area, where the second trajectory leads to the second lane. This can also include situations where the vehicle is already in the second lane and the second trajectory is planned such that the vehicle remains in the second lane.

[0018] Therefore, the basic idea of ​​the present invention is particularly a method for an active lane guidance assist device, in which improved lane selection is performed in the bifurcation area by referencing driver interaction or driver desire. Overall, this improves the cooperation between the lane guidance assist device and the driver.

[0019] Specifically, to detect the presence of different driver intentions, the steering wheel angle set by the driver and / or the steering wheel torque applied by the driver is detected. It is possible to check whether the driver is inputting at the steering wheel or steering handle before the vehicle reaches the fork in the road. Specifically, it is possible to check whether the driver is applying a defined steering wheel angle or performing a specific steering movement at the steering wheel. Alternatively or additionally, it is possible to check whether the driver is applying a defined steering torque at the steering wheel. Therefore, for example, it is possible to identify in a simple and reliable manner whether the driver's intention regarding lane selection differs from the lane selection made through the lane guidance assist device. If this different driver intention is identified, a second trajectory can be planned accordingly, and the driver's wishes can be followed in automated lateral guidance in the fork area.

[0020] Furthermore, it is advantageous to compare the steering wheel angle and / or the steering wheel torque applied by the driver with a first threshold, where the first threshold is less than a second threshold, at which point automated lateral guidance is deactivated. It is also possible to check whether the difference between the steering angle preset by the lane guidance assist and the steering angle caused by the driver's steering intervention exceeds the first threshold. If, during the operation of the active lane guidance assist and shortly before reaching a fork in the road or lane division, it is detected that the driver's preset steering angle exceeds a predefined limit different from the steering angle set by the assist system, then the corresponding driver intention for selecting a second lane can be identified. In particular, it is possible to check whether the steering wheel angle applied by the driver exceeds the first threshold. Here, the first threshold can be selected such that it is less than the second threshold that causes the active lane guidance assist to be deactivated or turned off. Therefore, a second lane can be selected in an intuitive and simple manner for following in the fork area via the driver's predefined steering intervention.

[0021] Furthermore, it is preferably specified that the direction of the driver's steering intervention is detected and different driver intentions are identified based on the direction. Therefore, the direction of the steering wheel angle or steering wheel torque can be determined. Specifically, it is possible to check whether the driver is turning towards the first driving lane selected due to the navigation route or towards the second driving lane. If the driver turns towards the second driving lane, it is possible to infer that there is a different driver intention.

[0022] Preferably, the presence of different driver intentions is checked during a predetermined time period and / or predetermined road segment prior to the vehicle's arrival at the fork in the road. For example, driver steering actions can be evaluated and judged at intervals related to predetermined times and / or distances of lane-dividing events. Specifically, it is possible to check for driver steering tendencies, such as turning left or right relative to a system-set steering angle. Therefore, it is particularly possible to react to situations where the driver changes their decision in the short term and, for example, does not wish to follow the planned navigation route. This can be provided, for example, because the driver can only recognize the traffic conditions in the fork area shortly before arriving at the fork.

[0023] To identify different driver intentions, other input variables can also be extracted. For example, driver manipulation of the direction indicator or corresponding turn signal stalk can be detected. Furthermore, changes to the navigation route or navigation destination can be detected. Additionally, relevant traffic rules, such as adherence to right-hand driving rules, can be considered. Here, priorities can be determined, and input variables are judged based on these priorities in lane selection.

[0024] In another embodiment, a first trajectory and / or a second trajectory are planned such that the vehicle has a lateral deviation within the driving lane toward the selected driving lane before reaching the fork in the road. If, for example, the vehicle is in the second driving lane before reaching the fork and a change to the first driving lane is specified along the first trajectory in the fork area, the first trajectory can be selected such that the vehicle is not in the center of the second driving lane before reaching the fork, but has a lateral deviation toward the first driving lane. In this way, the lane guidance assist can establish a slight deviation toward the driving lane to be entered as early as possible. Therefore, on the one hand, the lane guidance assist visually prompts the driver that it wants to change to the first driving lane. On the other hand, this allows the driver to perform a steering movement in the opposite direction.

