Vehicle and method for its operation

Abstract

A vehicle (1) configured as an automated or autonomous vehicle (1) and comprising an information device (9) with a front display unit (8) for transmitting information configured as lane change permission information (SI) to another road user (2) located laterally in front of the vehicle (1) on a lane (FS2) adjacent to a lane (FS1) of the vehicle (1), wherein the information device (9) is configured and set up to display the lane change permission information (SI) on the front display unit (8) upon a recognized and / or predicted intention of the other road user (2) to change into the lane (FS1) of the vehicle (1), wherein the information device (9) is configured and set up to display the lane change permission information (SI) by means of symbols and / or characters, wherein the vehicle (1) comprises an environment detection device,which is designed and configured to detect an environment of the vehicle (1), to detect road users (2, 3) in the environment of the vehicle (1), and to detect their distance from the vehicle (1) and their speed and / or relative speed to the vehicle (1), and wherein the vehicle (1) comprises a control unit (5) which is coupled to a drive train (6) and / or a braking device (7) of the vehicle (1) for its control and / or regulation, wherein the control unit (5) is provided to carry out a longitudinal control of the vehicle (1) in such a way that the other road user (2) is enabled to change into the lane (FS1) of the vehicle (1), wherein the control unit (5) is provided to carry out the longitudinal control in such a way that a gap to another road user (3) traveling ahead in the lane (FS1) of the vehicle (1) is increased and / or a speed of the vehicle (1) is reduced,to allow the other road user (2) to change into the lane (FS1) of the vehicle (1).

Description

[0001] The invention relates to a vehicle and a method for operating the vehicle.

[0002] A driving assistance device and a driving assistance system are known from the prior art, as described in DE 11 2015 002 762 T5. A situation determination section determines whether a situation requires agreement between the first vehicle and a nearby vehicle. A target vehicle specification section specifies a second vehicle as the target vehicle, which must reach agreement with the first vehicle. A planned action specification section specifies a planned action content of the first vehicle when a situation requiring agreement has been determined by the situation determination section. A transmission processing section transmits the planned action content specified by the planned action specification section to the second vehicle.A reception processing section receives the acceptance and rejection information indicating acceptance or rejection of the planned action content from the second vehicle. A notification processing section outputs a notification indicating whether the driver of the second vehicle accepts the planned action content based on the received acceptance and rejection information.

[0003] DE 10 2009 015 170 A1 describes a method and a device for controlling and / or regulating the vehicle's own driving speed, in particular a commercial vehicle. The vehicle's own driving speed is controlled and / or regulated as a function of the driving speed of other vehicles detected behind the vehicle in the direction of travel and / or to the side of the vehicle. The vehicle's own driving speed is controlled and / or regulated in such a way that other vehicles overtaking and / or entering the vehicle's own lane from a lane of limited length can merge into the vehicle's own lane in a timely manner.

[0004] DE 10 2016 204 096 A1 discloses a driver assistance system and a method for operating the driver assistance system. In the method for operating a driver assistance system for a first vehicle in a first lane, operating data and environmental data of the first vehicle are recorded, and a lane change intention for the first vehicle is determined. Furthermore, a driving instruction signal for a lane change to the second lane is determined depending on the recorded data. The first vehicle generates a control signal for a light distribution with at least one light symbol depending on the driving instruction signal, which signalizes to a driver of the first vehicle that the lane change can be carried out safely. The light distribution is displayed to the driver of the first vehicle on the roadway in two areas, with a first area in the first lane and a second area in the second lane.

[0005] DE 88 12 241 U1 describes a motor vehicle with an arrangement on the vehicle body or on an exterior part of the vehicle, wherein an electronic text display device is formed in or on the exterior part of the vehicle.

[0006] EP 2 620 931 A1 discloses a method and a device for assisting a driver of a second vehicle when overtaking a first vehicle. After an overtaking second vehicle has been detected by the first vehicle to be overtaken and communicated to the driver of the first vehicle, a signal is sent to the driver of the second vehicle, reassuring them that their vehicle has not been overlooked by the driver of the first vehicle.

[0007] The invention is based on the object of providing a vehicle which is improved compared to the prior art and a method for operating the vehicle which is improved compared to the prior art.

[0008] The object is achieved according to the invention by a vehicle having the features of claim 1 and a method for operating the vehicle having the features of claim 5.

[0009] Advantageous embodiments of the invention are the subject of the subclaims.

