Method and device for assisting a driver in a vehicle

Abstract

Method for assisting a driver in a vehicle (50), wherein the vehicle (50) has an environment sensor system (2) for acquiring environment data (4) of an environment of the vehicle (50) and a control system (3) for determining a current traffic condition (5) from the acquired environment data (4), comprising the following steps: - Determining a current overtaking maneuver state (6), wherein overtaking maneuver states (6) each represent one of several successive situations during an overtaking maneuver, - Providing at least one piece of support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7) based on the determined current traffic condition (5), wherein the provision of the support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7) is dependent on the determined current overtaking maneuver condition (6) and - Displaying the provided support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7), wherein when determining the overtaking maneuver state (6) and / or when providing at least one support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7) a topographic environment map (14) with topographic information on the route is evaluated and taken into account, and wherein visibility information (15) is stored in the topographic environment map (14) and / or visibility information (15) is estimated on the basis of the topographic environment map (14), wherein the visibility information (15) indicates for each position in the topographic environment map (14) how good the visibility of a respective preceding section of the route is or will be for the driver of the vehicle (50).

Description

[0001] The invention relates to a method and a device for assisting a driver in a vehicle, in particular in a motor vehicle.

[0002] Modern vehicles feature a variety of driver assistance systems that support the driver. This support provides, for example, information about the vehicle's surroundings and / or information about other road users.

[0003] Especially during an overtaking maneuver, important information is needed to assist the driver. This support information includes, for example, information about oncoming vehicles, vehicles ahead, and the condition of the road ahead. Currently, however, the provision of support information during an overtaking maneuver is only unsatisfactorily implemented.

[0004] From DE 10 2015 015 944 A1, a method for supporting a driver of a motor vehicle with regard to upcoming overtaking maneuvers by means of a driver assistance system is known, wherein a suitability for overtaking determined from overtaking information is output to a driver for a specific section of the route, wherein, for determining the overtaking information: route data relating at least partially to sections of the route, which influence the assessment of the suitability for overtaking on a section of the route, are determined by a plurality of data-collecting vehicles during a journey along a route and are transmitted to a central computing unit external to the motor vehicle.The route data of various motor vehicles assigned to a specific section of the route are statistically evaluated to determine the overtaking information related to that section, and this overtaking information is made available to all motor vehicles equipped with a driver assistance system to support the driver with regard to upcoming overtaking maneuvers.

[0005] From DE 10 2010 004 625 A1, a method for assisting a driver of a motor vehicle is known. In this method, during an overtaking maneuver, the distance between the motor vehicle and a vehicle ahead is automatically regulated to a first target distance d1, with an initial acceleration a1 being provided. After the driver's intention to overtake is detected at a start time ts, the distance to the vehicle ahead is regulated to a second, smaller target distance, and a second, increased acceleration a2 is provided. This relieves the driver during the overtaking maneuver and ensures a safe, comfortable, and swift execution of the overtaking process. Furthermore, a device for carrying out the method is known.

[0006] DE 10 2011 086 299 A1 discloses a method for informing the driver of an overtaking vehicle about the feasibility of an overtaking maneuver. DE 10 2014 205 391 A1 discloses a device for predicting transitions in a vehicle's driving state. DE 10 2016 220 583 A1 discloses a method for verifying an overtaking possibility condition. DE 10 2016 215 565 A1 discloses a driver assistance system and a method for automatically detecting and assessing a possible overtaking maneuver. DE 10 2004 018 681 A1 discloses a method for avoiding collisions between a vehicle and oncoming vehicles. DE 10 2004 029 369 A1 discloses a lane change assistant for motor vehicles. A driver assistance device is known from US patent 2015 / 0148985 A1.

[0007] The invention is based on the objective of creating a method and a device for supporting a driver in a vehicle, in which support information for the driver can be provided in an improved manner during an overtaking maneuver.

[0008] The technical problem is solved according to the invention by a method with the features of claim 1 and a device with the features of claim 31. Advantageous embodiments of the invention are set forth in the dependent claims.

[0009] In particular, a method for assisting a driver in a vehicle is provided, wherein the vehicle has environmental sensors for acquiring environmental data from the vehicle's surroundings and a control system for determining a current traffic state from the acquired environmental data, comprising the following steps: determining a current overtaking maneuver state, wherein overtaking maneuver states each represent one of several successive situations during an overtaking maneuver, providing at least one piece of support information based on the determined current traffic state, wherein the provision of the support information depends on the determined current overtaking maneuver state, and outputting the provided support information.

[0010] Furthermore, a device for a vehicle to assist a driver is provided, wherein the device has environmental sensors for acquiring environmental data from the vehicle's surroundings and a control system for determining a current traffic condition from the acquired environmental data, wherein the control system is configured to perform the following steps: determining a current overtaking maneuver condition, wherein overtaking maneuver conditions each represent one of several successive situations during an overtaking maneuver, providing at least one piece of support information based on the determined current traffic condition, wherein the provision of the support information depends on the determined current overtaking maneuver condition, and outputting the support information.

[0011] The advantage of the invention is that the support information can be output to the driver in a situation-appropriate manner, both in terms of content and intensity. By differentiating between various overtaking maneuver states, a suitable form of support information can be provided for each of these states. This, in particular, prevents the driver from being overwhelmed by information. The driver can thus receive the support information required in each individual situation during the overtaking maneuver.

[0012] The environmental sensor technology is in particular a three-dimensional environmental sensor technology and can include, for example, a front camera, a top-view camera, a LIDAR sensor, a radar sensor and / or an ultrasonic sensor.

[0013] The current traffic situation, determined from environmental data, includes information on objects in the surroundings, such as the object type (car, truck, bicycle, pedestrian, etc.) and their position, speed, and / or acceleration. Furthermore, the current traffic situation also includes information on the criticality of the respective objects in the vehicle's vicinity. Criticism is a measure of how much attention must be paid to the object from a safety perspective, for example, to ensure a sufficient safety distance and / or to avoid a collision. In particular, oncoming and preceding vehicles can be detected in the environmental data and marked as such in the current traffic situation.

[0014] The current traffic situation can be determined, in particular, by taking into account information about the route in the surrounding area.

[0015] Several input parameters can be processed to determine the overtaking maneuver state. For example, environmental data acquired by the surrounding sensors can be evaluated. It is also possible to use additional sensors, either alternatively or additionally, that capture the current state of the vehicle, its surroundings, and / or the driver. In particular, the current traffic conditions can be taken into account when determining the overtaking maneuver state. It may also be possible to consider further sources of information when determining the overtaking maneuver state. Furthermore, it may be possible to evaluate multiple sensors and / or information sources together or to fuse the resulting data to determine the overtaking maneuver state. Pattern recognition methods, statistical methods, and / or estimation methods can also be employed in this process.

[0016] An overtaking maneuver state is detected when predefined conditions for its occurrence are met by the input parameter(s). Such criteria include, for example, a predetermined state of the vehicle and / or a predetermined state of the environment and / or a predetermined state of the vehicle's driver.