[0025] If, for example, based on the identified different driver intentions, it is now decided not to follow the first lane but to follow the second lane, then a second trajectory can be determined such that the second trajectory has a lateral offset towards the second lane. Therefore, it is possible to notify the driver that their different driver intentions have been identified. Furthermore, the driver is intuitively informed that the vehicle will follow the second lane in the fork area.

[0026] In another embodiment, a second trajectory is planned based on environmental data from environmental sensors, wherein only environmental data describing the boundaries of the second driving lane is used for planning the second trajectory. If a trend toward the second driving lane or driver intention is thus identified before reaching a fork in the road, the identified driving lane boundaries or environmental data are preferably filtered upon reaching the fork or lane division. For example, to estimate the road geometry or the geometry of the second driving lane, only those driving lane boundaries that also describe the second driving lane can be extracted. If, for example, the second driving lane branches to the right at a fork, only at least one driving lane boundary located on the far right can be considered. If the second driving lane branches to the left, only at least one driving lane boundary located on the far left can be considered. The filtered environmental data or identified driving lane boundaries can then be used to plan the second trajectory. Therefore, after a fork or lane division, various driving lanes can be explicitly modeled, and an ideal second trajectory for reaching the selected driving lane or second driving lane can be calculated.

[0027] In another embodiment, a second trajectory is planned based on digital map data, wherein the digital map data describes the bifurcation. As mentioned above, high-resolution map data, or so-called HD maps, can be used for this purpose. Here, the high-precision map information describes the division of driving lanes in the bifurcation area and the direction of the corresponding driving lanes. Therefore, the second trajectory can be calculated reliably.

[0028] Similarly, if a corresponding driver intervention is detected, the selection of the driving lane can be adapted up to a second predefined distance from the lane division event. If no driver interaction is detected at the steering wheel before reaching the lane division, the selection of the driving lane to follow can be determined based on the criteria in the input variable prioritization described above. If none of these criteria lead to a decision, for example, any action (e.g., always following the right-hand lane) can be confirmed as the default selection.

[0029] Another aspect of the invention relates to a lane guidance assist device for a vehicle, wherein the lane guidance assist device is designed to perform steering intervention for automated lateral guidance of the vehicle. Furthermore, the lane guidance assist device is designed to receive a preset navigation route for the vehicle to travel on. Additionally, the lane guidance assist device is designed to identify a fork in the roadway on which the vehicle is currently moving, wherein a first lane branches off from a second lane at the fork, and to select the first lane to follow the preset navigation route. Furthermore, the lane guidance assist device is designed to plan a first trajectory for automated lateral guidance in the fork region, wherein the first trajectory guides the selected first lane. The lane guidance assist device is also designed to check for a different driver intention to continue following a second lane before the vehicle reaches the fork, and if a different driver intention exists, to select the second lane and plan a second trajectory for automated lateral guidance in the fork region, wherein the second trajectory guides the second lane.

[0030] The lane guidance assist device can have at least one environmental sensor, by means of which environmental data can be provided. The at least one environmental sensor can be configured as a camera, radar sensor, lidar sensor, ultrasonic sensor, etc. Furthermore, the lane guidance assist device can have a computing device, by means of which the environmental data can be selected. The computing device can be formed by a processor, electronic control equipment, etc. In addition, the lane guidance assist device can take over the lateral guidance of the vehicle and preferably also take over the longitudinal guidance, so as to align the vehicle and / or follow the traffic participants traveling ahead according to the identified driving lane boundaries. Furthermore, the lane guidance assist device can have a receiver for a satellite-assisted positioning system. Furthermore, the lane guidance assist device can have a memory or storage device on which high-resolution map data, or so-called HD maps, are stored.

[0031] The vehicle according to the invention includes a lane guidance assist device according to the invention. The vehicle is specifically configured as a passenger car.