[0010] According to the invention, a vehicle is designed as an automated or autonomous vehicle, i.e. as a vehicle which is capable of carrying out automated or autonomous driving, in particular is designed and equipped for this purpose. According to the invention, this vehicle comprises an information device with a front display unit for transmitting information in the form of lane change permission information to another road user located laterally in front of the vehicle in a lane adjacent to a lane of the vehicle, i.e. to a road user who is located laterally in front of the vehicle in the adjacent lane and at least partially in front of the vehicle in the direction of travel, for example half a length ahead of the other road user, or is already completely in front of the vehicle, i.e.At least the entire length of the laterally offset other road user is already in front of the vehicle in the direction of travel, or there is already a longitudinal distance between the vehicle and this laterally offset other road user. The front display unit is directed forward, i.e., in the direction of the front of the vehicle and thus in the direction of travel of the vehicle. It is therefore visible to the other road user, for example, via a rear-view mirror or a rear-facing camera of the other road user. The front display unit is designed, for example, as a front display.

[0011] According to the invention, the information device is designed and configured to display the lane change permission information on the front display unit, in particular when the intention of the other road user to change into the vehicle's lane is detected and / or predicted, for example, to merge or to perform the zipper procedure. The displayed lane change permission information is advantageously designed as information that makes it clear to the other road user that the vehicle will allow them to change into the vehicle's lane. This other road user is, in particular, a non-automated and / or non-autonomous vehicle, i.e.This vehicle, which is designed as another road user, is driven by a driver who is responsible for carrying out the lane change, or it may be a non-automated and / or non-autonomous vehicle. The displayed lane change authorization information is therefore specifically directed at the driver of this other road user, which is designed as a vehicle, particularly as a non-automated and / or non-autonomous vehicle.

[0012] In a method according to the invention for operating the vehicle, in particular when the intention of the other road user, who is located laterally in front of the vehicle in the lane adjacent to the vehicle's lane, to change into the vehicle's lane is detected and / or predicted, the information designed as lane change permission information is displayed on the front display unit.

[0013] The vehicle and the method for its operation each enable cooperative behavior of the automated or autonomous vehicle with respect to other road users, in particular with respect to non-automated and non-autonomous other road users. Without this solution according to the invention, the vehicle would only perform speed and distance control with respect to another road user ahead and thus, for example, in zipper traffic, i.e.if the zipper procedure, also known as the zipper maneuver, and thus the alternating merging of vehicles from adjacent lanes, is necessary, or for example when driving past an on-ramp or merging lane, this rigid control may make it difficult or impossible for the other road user to merge, because, for example, it does not create a suitable gap for merging and the other road user in particular cannot recognize whether the vehicle will allow them to merge or not. In particular, non-automated and non-autonomous other road users would thus be adversely affected by this rigid control. The solution according to the invention is therefore particularly advantageous for mixed traffic with automated or autonomous vehicles and non-automated and non-autonomous vehicles.In such mixed traffic, drivers of non-automated and non-autonomous vehicles must be able to assess the behavior of following automated or autonomous vehicles in the adjacent lane to which they intend to change lanes before they perform the lane change. This is ensured in a particularly easily comprehensible manner by the solution according to the invention, in which the front display unit displays the lane change permission information, i.e., by indicating that the vehicle will permit the lane change or merging using the zipper method.

[0014] By means of the vehicle and the method for its operation, in particular an increase in road safety and an improvement in traffic flow are achieved.

[0015] According to the invention, the information device is designed and configured to display the lane change permission information on the front display unit by means of one or more symbols, in particular arrows, and / or characters, in particular letters and / or numbers. In the method, the lane change permission information is accordingly displayed on the front display unit by means of one or more such symbols and / or characters. Symbols, for example arrows, which point in the direction in which the lane change intended by the other road user will take place, have the particular advantage that they are generally understandable and, moreover, easy and quick to grasp. The comprehensibility of characters and words formed from them depends, for example, on the respective language comprehension.To ensure particularly good comprehensibility and avoid any potential doubts about the meaning of the lane change permission information for other road users, a combination of symbols and characters can be provided, for example, so that the other road user is clearly informed that the vehicle will allow them to change into the vehicle's lane. Particularly when using characters, especially letters and numbers, the display on the front display unit is advantageously mirrored so that it can be clearly read in the other road user's rearview mirror.