[0017] Assistance information can be displayed visually, audibly, and / or haptically. For example, it can be shown on a suitable display device, such as the vehicle's instrument cluster and / or a head-up display. LED strips and other devices integrated into the vehicle can also display the assistance information or parts thereof. Furthermore, the assistance information can be broadcast via a loudspeaker, for example, as an announcement. Haptic feedback can be provided, for instance, as vibrations in the steering wheel or seat.

[0018] It is intended that when determining the overtaking maneuver state and / or when providing at least one piece of support information, a topographic environment map containing topographic information about the route is evaluated and taken into account. The topographic environment map can, for example, be stored in the controller's memory or provided by an external server via a communication interface of the controller.

[0019] The environment map can include the topographic environment map or the topographic information contained therein.

[0020] It is further provided that visibility information is stored in the topographic environment map and / or visibility information is estimated based on the topographic environment map, whereby the visibility information indicates for each position in the topographic environment map how good the visibility of a respective upcoming section of the route is or will be for the driver of the vehicle.

[0021] The estimation of visibility information can be carried out, for example, by the control system based on topographic information and / or a route, provided the control system is set up accordingly.

[0022] In one embodiment, it is provided that at least the following overtaking maneuver states can be distinguished and determined during the process: a) Approaching a vehicle in front or following behind that vehicle, b) Overtaking request, c) An overtaking maneuver is imminent or its beginning has been detected, d) Vehicle has swerved out.

[0023] The overtaking maneuver condition a) can be determined, for example, if the distance to a vehicle in front is less than 50 m. If the driver continues to follow the vehicle in front, this overtaking maneuver condition is not exited.

[0024] Overtaking maneuver condition b) can be determined, for example, if the driver intends to overtake, but the time for overtaking is not yet fixed.

[0025] The overtaking maneuver condition c) can be determined, for example, when the overtaking maneuver is imminent, i.e., the driver has already initiated initial measures to overtake, for example, by accelerating.

[0026] Overtaking maneuver condition d) can be determined, for example, when a lane in which the vehicle has previously been driving is left and a lane running alongside it is or has been changed.

[0027] The overtaking maneuver states can also be configured or divided differently. In particular, it may be intended that an overtaking maneuver has fewer or more overtaking maneuver states or is divided into them.

[0028] In a further embodiment, it is provided that, when determining the overtaking maneuver state, the speed difference between the vehicle and a vehicle ahead is determined and evaluated. The vehicle's speed can be queried, for example, via odometry. The speed of the vehicle ahead can be detected by means of a suitable sensor. The speed difference can be determined and evaluated by the control system, which is configured accordingly. For example, the overtaking maneuver state b) can be determined in this way when the speed difference to the vehicle ahead exceeds a predetermined threshold.

[0029] In one embodiment, an environmental map is considered and evaluated when determining the overtaking maneuver state. This allows the characteristics of the vehicle's current and future surroundings to be taken into account. The environmental map can, for example, be stored in a dedicated memory within the controller. Alternatively, the environmental map can be provided by an external device, such as an external server. This provision can occur, for example, via a dedicated communication interface of the controller or device.

[0030] In a further developed embodiment, it is provided that a state probability is determined and taken into account when determining the overtaking maneuver state. This makes it possible, in particular, to consider and, if necessary, weight various input variables and various properties, such as those of the current environment or current vehicle parameters. Based on the determined state probability, one of the overtaking maneuver states can then be identified, for example, if the state probability for this overtaking maneuver state is above a predetermined threshold. The state probability can, for example, be determined by the control system, which is configured accordingly for this purpose.

[0031] In a further refined embodiment, it is also provided that overtaking hotspots are stored in the surrounding area map. Overtaking hotspots are locations and / or regions where overtaking is particularly frequent. Such locations are, for example, sections of road that are multi-lane, offer good visibility, and run straight for a considerable distance, so that a driver can always perceive and assess the current traffic situation during an overtaking maneuver and that one overtaking distance is sufficient.

[0032] In a further developed embodiment, it is provided that the environmental map with the overtaking hotspots is created based on recorded driving data from previous journeys of the vehicle and / or other vehicles. For this purpose, for example, recorded odometry data of the vehicles as well as recorded position, speed, and acceleration data can be collected and evaluated. The locations and regions where overtaking is particularly frequent can then be identified in this data. These locations and regions are subsequently marked as overtaking hotspots in the environmental map.

[0033] In a further developed embodiment, the probability of a given state is determined taking into account the overtaking hotspots stored in the environment map. For example, the stored locations and regions can be used to estimate whether the driver might soon perform an overtaking maneuver or not.

[0034] In one embodiment, it is provided that the probability of an overtaking maneuver state b) and / or an overtaking maneuver state c) is increased when the vehicle is at a predetermined distance from an overtaking focal point. If the vehicle is located at or in the region of an overtaking focal point, or in close proximity to it, the probability that an overtaking maneuver will be carried out soon is increased. Accordingly, when determining the overtaking maneuver state, an increased probability of overtaking maneuver states b) and c) is also assumed.

[0035] Furthermore, one embodiment provides that traffic junctions are stored in the environment map, and a probability of a given state is determined taking these junctions into account. Traffic junctions are locations in the road network where traffic routes intersect, such as intersections, on-ramps, off-ramps, etc.

[0036] In a further developed embodiment, it is provided that the probability of an overtaking maneuver state b) and / or an overtaking maneuver state c) is reduced if there is at least one traffic intersection in the immediate vicinity. Experience has shown that a driver's inclination to perform an overtaking maneuver decreases near a traffic intersection. Accordingly, this is taken into account when determining the probability of the state.

[0037] In one embodiment, recorded and / or current driving data are taken into account when determining the overtaking maneuver state. For this purpose, the recorded and / or current driving data are compared with previously known driving patterns that precede an overtaking maneuver. For example, the probability of an overtaking maneuver state can be increased if the recorded and / or current driving data correspond to a driving pattern that typically precedes an overtaking maneuver. Conversely, the probability of an overtaking maneuver state can be decreased if the recorded and / or current driving data do not match the corresponding driving patterns at the beginning of an overtaking maneuver.

[0038] Comparing recorded driving data with known driving patterns makes it possible to recognize or estimate the driver's intentions. The recorded driving data can be stored, for example, in the controller's memory. Alternatively, the recorded driving data can be provided by an external device, such as a server. This provision can occur via a communication interface of the controller or the device, for example, via an internet connection. The comparison can then be performed in the controller, which is configured accordingly.

[0039] In one embodiment, the driver's state, detected by driver sensors, is taken into account when determining the overtaking maneuver state. This allows the driver's characteristics and / or behavior to be considered when determining the overtaking maneuver state. For example, known movement patterns of the driver, which they regularly perform before initiating an overtaking maneuver, can be used to determine an overtaking maneuver state, such as overtaking maneuver state b) or c). By detecting the driver's state, the driver's intention can also be recognized or estimated, which improves the determination of the overtaking maneuver state.