[0032] The preferred embodiments and advantages described by means of the method according to the invention are accordingly applicable to the lane guidance assist device according to the invention and the vehicle according to the invention.

[0033] Other features of the invention are derived from the claims, drawings, and description of the drawings. The features and combinations thereof mentioned above in the specification, as well as the features and combinations thereof mentioned below in the description of the drawings and / or shown separately in the drawings, can be used not only in their respective described combinations, but also in other combinations or individually without departing from the framework of the invention. Attached Figure Description

[0034] The present invention will now be described in detail with reference to preferred embodiments and the accompanying drawings. Wherein:

[0035] Figure 1 A schematic diagram of a vehicle equipped with lane guidance assist is shown;

[0036] Figure 2 A schematic diagram showing a vehicle moving toward a fork in the roadway;

[0037] Figure 3 Showing according to Figure 2 A schematic diagram of the identified driving lane boundaries and planned driving lane trajectories;

[0038] Figure 4 A schematic diagram of a method for a lane guidance assist device is shown. Detailed Implementation

[0039] Figure 1 A top view of vehicle 1 is shown, which is currently configured as a passenger car. Vehicle 1 includes an assistance system in the form of a lane guidance assist device 2, which is designed to support the user or driver of vehicle 1 during lateral guidance. The lane guidance assist device 2 is specifically designed to take over the automated lateral guidance of vehicle 1.

[0040] The lane guidance assist device 2 includes a computing device 3, which can be formed, for example, by at least one electronic control device of the vehicle 1. Furthermore, the lane guidance assist device 2 includes at least one environmental sensor 4, which is configured as a camera or a front-facing camera. The environmental sensor 4 can provide environmental data or sensor data describing the environment 5 of the vehicle 1. Specifically, the environmental data or image data can describe the driving lane boundaries 18, 19, particularly lane markings. The environmental data can be transmitted from the environmental sensor 4 or the camera to the computing device 3.

[0041] Furthermore, the lane guidance assist device 2 includes a receiver 7 for a satellite-assisted positioning system. The receiver 7 allows for the determination of satellite-assisted location data describing the position of the vehicle 1. Additionally, the lane guidance assist device 2 includes a storage device 8 storing high-resolution map data, or so-called HD maps. Furthermore, the lane guidance assist device 2 includes an output device 9, by which information can be output to the user of the vehicle 1. This output can, in principle, be visual, auditory, and / or tactile.

[0042] Furthermore, the computing device 3 is designed to control the steering system 10 of the vehicle 1, which is currently only schematically shown. By controlling the steering system 10, the lateral guidance of the vehicle 1 can be taken over. Here, by controlling the steering system 10, the steerable wheels 11 of the vehicle 1 can be moved. Furthermore, it is preferably specified that the computing device 3 can control the drive motor and / or braking system of the vehicle 1 so as to also take over the longitudinal guidance of the vehicle 1. In addition, by means of the sensor 6 of the lane guidance assist device 2, the steering wheel angle and / or the steering wheel torque applied at the steering wheel of the vehicle 1 can be determined and transmitted to the computing device 3.

[0043] Figure 2 A vehicle 1 is shown schematically in lane 12. Lane 12 can be, for example, a two-lane rural road. Here, at a first time point t1, vehicle 1 is in the second lane 13 or the right lane of lane 12. Automated lateral guidance of vehicle 1 is achieved by means of lane guidance assist 2, and vehicle 1 is manipulated and thus kept, for example, within the second lane 13 by means of lane guidance assist 2. Further along lane 12, for example, at a interval of 400 meters, lane 12 has a fork 15. Here, a first lane 14 branches off from the second lane 13 where vehicle 1 is currently located. The driver sets a navigation target or route at the start of the journey, and to reach the target, it is required to follow the first lane 14 or the right lane in the area of ​​fork 15. The first lane 14 can be, for example, an exit lane for changing onto a rural road.