[0016] The front display unit is arranged in particular in a front region of the vehicle, i.e. in particular in a region of the vehicle which is located in front of a vehicle center in the direction of travel. In particular, it is arranged such that it is not covered at the front by other components of the vehicle. The front display unit is thus arranged in particular in a front region of the vehicle, in particular on a vehicle front of the vehicle. For example, the front display unit is arranged on a front bumper and / or on a radiator grille, also referred to as a radiator grille or radiator cover, of the vehicle or, for example, on a windshield of the vehicle. In particular, in the case of an arrangement on the windshield, an arrangement on an outer side of the windshield or on an inner side of the windshield and thus protected in a passenger compartment of the vehicle would be possible.The described arrangement of the front display unit ensures, in particular, good and clear visibility for other road users.

[0017] According to the invention, the vehicle comprises an environment detection device which is designed and configured to detect the environment of the vehicle, in particular to detect road users in the environment of the vehicle, in particular to detect their distance from the vehicle and their speed and / or relative speed to the vehicle. This enables the vehicle to assess the prevailing traffic situation and thus, in particular, to recognize or at least predict the intention of the other road user to change into the vehicle's lane, for example by detecting an activated turn signal of the other road user, in particular one pointing in the direction of the vehicle's lane.Furthermore, the vehicle can thus detect whether such a lane change by the other road user is possible or whether it can facilitate this lane change, for example, by reducing its own speed and / or increasing the distance to another road user ahead, and initiate appropriate measures if necessary. Based on this information and depending on the detected traffic situation, it can display the lane change permission information on the front display unit or not.Furthermore, according to the invention, in the method for operating the vehicle, longitudinal control of the vehicle can be carried out in such a way that the other road user is enabled to change into the vehicle's lane, for example by increasing a distance and thus a gap to the other road user traveling ahead in the vehicle's lane and / or by reducing the vehicle's speed in order to allow the other road user to change into the vehicle's lane. To carry out this longitudinal control, the vehicle according to the invention comprises a control unit which is coupled to a drive train and / or a braking device of the vehicle for its control and / or regulation.

[0018] The vehicle expediently comprises a position-determining device designed and configured to determine a current position of the vehicle, for example, using a global navigation satellite system and / or using landmark-based positioning and / or using an inertial sensor system of the vehicle and / or using dead reckoning and / or using a digital map. This is also referred to, for example, as vehicle localization.This enables the vehicle, for example, to determine whether it is in an area where there is a possibility of other road users changing lanes imminently and / or whether such a lane change is absolutely necessary, in particular when another road user is in an ending lane, for example in an area with an on-ramp, a lane merging, an end of the adjacent lane, a lane narrowing or a closure of the adjacent lane, for example due to an accident or construction site, and thus to recognize or at least predict the intention of the other road user to change into the vehicle's lane.For this purpose, for example, the digital map with corresponding map data is provided in the vehicle and / or this information is derived from the environment detected by the environment detection device and / or the vehicle receives corresponding information from a vehicle-external device, in particular an information provision device, in particular a vehicle-external server, also referred to as a backend. The vehicle thus advantageously comprises a communication device which is designed and configured to communicate with such a vehicle-external device, in particular an information provision device, in particular with the vehicle-external server.

[0019] Embodiments of the invention are explained in more detail below with reference to drawings.

[0020] Showing: Fig. 1 schematically shows a top view of a traffic situation with a vehicle and another road user who intends to change lanes, and Fig. 2 schematically shows a perspective front view of the traffic situation according to Fig. 1.

[0021] Corresponding parts are provided with the same reference numerals in all figures.

[0022] The Fig. 1 and Fig. 2 show an exemplary traffic situation VS in two different views, according to Fig. 1 in a plan view from above and according to Fig. 2 in a perspective front view. This traffic situation VS shown as an example relates in particular to an automated or autonomous vehicle 1 in a lane FS1 and a non-automated and non-autonomous other road user 2 who is located laterally in front of the vehicle 1 in a lane FS2 adjacent to the lane FS1 of the vehicle 1 and intends to change into the lane FS1 of the vehicle 1, for example in the so-called zipper method, also referred to as zipper traffic or zipper maneuver, or for example to merge into the lane FS1 of the vehicle 1 from an entrance or merging lane.