[0040] The device includes driver sensors and the control system is designed to process and evaluate the detected driver state according to the procedure step.

[0041] In a further developed embodiment, it is provided that the driver state detected by the driver sensors includes at least the driver's head position and / or head rotation angle and / or the driver's eye direction. For example, if a head rotation angle and / or eye direction of the driver is detected on a two-lane country road, indicating that the driver is scanning the parallel lane for approaching vehicles (shoulder check), it can be determined, for example, that overtaking maneuver state b) or c) is present.

[0042] In a further developed embodiment, it is provided that at least one of the visibility information was or is estimated taking into account the curve radii of a preceding section.

[0043] In a further developed embodiment, it is also provided that at least one of the visibility parameters is estimated taking into account hills and / or depressions. These hills and / or depressions are taken from the topographic map of the surrounding area. Depending on the viewing location, the visibility then varies depending on the presence of these hills and / or depressions, as they limit the viewing range.

[0044] Furthermore, in a further developed embodiment, it is provided that at least one of the visibility parameters is estimated taking into account buildings and / or vegetation. Buildings and / or vegetation can also limit visibility. Therefore, considering these factors allows for an improved estimate of visibility. For this purpose, the buildings and / or vegetation are also stored in or derived from the topographic map.

[0045] In one of the further developed embodiments, it is provided that at least one of the visibility parameters is estimated taking into account current local lighting conditions and / or weather conditions. This makes it possible to consider current weather conditions when estimating visibility. In particular, it can be provided that the lighting conditions and / or weather conditions are taken into account in real time. For this purpose, the relevant information can be queried, for example, from an external weather service server. The query can be carried out, for example, via a communication interface, with the control system or device being configured accordingly. Alternatively or additionally, the relevant information can also be acquired and provided by means of vehicle sensors.

[0046] In a further refined embodiment, it is also provided that at least one of the visibility indicators was or is estimated taking into account a detected driver state. For example, a detected direction of gaze or a change in direction of gaze and / or a driver's reaction to perceiving a particular object can be used to infer the necessary visibility range or visibility for perceiving that object. If, for instance, a driver brakes very late before reaching a tractor ahead, the reaction can, conversely, be used to conclude that the visibility range or visibility at that position or in that situation was insufficient to react to the tractor ahead in time.

[0047] The driver's state is detected by driver sensors. The data provided by the driver sensors is evaluated and processed by the control unit, which is configured accordingly.

[0048] Furthermore, in a further developed embodiment, at least one of the visibility parameters is estimated, taking into account the acquired environmental data. For this purpose, patterns in the acquired environmental data can be evaluated. For example, a vehicle driving ahead can be detected using a front camera. The vehicle is tracked in the acquired environmental data using pattern recognition, and its distance is estimated. Based on this object tracking in the environmental data, a visibility range or the visibility is then estimated. This estimation can be performed by the control system, which is configured accordingly.

[0049] In a further refined embodiment, at least one piece of visibility information is taken into account when determining the probability of a given state. This further improves the determination of overtaking maneuver states. For example, if a driver has only limited visibility at a certain position on the road, the probability that overtaking maneuver state b) or c) exists is very low, since the driver is unlikely to initiate an overtaking maneuver at that position. Accordingly, the probabilities for overtaking maneuver states b) and c) (and possibly also d)) would be reduced.

[0050] In one embodiment, a driver profile is taken into account when determining the overtaking maneuver state. A driver profile includes, for example, data on previously completed overtaking maneuvers by the driver. The driver profile can be stored, for example, in the controller's memory or provided by an external server via a communication interface of the controller.

[0051] In a further developed embodiment, the driver profile is compared with the current traffic conditions, and the comparison result is taken into account when determining the probability of the overtaking maneuver state. For example, if patterns are found in the current traffic conditions and / or current vehicle data that resemble patterns in previously executed overtaking maneuvers, the probability that the driver plans and / or initiates an overtaking maneuver increases. In particular, the probability of the overtaking maneuver states b) and c) can be increased in this case. The comparison can be performed, for example, by the control system, which is configured accordingly.

[0052] In one embodiment, vehicle characteristics are taken into account when determining the overtaking maneuver state. These characteristics could include, for example, the vehicle's current load status and / or its current tire configuration. This allows the vehicle's characteristics to be considered when determining the overtaking maneuver state and / or when providing support information. For instance, the vehicle's responsiveness to driver inputs (e.g., steering, acceleration, braking, etc.) can be estimated based on the current tire configuration and / or load status, and corresponding support information can be provided.The vehicle's characteristics can be queried, for example, via on-board electronics and / or by the vehicle's driver via a corresponding prompt or input screen, for example on a display and control unit of the vehicle.

[0053] In one embodiment, the determination of the current traffic situation and / or the overtaking maneuver state is additionally carried out taking into account at least one piece of traffic information. Traffic information includes, for example, information about construction sites on an upcoming stretch of road. Here, too, it can be provided that the probability of an overtaking maneuver state is reduced, for example, if construction sites are expected on the upcoming stretch of road and the probability that the driver will overtake there is thereby reduced.

[0054] Traffic information can be retrieved, for example, via a car radio (e.g., Traffic Message Channel, TMC) and / or an external server of a traffic information service (e.g., Real Time Traffic Information, RTTI). Furthermore, driving data from other vehicles can also be analyzed, and current traffic information derived from the results. The traffic information can be provided, for example, via a suitable communication interface of the control unit or device.

[0055] In one embodiment, it is provided that, after the overtaking maneuver state is determined (a), support information is output, which includes properties of an upcoming road segment relevant to a potential overtaking maneuver. These relevant properties are, for example, road surface conditions, the number of lanes, information on a no-overtaking zone (beginning and / or end) or other restrictive traffic information, and / or a change in a speed limit. In this overtaking maneuver state (a), the provided support information should be output in the most discreet form possible, for example, merely as a notification on a head-up display with subordinate priority and / or intensity.

[0056] In a further embodiment, it is also provided that, after the overtaking maneuver state (b) is detected, support information is issued to assist the driver in preparing for an overtaking maneuver. In particular, the support information includes information that enables the driver to carry out a risk-free overtaking maneuver, i.e., to avoid risky situations. The provided support information can, for example, also include the information that was provided and issued after the overtaking maneuver state (a) was detected. Furthermore, the support information can alternatively or additionally include information indicating that an overtaking request has been detected.

[0057] Furthermore, in a further developed embodiment, the support information includes the overtaking distance required for the overtaking maneuver. In particular, the vehicle's speed, its possible and typical acceleration during overtaking maneuvers, the speed of a vehicle ahead, the distance to the vehicle ahead, and the length of the vehicle ahead are taken into account.

[0058] In a further developed embodiment, it is also provided that the support information includes information about oncoming vehicles. Such information can, for example, be derived by the control system from the detected environmental data. For example, the support information can include the distance and speed of an oncoming vehicle.