[0044] Since no driver interaction or different driver intentions were recognized up to the first time point t1, the lane guidance assist device 2 initially decides to follow the first driving lane 14 in the exit area based on the current navigation route. In the example shown, based on a subsequent time point t2, for example, 200 meters before reaching the fork in the road 15, the driver notices that leaving the country road due to traffic conditions is not reasonable and decides to remain on the country road. This means the driver wants to continue driving in the second driving lane 13.

[0045] Based on the planned navigation route, the lane guidance assist device 2 establishes an early slight deviation of vehicle 1 within the second driving lane 13 in the direction it will enter or towards the first driving lane 14, allowing the driver to intervene with steering in the opposite direction. To implement this change of intention, the driver slightly steers to the left during active lane guidance, indicating an intention to follow the left-hand lane or the second driving lane 13. This steering movement by the driver results in a steering wheel angle outside the tolerance range for "no driver interaction" and exceeding a first threshold. The driver intervention or steering intervention detected by sensor 6 is interpreted as different driver intentions and output by the computing device 3 of the lane guidance assist device 2. Furthermore, the direction of the driver's intention is also identified based on the driver's intervention at the steering wheel. This information is forwarded to the computing device 3 for calculating road geometry from existing data from environmental sensors 4 or cameras.

[0046] Figure 3 The diagram illustrates the following: Figure 2 The driving lanes have a second driving lane 13 and a first driving lane 14. The driving lane boundary 18 of the second driving lane 13 and the driving lane boundary 19 of the first driving lane 14 are shown here. The driving lane boundaries 18 and 19, which currently relate to lane markings, can be identified based on data from the environmental sensor 4 or camera data. Curbs, guardrails, etc., can also be identified as driving lane boundaries 18 and 19. Based on the identified driving lane boundaries 18 and 19, a centerline in the form of a first trajectory 17 can be determined by means of the lane guidance assist device 2. It should be considered that the centerline estimated based on environmental data can represent each branching driving lane. The estimation of the first trajectory 17 or the centerline is specifically evaluated and used to calculate the geometry of driving lanes 13 and 14 only if the corresponding assumptions are satisfied.

[0047] Due to differing driver intentions, the first trajectory 17 should no longer be followed in the bifurcation zone 15. The second trajectory 16 is determined based on the detected lane boundary 18 of the second driving lane 13 (see...). Figure 2 To this end, the environmental data from environmental sensor 4 is filtered so that only the driving lane boundary 18 is considered when calculating the second trajectory 16. After activating the filter, the geometry of the road model is adapted so that the target driving lane moves to the left, thus enabling the planning of a time-dependent path to reach the newly determined driving lane via trajectory planning. Variations of the example described herein using map-based road models or other sensor systems, as well as other criteria for initially selecting the driving lane to follow, are arbitrarily possible and combinable.

[0048] Figure 4A method for using a lane guidance assist device 2 is illustrated schematically. In step S1, different driver intentions are detected. Here, the steering angle 20 preset by the lane guidance assist device 2 and the steering wheel angle 21 currently preset by the driver at the steering wheel are considered as input variables. To identify different driver intentions, it is checked whether the steering wheel angle 21 preset by the driver exceeds a first threshold or deviates from the steering angle of the lane guidance assist device 2 by a first threshold. Furthermore, the direction of the steering wheel angle preset by the driver is determined. In step S2, the driving lanes 13 and 14 to be followed are selected. For this selection, the driver interaction determined in step S1 is considered. Here, other input variables 22 can consider whether the driver manipulates the driving direction indicator, presets or replans the navigation route, and / or considers traffic rules. Furthermore, to calculate the driving lanes 13 and 14 selected in step S2, information from the road model obtained in step S3 is considered. These variables can include, for example, available driving lanes 13 and 14 and information about the fork in the road 15. Additionally, these variables can also be obtained from other sources. Then, based on the information from step S2 describing the selected driving lanes 13 and 14, the road model can be updated. Then, based on the road model, the geometry of the selected driving lanes 13 and 14 can be determined. Then, in step S4, trajectory planning and the output of the trajectories 16 and 17 to be followed are performed. List of reference numerals