[0023] For such a lane change FS1, FS2, cooperative behavior of vehicle 1 and the other road user 2 is necessary or at least advantageous in order to be able to perform the lane change FS1, FS2 safely and comfortably. In the case of non-automated and non-autonomous vehicles, this cooperative behavior is carried out by the drivers of these vehicles. In the case of automated or autonomous vehicles 1, for example, vehicle-to-vehicle communication can be provided to mutually coordinate the respective behavior.

[0024] The situation presented here with the automated or autonomous vehicle 1 and the non-automated and non-autonomous other road user 2 is problematic so far, since a cooperative behavior of the automated or autonomous vehicle 1 with such non-automated and non-autonomous other road user 2 is not yet feasible, but a driver of such a non-automated and non-autonomous other road user 2, in particular another vehicle, must be able to assess the respective behavior of the automated or autonomous vehicle 1 following him in the lane FS1 to which he wishes to change, before changing lanes FS1, FS2.If the automated or autonomous vehicle 1, as previously known from the prior art, were to merely carry out speed and distance control to other road users 3 ahead, in particular other vehicles ahead, then due to this rigid control it would possibly complicate or prevent the intended change of the other road user 2 located laterally in front of the vehicle 1 on the lane FS2 adjacent to the lane FS1 of the vehicle 1 to the lane FS1 of the vehicle 1, for example to carry out the zipper procedure or to change from an entry lane or merging lane to the lane FS1 of the vehicle 1, because for example there is no suitable gap for merging, i.e.to change into lane FS1 of vehicle 1, and / or because it leaves the driver of the other road user 2 unclear as to whether or not it will allow him to change into lane FS1 of vehicle 1.

[0025] This problem is solved with the solution described below, in particular with the vehicle 1 designed and configured in the manner described below and the method for its operation described below. In particular, this solution enables cooperative behavior of the automated or autonomous vehicle 1, in particular with respect to non-automated and non-autonomous other road users 2, in particular in a traffic situation VS illustrated here as an example of the change of lane FS1, FS2 by the non-automated and non-autonomous other road user 2 into the lane FS1 of the automated or autonomous vehicle 1, for example during the zipper procedure or cutting in.

[0026] The vehicle 1 advantageously comprises an environment detection device which is designed and configured to detect an environment of the vehicle 1, in particular to detect road users 2, 3 in the environment of the vehicle 1, in particular to detect their distance from the vehicle 1 and speed and / or relative speed to the vehicle 1. For this purpose, the environment detection device has, in particular, an environment detection sensor system 4. In the schematically simplified example shown here, this environment detection sensor system 4 of the environment detection device comprises, for example, at least one radar sensor, as in Fig. 1, or several such radar sensors. Alternatively or additionally, the environment detection device 4 may comprise, for example, one or more lidar sensors and / or one or more ultrasonic sensors and / or one or more cameras.

[0027] Alternatively or additionally, the vehicle 1 advantageously comprises a position determination device designed and configured to determine a current position of the vehicle 1, for example, using a global navigation satellite system and / or using landmark-based positioning and / or using an inertial sensor system of the vehicle 1 and / or using dead reckoning and / or using a digital map. This is also referred to, for example, as localization of the vehicle 1.

[0028] Alternatively or additionally, the vehicle 1 advantageously comprises a communication device which is designed and configured for communication with a vehicle-external device, in particular an information provision device, in particular with a vehicle-external server, also referred to as a backend.

[0029] For example, the vehicle 1 thus recognizes through its environment detection sensor system 4 and / or through its localization by means of the position determination device and / or through map data from the digital map and / or through a communication connection to the backend, i.e. to the vehicle-external device, in particular information provision device, that it is approaching a point at which other road users 2 have to change from at least one adjacent lane FS2 to the lane FS1 of the vehicle 1 or could intend to make such a change, and can thus recognize or at least predict an intended change of the respective other road user 2 to the lane FS1 of the vehicle 1.Such a location is, for example, an on-ramp, a lane merging, an end of the adjacent lane FS2 on which the other road user 2 is located, a lane narrowing or a closure of the adjacent lane FS2 on which the other road user 2 is located, for example due to an accident.

[0030] Alternatively or additionally, the vehicle 1 not only predicts the intention of the other road user 2 to change into the lane FS1 of the vehicle 1, but advantageously it recognizes this intention of the other road user 2 to change into the lane FS1 of the vehicle 1, for example by means of its environment detection device and its environment detection sensor system 4, for example by detecting an activated direction indicator of the other road user 2, in particular the activated direction indicator of the other road user 2 pointing in the direction of the lane FS1 of the vehicle 1. This avoids, for example, the measures described below being carried out due to an incorrect prediction, even though the other road user 2 actually does not intend to change into the lane FS1 of the vehicle 1.