[0059] In a further developed embodiment, the support information is additionally provided to include current and / or estimated future behavior of a vehicle ahead. For example, it can be estimated whether the vehicle ahead will soon brake or accelerate. The support information then includes the result of this estimate.

[0060] In a further refined embodiment, the support information includes an overtaking maneuver recommendation. This recommendation can be either positive or negative. For example, it might provide information about the optimal time or speed for performing the overtaking maneuver. However, it could also advise against an overtaking maneuver, for instance, because it requires high acceleration or a longer overtaking distance, etc.

[0061] In one embodiment, it is provided that after the overtaking maneuver state b) is determined and a predetermined distance to a vehicle ahead is breached, the support information is provided and output depending on at least three conditions: - Overtaking condition 1: If the overtaking distance is estimated to be twice the overtaking distance plus a safety distance and no oncoming vehicle is detected in the vicinity, no support information will be provided or issued. - Overtaking condition 2: If the overtaking distance is estimated to be twice the overtaking distance plus a safety distance and is not visible to the driver, and no oncoming vehicle is detected in the vicinity, the provided and displayed support information includes at least the information that the visible section of the road is insufficient for safe overtaking. Optionally, in assisted driving situations, the system may also provide intervention to the driver by means of an assistance system that prevents the driver from pulling out into the adjacent lane. - Overtaking condition 3: If an oncoming vehicle is detected in the vicinity, which would very likely collide with the vehicle during an overtaking maneuver, the support information includes at least information about the oncoming vehicle.

[0062] In a further embodiment, it is also provided that, after determining the overtaking maneuver state c), the support information is provided and output depending on at least three conditions: - Overtaking condition 1:

[0063] If the overtaking distance is estimated to be twice the overtaking distance plus a safety distance and no oncoming vehicle is detected in the vicinity, no support information will be provided or issued. - Overtaking condition 2:

[0064] If the overtaking distance is estimated to be twice the overtaking distance plus a safety distance and is not visible to the driver, and no oncoming vehicle is detected in the vicinity, the provided and displayed support information includes at least a warning that the visible section of the road is insufficient for safe overtaking and a recommendation that the overtaking maneuver should not be initiated. Optionally, in assisted driving situations, the system may also provide intervention to the driver by means of an assistance system that prevents the driver from pulling out into the adjacent lane. - Overtaking condition 3:

[0065] If an oncoming vehicle is detected in the vicinity which would very likely collide with the vehicle if an overtaking maneuver were carried out, the support information includes at least a warning about the oncoming vehicle and an overtaking maneuver recommendation that the overtaking maneuver should not be initiated.

[0066] In one embodiment, it is provided that after the overtaking maneuver state d) has been determined and if an oncoming vehicle is detected in the vicinity, the support information includes an acute warning information about the oncoming vehicle and an overtaking maneuver recommendation that the overtaking maneuver should be aborted.

[0067] It may further be stipulated that support information, which includes recommendations and / or warnings, also includes information on the reasons for the respective recommendation or warning. Such information includes, for example, a justification in the form of one of the following: - Oncoming traffic, - insufficient visibility (due to a curve, a hilltop, a valley, weather conditions, etc.), - upcoming change to the speed limit, - upcoming change in the speed limit in the area of ​​the upcoming curve, - upcoming overtaking ban, - insufficient overtaking distance (e.g. before a traffic light intersection, a left-turn lane, a traffic island, etc.) or - other hazards (e.g., wildlife crossings, potholes, accident sites, construction sites, etc.).

[0068] The associated device is designed to carry out the individual and combined embodiments of the method.

[0069] The invention is explained in more detail below with reference to preferred embodiments and the figures. These show: Fig. 1 a schematic representation of an embodiment of the device for assisting a driver in a vehicle; Fig. 2 a schematic flowchart of an embodiment of the method for assisting a driver in a vehicle; Fig. 3 a schematic representation of another embodiment of the device for assisting a driver in a vehicle; Fig. 4 a schematic representation of another embodiment of the device for assisting a driver in a vehicle; Fig. 5 a schematic representation of another embodiment of the device for assisting a driver in a vehicle; Fig. 6 a schematic representation of an embodiment of the device according to the invention for supporting a driver in a vehicle; Fig. 7 a schematic representation of another embodiment of the device for assisting a driver in a vehicle; Fig. 8 a schematic representation of another embodiment of the device for assisting a driver in a vehicle; Fig. 9 a schematic representation of another embodiment of the device for assisting a driver in a vehicle; Fig. 10 a schematic overview of issued support information; Fig. 11a-11b a schematic representation of the in Fig. 10 different overtaking conditions.

[0070] In Fig. Figure 1 shows a schematic representation of an embodiment of the device 1 for assisting a driver in a vehicle 50. The device 1 is arranged in the vehicle 50 and comprises an environmental sensor 2 and a control unit 3. The environmental sensor 2 detects the environment of the vehicle 50 and transmits the detected environmental data 4 to the control unit 3.

[0071] The control unit 3 determines a current traffic condition 5 from the acquired environmental data 4. The current traffic condition 5 includes, for example, information about vehicles ahead and oncoming vehicles, as well as the condition of the road ahead. The control unit 3 is also configured to determine a current overtaking maneuver condition 6. For this purpose, the control unit 3 can, for example, determine a speed difference between vehicle 50 and a vehicle ahead using the environmental sensors 2 and compare it with a threshold value. Furthermore, odometry and / or position or navigation data can also be evaluated by the control unit 3 to determine the overtaking maneuver condition 6.

[0072] The control unit 3 then provides at least one support information 7 based on the determined current traffic condition 5, whereby the provision of the support information 5 depends on the determined current overtaking maneuver condition 6.

[0073] The provided support information 7 is then displayed, for example on a display device 8.

[0074] In Fig. Figure 2 shows a schematic flowchart of an embodiment of the method for assisting a driver in a vehicle. It is provided that at least the following overtaking maneuver states can be distinguished and determined by the control system: a) Approaching a vehicle in front or following behind that vehicle, b) Overtaking request, c) An overtaking maneuver is imminent or its beginning has been detected, d) Vehicle 50 has pulled out.

[0075] The overtaking maneuver state a) can be determined, for example, when the distance to a vehicle ahead is less than 50 m (or more than another predetermined value). If the driver continues to follow the vehicle ahead, the overtaking maneuver state a) is not exited.

[0076] Overtaking maneuver condition b) can be determined, for example, if the driver intends to overtake, but the time for overtaking is not yet fixed.

[0077] The overtaking maneuver condition c) can be determined, for example, when the overtaking maneuver is imminent, i.e., the driver has already initiated initial measures to overtake, for example, when he has started accelerating.

[0078] Overtaking maneuver condition d) can be determined, for example, if a lane in which the vehicle has previously been driving is left and a lane running alongside it is or has been changed.

[0079] In the first process step 100, environmental data from the vehicle's surroundings is collected using environmental sensors. This environmental data includes, in particular, information about vehicles ahead and oncoming vehicles.