[0049] 1 vehicle

[0050] 2 Lane guidance assist device

[0051] 3. Computing device

[0052] 4. Environmental Sensors

[0053] 5. Environment

[0054] 6 sensors

[0055] 7 Receivers

[0056] 8 Storage devices

[0057] 9 Output devices

[0058] 10. Steering System

[0059] 11 wheels

[0060] 12 lanes

[0061] 13 Second driving lane

[0062] 14 First driving lane

[0063] 15 Forks

[0064] 16 Second Trajectory

[0065] 17 First Trajectory

[0066] 18. Lane boundary

[0067] 19. Driving lane boundary

[0068] 20° steering angle

[0069] 21 Steering wheel angle

[0070] 22 Input Variables

[0071] Step S1

[0072] S2 Step

[0073] S3 Step

[0074] S4 Step

[0075] t1 First time point

[0076] t2 Second time point

Claims

1. A method for a lane guidance assist device (2) for operating a vehicle (1), the method comprising the following steps: Perform steering intervention for automated lateral guidance of the vehicle (1). Receive a preset navigation route for traveling using the vehicle (1). Identify the fork (15) of the driving lane (12) on which the vehicle (1) is currently moving, wherein at the fork (15), the first driving lane (14) branches off from the second driving lane (13). Select the first driving lane (14) to follow the preset navigation route. A first trajectory (17) is planned in the area of ​​the fork (15) for the automated lateral guidance, wherein the first trajectory (17) guides the selected first driving lane (14). Its features are, The following steps are provided: Before the vehicle (1) reaches the fork (15), check whether there is a different driver's intention to continue following the second driving lane (13), and If there are different driver intentions, the second driving lane (13) is selected and a second trajectory (16) for the automated lateral guidance is planned in the area of ​​the fork (15), wherein the second trajectory (16) is directed to the second driving lane (13).

2. The method according to claim 1, Its features are, To check for the presence of the different driver intentions, the steering wheel angle (21) set by the driver and / or the steering wheel torque applied by the driver are detected.

3. The method according to claim 2, Its features are, The steering wheel angle (22) and / or the steering torque are compared with a first threshold, wherein the first threshold is less than a second threshold, at which the automated lateral guidance is deactivated.

4. The method according to any one of the preceding claims, Its features are, The presence of the different driver's intentions is checked during a predetermined time period and / or a predetermined road segment before the vehicle (1) reaches the fork (15).

5. The method according to any one of the preceding claims, Its features are, Plan the first trajectory (17) and / or the second trajectory (16) such that the vehicle (1) has a lateral offset in the driving lane (13, 14) toward the selected driving lane (13, 14) before reaching the fork (15).

6. The method according to any one of the preceding claims, Its features are, The second trajectory (16) is planned based on environmental data from environmental sensor (4), wherein only environmental data describing the driving lane boundary (18) of the second driving lane (13) is used to plan the second trajectory (16).

7. The method according to any one of the preceding claims, Its features are, The second trajectory (16) is planned based on digital map data, wherein the digital map data describes the bifurcation (15).

8. A lane guidance assist device (2) for a vehicle (1), wherein the lane guidance assist device (2) is designed to: Perform steering intervention for automated lateral guidance of the vehicle (1). Receive a preset navigation route for traveling using the vehicle (1). Identify the fork (15) of the driving lane (12) on which the vehicle (1) is currently moving, wherein at the fork (15), the first driving lane (14) branches off from the second driving lane (13). Select the first driving lane (14) to follow the preset navigation route. A first trajectory (17) is planned in the area of ​​the fork (15) for the automated lateral guidance, wherein the first trajectory (17) guides the selected first driving lane (14). Its features are, The lane guidance assist device (2) is also designed to: Before the vehicle (1) reaches the fork (15), check whether there is a different driver's intention to continue following the second driving lane (13), and If there are different driver intentions, the second driving lane (13) is selected and a second trajectory (16) for the automated lateral guidance is planned in the area of ​​the fork (15), wherein the second trajectory (16) is directed to the second driving lane (13).

9. A vehicle (1) comprising a lane guidance assist device (2) according to claim 8.

Images