[0080] In the subsequent procedure step 101, the control system determines the current overtaking maneuver state. This determined current overtaking maneuver state is then checked in procedure steps 102, 104, 106, and 108 to determine whether one of the aforementioned overtaking maneuver states a) to d) is present.

[0081] In process steps 103, 105, 107, and 109, support information tailored to the corresponding overtaking maneuver condition is issued. The respective process step 103, 105, 107, or 109 is executed when the check confirms the presence of the respective overtaking maneuver condition. Depending on the current traffic situation and the determined overtaking maneuver condition, the support information is then provided and issued with varying content, scope, and / or intensity.

[0082] In Fig. Figure 3 shows a schematic representation of a further embodiment of the device 1 for assisting a driver in a vehicle 50. The device 1 is arranged in the vehicle 50 and comprises an environmental sensor 2 and a control unit 3. The environmental sensor 2 detects the environment of the vehicle 50 and transmits the detected environmental data 4 to the control unit 3.

[0083] The control unit 3 determines a current traffic condition 5 from the acquired environmental data 4. The current traffic condition 5 includes, for example, information about vehicles ahead and oncoming vehicles, as well as the condition of the road ahead. The control unit 3 is also configured to determine a current overtaking maneuver condition 6. For this purpose, the control unit 3 can, for example, determine a speed difference between vehicle 50 and a vehicle ahead using the environmental sensors 2 and compare it with a threshold value. Furthermore, odometry and / or position or navigation data can also be evaluated by the control unit 3 to determine the overtaking maneuver condition 6.

[0084] Additionally, the controller 3 includes a memory 21. A background map 9 is stored in memory 21. It is specifically intended that the background map 9 is taken into account and evaluated by the controller 3 when determining the overtaking maneuver state 6. The background map 9 contains properties of the current and future environment of the vehicle 50, which can be considered in this way. Alternatively, the background map 9 can also be provided by an external device, such as an external server. This provision can occur, for example, via a dedicated communication interface (not shown) of the controller 3 or the device 1.

[0085] Furthermore, it can be provided that the control system 3 determines and considers a state probability 10 when determining the overtaking maneuver state 6. This makes it possible, in particular, to consider various input variables and various properties, such as the current environment or current vehicle parameters, and to weight them accordingly when determining the overtaking maneuver state 6. Based on the determined state probability 10, one of the overtaking maneuver states 6 can then be determined, for example, if a determined state probability 10 is above a predetermined threshold value.

[0086] It may be planned that nine overtaking hotspots are marked on the map. Overtaking hotspots are locations and / or regions on the map where overtaking is particularly frequent. Such locations include, for example, sections of road that are multi-lane, offer good visibility, and run straight for a considerable distance, allowing a driver to always assess the current traffic situation and ensure a sufficiently long overtaking path.

[0087] It may also be envisaged that the environment map 9, showing overtaking hotspots, was or will be created based on recorded driving data from previous journeys of vehicle 50 and / or other vehicles. For this purpose, for example, recorded odometry data from the vehicles, as well as recorded position, speed, and / or acceleration data, can be collected and analyzed. This data can then be used to identify the locations and regions where overtaking is particularly frequent. These locations and regions are then marked as overtaking hotspots in the environment map 9.

[0088] It can also be provided that the probability of state 10 is determined taking into account the overtaking hotspots stored in the environment map 9. For example, the stored locations and regions can be used to estimate whether the driver might soon perform an overtaking maneuver or not.

[0089] For example, it may be stipulated that in the Fig. In the embodiment described in Figure 2, the probability of an overtaking maneuver in state b) and / or state c) is increased when the vehicle 50 is at a predetermined distance from an overtaking focal point. If the vehicle 50 is located at or in the region of an overtaking focal point, or in close proximity to it, the probability that an overtaking maneuver will soon be carried out is increased. Accordingly, when determining the overtaking maneuver state 6, an increased probability of overtaking maneuver states b) and c) is also assumed, since overtaking is more likely than at other locations.

[0090] It can also be provided that 9 traffic junctions are stored in the environment map, whereby a probability of 10 is determined taking these junctions into account. In this way, locations where traffic routes intersect, such as intersections, on-ramps, off-ramps, etc., can also be considered.

[0091] In particular, it may be provided that the probability of overtaking state 10 (b) and / or the overtaking state (c) is reduced if there is at least one traffic junction in the immediate vicinity. Experience shows that a driver's inclination to perform an overtaking maneuver decreases near a traffic junction. Accordingly, this is taken into account when determining the probability of overtaking state 10.

[0092] The control unit 3 then provides at least one support information 7 based on the determined current traffic condition 5, whereby the provision of the support information 5 depends on the determined current overtaking maneuver condition 6.

[0093] The provided support information 7 is then displayed, for example on a display device 8.

[0094] In Fig. 4 shows a further embodiment of the device 1, which includes the features described in the Fig. The embodiment shown in Figure 1 is further developed. In this embodiment, the control system 3 takes into account recorded driving data 11 when determining the overtaking maneuver state 6, whereby the recorded driving data is compared with previously known driving patterns that precede an overtaking maneuver.

[0095] For example, a state probability 10 can be increased if the recorded driving data 11 corresponds to a driving pattern that precedes an overtaking maneuver. Conversely, a state probability 10 for an overtaking maneuver state 6 can be decreased if the recorded driving data 11 does not correspond to the relevant driving patterns at the beginning of an overtaking maneuver. Comparing the recorded driving data 11 with previously known driving patterns makes it possible to recognize or estimate the intention of the driver of vehicle 50. The recorded driving data 11 can, for example, be stored in a memory 21 of the controller 3.

[0096] It may also be provided that the recorded driving data 11 is supplied by an external device, e.g., a server. This can be done via a communication interface 12 of the controller 3, for example, via an internet connection.

[0097] In Fig. 5 shows a further embodiment of the device 1, which includes the features described in the Fig. The embodiment shown in Figure 1 is further developed. In this embodiment, the device 1 comprises a driver sensor system 13. It is further provided that the control unit 3 takes into account a driver state detected by the driver sensor system 13 when determining the overtaking maneuver state 6. In this way, the control unit 3 can also consider characteristics and / or behaviors of the driver when determining the overtaking maneuver state 6. For example, known movement patterns of the driver, which he regularly performs before initiating an overtaking maneuver, can be used to determine an overtaking maneuver state 6, for example, overtaking maneuver state b) or c) (see Figure 1). Fig. 2) By recording the driver's state, the intention of the driver of vehicle 50 can be recognized or estimated, which can further improve the determination of the overtaking maneuver state 6.

[0098] It may also be provided that the driver state detected by means of the driver sensor system 13 includes at least a head position of the driver and / or a head rotation angle of the driver and / or a direction of the driver's gaze. For example, if a head rotation angle and / or a direction of gaze of the driver is detected on a two-lane rural road, indicating that the driver is scanning the parallel lane for approaching vehicles (shoulder check), it can be determined, for example, that overtaking maneuver state b) or c) (see Fig. 2) are present.

[0099] In Fig. Figure 6 shows an embodiment of the invention. It is provided that the controller 3 evaluates and considers a topographic environment map 14 containing topographic information for the route when determining the overtaking maneuver state 6 and / or when providing the at least one piece of support information 7. The topographic environment map 14 can be stored in a memory 21 of the controller 3 or can additionally or alternatively be provided to the controller 3 from an external server via a communication interface 12.

[0100] It is further provided that visibility information 15 is stored in the topographic environment map 14 and / or visibility information 15 is estimated on the basis of the topographic environment map 14, wherein the visibility information 15 indicates for each position in the topographic environment map 14 how good the visibility of a respective preceding section of the route is or will be for the driver of the vehicle 50.

[0101] The estimation of visibility information 15 can, for example, be carried out by the control unit 3 on the basis of the topographic information stored in the topographic environment map 14 and / or a route alignment.

[0102] It may be provided that at least one of the visibility information 15 was or is estimated taking into account the curve radii of an upcoming section.

[0103] Furthermore, it may be provided that at least one of the visibility information 15 was or is estimated taking into account hills and / or depressions. The hills and / or depressions are taken from the topographic environment map 14. Depending on the viewing location, the visibility will then vary depending on the presence of hills and / or depressions, as these limit the viewing range.

[0104] Furthermore, it may also be stipulated that at least one of the visibility information 15 has been or will be estimated taking into account buildings and / or vegetation. Buildings and / or vegetation can also limit visibility. Therefore, taking them into account allows for a more accurate estimate of visibility. The buildings and / or vegetation are also shown in or derived from the topographic map 14.

[0105] It may be provided that at least one of the visibility information 15 has been or is being estimated taking into account current local lighting conditions and / or weather conditions. This makes it possible to consider current weather conditions when estimating visibility. In particular, it may be provided that the lighting conditions and / or weather conditions are taken into account in real time. For this purpose, the relevant information can, for example, be queried from the external server of a weather service. The query can be carried out, for example, by the controller 3 via the communication interface 12. Alternatively or additionally, the relevant information can also be acquired and provided by means of vehicle sensors.

[0106] It may also be provided that at least one of the visibility information 15 was or is estimated taking into account a detected driver state. For this purpose, the device 1 includes a driver sensor 13 for detecting the driver state. The data provided by the driver sensor 13 are evaluated and processed, for example, by the control unit 3. In this way, for example, a detection of the driver's gaze direction or a change in gaze direction and / or reaction to the perception of a specific object can be used to infer the necessary visibility range or visibility for perceiving that object. If, for example, a driver brakes very late in front of a tractor ahead, the reaction can conversely be used to infer that the visibility range or visibility at that position or in that situation was insufficient to react to the tractor ahead in time.

[0107] It may also be provided that at least one of the visibility information 15 was or is estimated taking into account the acquired environmental data 4. For this purpose, patterns in the acquired environmental data 4 can, for example, be evaluated by the controller 3. For example, a vehicle driving ahead can be detected by means of a front camera. In the environmental data 4 acquired in this way, the vehicle driving ahead is tracked using pattern recognition methods, and a distance to it is estimated. Based on this object tracking in the environmental data 4, the controller 3 then estimates, for example, a visibility range or the visibility.

[0108] It can also be provided that a state probability 10 is determined by the controller 3. When determining the state probability 10, the controller 3 can take into account at least one of the visibility information 15. In this way, the determination of the overtaking maneuver states 6 can be further improved.

[0109] For example, if a driver has limited visibility at a certain position on the track, the probability that the overtaking maneuver will occur in condition b) or c) (see Fig. 2) is present, only very slight, as the driver is unlikely to attempt an overtaking maneuver in this position.

[0110] In Fig. 7 shows a further embodiment of the device 1, which includes the features described in Fig. The embodiment shown in Figure 1 is further developed. Here, the controller 3 takes a driver profile 16 into account when determining the overtaking maneuver state 6. A driver profile 16 includes, for example, data on overtaking maneuvers already completed by the driver. The driver profile 16 can, for example, be stored in a memory 21 of the controller 3 or be provided by an external server via a communication interface 12.

[0111] It can be provided that the control unit 3 determines a probability of state 10 for the overtaking maneuver states 6. It is provided that the driver profile 16 is compared by the control unit 3 with the current traffic state 5, and the comparison result is taken into account when determining the probability of state 10 for the overtaking maneuver state 6. For example, if patterns are found in the current traffic state 5 and / or current vehicle data that resemble patterns in overtaking maneuvers already performed by driver profile 16, the probability that the driver plans and / or initiates an overtaking maneuver increases.

[0112] In particular, in this case a state probability 10 of the overtaking maneuver states b) and c) (see Fig. 2) be increased.

[0113] In Fig. Figure 8 shows a further embodiment of the device 1, which includes the features described in Figure 8. Fig. The embodiment shown in Figure 1 is further developed. In this embodiment, it is provided that the control unit 3 takes into account the properties 17 of the vehicle 50 when determining the overtaking maneuver state 6.

[0114] Properties 17 of the vehicle 50 can, for example, be the current load state of the vehicle 50 and / or the current tires fitted to the vehicle 50. These properties 17 can, for example, be temporarily stored in a memory 21 of the controller 3. In this way, the properties 17 of the vehicle 50 can be taken into account when determining the overtaking maneuver state 6 and / or when providing the support information 7. For example, the vehicle 50's responsiveness to driver inputs (e.g., steering, acceleration, braking, etc.) can be estimated from the current tires and / or the current load state, and corresponding support information 7 can be provided.

[0115] The properties 17 of the vehicle 50 can be queried, for example, via on-board electronics and / or by the driver of the vehicle 50 via a corresponding prompt or input screen, for example on a display and control unit of the vehicle 50. For this purpose, the device 1 includes a correspondingly designed communication interface 12 to communicate with the on-board electronics or the display and control unit of the vehicle 50.

[0116] In this embodiment, it can also be provided that the control system 3 estimates a probability of state 10 of the overtaking maneuver states 6 and takes into account the properties 17 of the vehicle 50 when estimating.

[0117] In Fig. 9 shows a further embodiment, which is based on the one described in Fig. The embodiment shown in Figure 1 is based on this. It is provided that the determination of the current traffic condition 5 and / or the determination of the overtaking maneuver condition 6 is additionally carried out taking into account at least one traffic information 18. A traffic information 18 includes, for example, information on construction sites on a preceding section of road.

[0118] Here too, it can be provided that a state probability 10 of the overtaking maneuver states 6 is determined by the control unit 3, whereby it can be provided that the state probability 10 is changed by the control unit 3 based on the traffic information 18. In particular, the state probability 10 can be reduced by the control unit 3, for example, if roadworks are expected in the upcoming section of the road and the probability that the driver will overtake is thereby reduced.

[0119] The traffic information 18 can be queried, for example, via a car radio (e.g., Traffic Message Channel, TMC) and / or an external server of a traffic information service (e.g., Real Time Traffic Information, RTTI). The querying of the traffic information 18 can be carried out, for example, via a corresponding communication interface 12 of the device 1.

[0120] Furthermore, driving data from other vehicles can also be evaluated and current traffic information 18 derived from this. The provision of this driving data can also be done, for example, via the communication interface 12 of the device 1.

[0121] The in the Fig. The embodiments shown in 2 to 9 can be combined in any combination.

[0122] In Fig. Figure 10 shows that, in one embodiment of the method, the provision and output of at least one piece of support information 7 is shown in a clear, tabular format based on the current traffic situation. According to the invention, the provision of the support information 7 depends on the current overtaking maneuver situation 6. The information related to the overtaking maneuver situation is used in this process. Fig. The overtaking maneuver states 6 defined in the embodiment shown in 2 are distinguished. The type 19 of support information 7 provided is shown in the second row of the table, distinguishing between early information (“(Info)”), information (“Info”), early warning (“!”) and acute warning (“!!!”).

[0123] The provided support information 7 is shown depending on the respective overtaking conditions 20-1, 20-2, 20-3 that are met. The current traffic conditions 5 corresponding to the respective overtaking conditions 20-1, 20-2, 20-3 are shown schematically in the Fig. 11a, Fig. 11b and Fig. Figure 11c shows a vehicle 50 following a preceding vehicle 51. Also shown are an overtaking path 52, a visibility 53, and a route 54 of an oncoming vehicle 55.

[0124] It is intended that, after the overtaking maneuver state 6 “a)” has been determined, support information 7-1 will be issued in the form of information which contains properties of a preceding track section 56 relevant for a potential overtaking operation ( Fig. 11a, Fig. 11b, Fig.11c). These relevant properties include, for example, road conditions, the number of lanes, information on a no-overtaking zone (beginning and / or end) or other restrictive traffic information, and / or a change in a speed limit. In this overtaking maneuver state 6 “a),” the provided support information 7-1 should be displayed in the most discreet way possible, for example, only as a notification on a head-up display with subordinate priority and / or intensity. Overtaking conditions 20-1, 20-2, 20-3 are not differentiated in this overtaking maneuver state 6 “a).”

[0125] Furthermore, it is provided that after the overtaking maneuver state 6 "b)" is detected, support information 7-2 is issued to assist the driver in preparing an overtaking maneuver. Specifically, support information 7-2 includes information that enables the driver to execute a risk-free overtaking maneuver, i.e., to avoid risky situations. The provided support information 7-2 may, for example, also include the information provided as part of support information 7-1, which was made available and issued after the overtaking maneuver state 6 "a)" was detected. Alternatively or additionally, support information 7-2 may also include information indicating that an overtaking request has been detected.

[0126] In particular, it is provided that after the overtaking maneuver state 6 “b)” has been determined and a predetermined distance to a vehicle ahead has been breached, the support information will be provided and issued depending on at least three overtaking conditions 20-1, 20-2, 20-3: - Overtaking condition 20-1: If the overtaking distance 52 plus a safety distance is estimated to be visible to the driver and no oncoming vehicle 55 is detected in the vicinity, no support information 7 is provided or issued. - Overtaking condition 20-2: If the overtaking distance 52 twice plus a safety distance is estimated to be not visible to the driver and no oncoming vehicle 55 is detected in the vicinity, the provided and issued support information 7-3 includes at least information that the visible section of the road 56 is not sufficient for safe overtaking. - Overtaking condition 20-3: If an oncoming vehicle 55 is detected in the vicinity, which would very likely collide with vehicle 50 while performing an overtaking maneuver, the provided and issued Support information 7-4 at least one piece of information about the oncoming vehicle 55.

[0127] Furthermore, it is provided that after the overtaking maneuver state 6 “c)” has been determined, the support information 7 will be provided and output depending on the same three overtaking conditions 20-1, 20-2, 20-3: - Overtaking condition 20-1: If the overtaking distance 52 plus a safety distance is estimated to be visible to the driver and no oncoming vehicle 55 is detected in the vicinity, no support information 7 is provided or issued; - Overtaking condition 20-2: If the overtaking distance 52, plus a safety distance, is deemed not visible to the driver and no oncoming vehicle 55 is detected in the vicinity, the provided and issued support information 7-5 includes at least a warning that the visible section of road 56 is insufficient for safe overtaking and a recommendation that the overtaking maneuver should not be initiated. Optionally, in the case of assisted driving, intervention by an assistance system may also be provided to support the driver, preventing the driver from pulling out into the adjacent lane. - Overtaking condition 20-3: If an oncoming vehicle 55 is detected in the vicinity, which would very likely collide with vehicle 50 if an overtaking maneuver were to be carried out, the provided and issued support information 7-6 includes at least a warning about the oncoming vehicle 55 and an overtaking maneuver recommendation that the overtaking maneuver should not be initiated. Optionally, in the case of assisted driving, intervention by means of an assistance system may also be provided to support the driver, preventing the driver from pulling out into the adjacent lane.

[0128] It may also be provided that support information, which includes recommendations and / or warnings, also includes information on the reasons for the respective recommendation or warning. Such information includes, for example, a rationale in the form of one of the following: - Oncoming traffic, - insufficient visibility (due to a curve, a hilltop, a valley, weather conditions, etc.), - upcoming change to the speed limit, - upcoming change in the speed limit in the area of ​​the upcoming curve, - upcoming overtaking ban, - insufficient overtaking distance (e.g. before a traffic light intersection, a left-turn lane, a traffic island, etc.) or - other hazards (e.g., wildlife crossings, potholes, accident sites, construction sites, etc.).

[0129] Furthermore, it is provided that after the overtaking maneuver condition 6 “d)” has been determined and if an oncoming vehicle 55 is detected in the vicinity (overtaking condition 20-3), the support information 7-7 includes an acute warning information about the oncoming vehicle 55 and an overtaking maneuver recommendation that the overtaking maneuver should be aborted. Reference symbol list 1 Device 2. Environmental sensors 3 Control 4 Environmental data 5. Current traffic conditions 6 Overtaking maneuver condition 7 Support Information 7-1 Support Information 7-2 Support Information 7-3 Support Information 7-4 Support Information 7-5 Support Information 7-6 Support Information 7-7 Support Information 8 Display Setup 9. Environment map 10 State probability 11 recorded driving data 12 Communication interface 13 Driver Sensors 14 Environment map 15 Visibility Information 16 Driver profile 17 Vehicle Features 18 Traffic Information 19 Type of support information 20-1 Overtaking condition 20-2 Overtaking condition 20-3 Overtaking condition 21 storage 50 vehicles 51 preceding vehicle 52 times the overtaking distance 53 Visibility 54 Distance 55 oncoming vehicle 100-109 process steps

Claims

[1] Method for assisting a driver in a vehicle (50), wherein the vehicle (50) has environmental sensors (2) for acquiring environmental data (4) of an environment of the vehicle (50) and a control system (3) for determining a current traffic condition (5) from the acquired environmental data (4), comprising the following steps: - Determining a current overtaking maneuver state (6), wherein overtaking maneuver states (6) each represent one of several successive situations during an overtaking maneuver, - Providing at least one piece of support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7) based on the determined current traffic condition (5), wherein the provision of the support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7) is dependent on the determined current overtaking maneuver condition (6) and - Displaying the provided support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7), wherein when determining the overtaking maneuver state (6) and / or when providing at least one support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7) a topographic environment map (14) with topographic information on the route is evaluated and taken into account, and wherein visibility information (15) is stored in the topographic environment map (14) and / or visibility information (15) is estimated on the basis of the topographic environment map (14), wherein the visibility information (15) indicates for each position in the topographic environment map (14) how good the visibility of a respective preceding section of the route is or will be for the driver of the vehicle (50). [2] Method according to claim 1, characterized by , that at least the following overtaking maneuver states (6) can be distinguished and determined during the determination: a) Approaching a vehicle in front or following behind that vehicle, b) Overtaking request, c) An overtaking maneuver is imminent or its beginning has been detected, d) Vehicle (50) has swerved out. [3] Method according to claim 1 or 2, characterized by , that when determining the overtaking maneuver state (6) a speed difference of the vehicle (50) to a vehicle ahead (51) is determined and evaluated. [4] Method according to any one of claims 1 to 3, characterized by , that when determining the overtaking maneuver state (6) a surrounding area map (9) is taken into account and evaluated. [5] Method according to any one of claims 1 to 4, characterized by , that when determining the overtaking maneuver state (6) a state probability (10) is determined and taken into account. [6] Method according to any one of claims 4 to 5, characterized by, that overtaking hotspots are shown in the surrounding area map (9). [7] Method according to claim 6, characterized by , that the environment map (9) with the overtaking focal points was or is created on the basis of recorded driving data (11) of previous journeys of the vehicle (50) and / or other vehicles. [8] Method according to any one of claims 5 to 7, characterized by , that the probability of the state (10) is determined taking into account the overtaking focal points stored in the environment map (9). [9] Method according to claim 8, characterized by , that a state probability (10) of an overtaking maneuver state (6) b) and / or of an overtaking maneuver state (6) c) is increased when the vehicle (50) is at a predetermined distance from an overtaking center point. [10] Method according to any one of claims 4 to 9, characterized by, that traffic junctions are stored in the environment map (9), whereby the probability of the state (10) is determined taking into account the traffic junctions. [11] Method according to any one of claims 1 to 10, characterized by , that when determining the overtaking maneuver state (6) recorded and / or current driving data (11) are taken into account, whereby the recorded and / or current driving data (11) are compared with previously known driving patterns that precede an overtaking maneuver. [12] Method according to any one of claims 1 to 11, characterized by , that when determining the overtaking maneuver state (6) a driver state detected by means of a driver sensor system (13) is taken into account. [13] Method according to claim 12, characterized by, that the driver state detected by means of the driver sensors (13) includes at least a head position of the driver and / or a head rotation angle of the driver and / or a direction of the driver's eyes. [14] Method according to any of the preceding claims, characterized by , that at least one of the visibility information (15) was or is estimated taking into account the curve radii of an upcoming track. [15] Method according to any of the preceding claims, characterized by , that at least one of the visibility information (15) has been or is being estimated taking into account elevations and / or depressions. [16] Method according to any of the preceding claims, characterized by , that at least one of the visibility information (15) has been or is being estimated taking into account any buildings and / or vegetation. [17] Method according to any of the preceding claims, characterized by, that at least one of the visibility information (15) has been or is being estimated taking into account current local light conditions and / or weather conditions. [18] Method according to any of the preceding claims, characterized by , that at least one of the visibility information (15) was or is estimated taking into account a recorded driver condition. [19] Method according to any of the preceding claims, characterized by , that at least one of the visibility information (15) was or is estimated taking into account the environmental data collected (4). [20] Method according to any of the preceding claims, characterized by , that when determining the probability of the state (10) at least one piece of information about visibility (15) is taken into account. [21] Method according to any one of claims 1 to 20, characterized by, that a driver profile (16) is taken into account when determining the overtaking maneuver state (6). [22] Method according to claim 21, characterized by , that the driver profile (16) is compared with the current traffic condition (5), taking into account the comparison result when determining the state probability (10) of the overtaking maneuver condition (6). [23] Method according to any one of claims 1 to 22, characterized by , that when determining the overtaking maneuver state (6) properties (17) of the vehicle (50) are taken into account. [24] Method according to any one of claims 1 to 23, characterized by , that the determination of the current traffic condition (5) and / or the determination of the overtaking maneuver condition (6) is additionally carried out taking into account at least one traffic information (18). [25] Method according to any one of claims 2 to 24, characterized by, that after determining the overtaking maneuver state (6) a) a support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7) is output which includes properties of a preceding track section relevant for a potential overtaking operation. [26] Method according to any one of claims 2 to 25, characterized by , that after determining the overtaking maneuver state (6) b) a support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7) is issued which assists the driver in preparing an overtaking maneuver. [27] Method according to claim 26, characterized by , that the support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7) includes an overtaking distance (52) required for the overtaking maneuver. [28] Method according to claim 26 or 27, characterized by , that the support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7) includes information about oncoming vehicles (55). [29] Method according to any one of claims 26 to 28, characterized by , that the support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7) includes current and / or estimated future behavior of a vehicle ahead (51). [30] Method according to any one of claims 26 to 29, characterized by , that the support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7) includes an overtaking maneuver recommendation. [31] Device (1) for a vehicle (50) to assist a driver, wherein the device (1) comprises an environment sensor system (2) for capturing environment data (4) of an environment of the vehicle (50) and a control system (3) for determining a current traffic condition (5) from the captured environment data (4), wherein the control (3) is configured to perform the following steps: - Determining a current overtaking maneuver state (6), wherein overtaking maneuver states (6) each represent one of several successive situations during an overtaking maneuver, - Providing at least one piece of support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7) based on the determined current traffic condition (6), wherein the provision of the support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7) is dependent on the determined current overtaking maneuver condition (6) and - Outputting the support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7), wherein when determining the overtaking maneuver state (6) and / or when providing the at least one support information (7, 7-1, 7-2, 7-3, 7-4, 7-5, 7-6, 7-7) a topographic environment map (14) with topographic information on the route is evaluated and taken into account, and wherein visibility information (15) is stored in the topographic environment map (14) and / or visibility information (15) is estimated on the basis of the topographic environment map (14), wherein the visibility information (15) indicates for each position in the topographic environment map (14) how good the visibility of a respective preceding section of the route is or will be for the driver of the vehicle (50). [32] Device (1) according to claim 31, wherein the device (1) is configured to perform a method according to any one of claims 2 to 30.

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