[0031] If the intention of the other road user 2 located laterally in front of the vehicle 1 on the lane FS2 adjacent to the lane FS1 of the vehicle 1 to change into the lane FS1 of the vehicle 1 is detected or at least predicted, in particular in the manner described above, the longitudinal control of the vehicle 1 is advantageously carried out in the method for operating the vehicle 1 as a function of a distance to the other road user 3 traveling ahead and as a function of a position and speed of the other road user 2 located laterally in front of the vehicle 1 on the lane FS2 adjacent to the lane FS1 of the vehicle 1 in such a way that the vehicle 1 enables the other road user 2 to change into the lane FS1 of the vehicle 1.If, for example, the distance to the other road user 3 driving ahead is too small, the vehicle 1 increases this distance and thus a gap to the other road user 3 driving ahead in such a way that the other road user 2 is able to change to the lane FS1 of the vehicle 1 and thus into this gap, ie to cut in in front of the vehicle 1.

[0032] To carry out this longitudinal control, the vehicle 1 in the example shown comprises a control unit 5, i.e. in particular a control and / or regulating and / or processing unit, which is coupled to a drive train 6 and / or a braking device 7 of the vehicle 1 for its control and / or regulation. The braking device 7 is shown schematically in a highly simplified manner in the example shown here, for example as a brake control unit and brake hydraulic pump. In particular, to determine the distance to the other vehicle 1 traveling ahead and / or to determine the position and speed of the other road user 2 located laterally in front of the vehicle 1 in the lane FS2 adjacent to the lane FS1 of the vehicle 1, the control unit 5 is coupled to the environment detection device or at least to its environment detection sensor system 4, in the example shown to the radar sensor.

[0033] Alternatively or in addition to this longitudinal control of the vehicle 1, it is advantageously provided that in the method for operating the vehicle 1, in particular when the intention of the other road user 2 to change into lane FS1 of the vehicle 1 has been detected or at least predicted in the manner described above, the other road user 2 is shown information in the form of lane change permission information SI on a front display unit 8 of the vehicle 1. This front display unit 8 is visible to the other road user 2, for example, in a rear-view mirror and / or by means of a rear-facing camera. It is thus directed forward, i.e. in the direction of travel of the vehicle 1. The vehicle 1 thus advantageously signals its behavior to the other road user 2 on the front display unit 8, in particular that it has detected the other road user 2 cutting in, i.e.allows the lane change to lane FS1 of vehicle 1.

[0034] In the example shown, the front display unit 8 is arranged on a vehicle front of the vehicle 1, for example on a front bumper and / or on a radiator grille of the vehicle 1. In other exemplary embodiments, it can be arranged at a different position on the vehicle 1, for example, but advantageously always in a front region of the vehicle 1, in particular in the front region of the vehicle 1. An alternative position would be, for example, on a windscreen of the vehicle 1. The front display unit 8 is advantageously always arranged in such a way that it is not covered by other components of the vehicle 1 to the front, ie in the direction of travel of the vehicle 1.

[0035] The front display unit 8 is advantageously a component of an information device 9 of the vehicle 1 for transmitting the information in the form of lane change permission information SI to the other road user 2 located laterally in front of the vehicle 1 on the lane FS2 adjacent to the lane FS1 of the vehicle 1, which is designed and configured to display the lane change permission information SI on the front display unit 8, in particular when the intention of the other road user 2 to change to the lane FS1 of the vehicle 1 is recognized and / or predicted.This information device 9 comprises, for example, a control and / or regulation and / or processing unit, here in the form of the control unit 5 shown, which thus not only carries out the longitudinal control, but also displays the lane change permission information SI on the front display unit 8 and for this purpose advantageously uses the information on the traffic situation VS determined in the manner described above, in particular with regard to the other road user 2 and his intention to change lanes as well as with regard to the other road user 3 traveling ahead.

[0036] The lane change permission information SI is advantageously displayed on the front display unit 8 using a suitable graphic, for example, using symbols and / or characters, in the example shown here using arrows pointing in the direction in which the other road user 2 must move in order to change into lane FS1 of the vehicle 1. This is lane change permission information SI that is particularly easy for the other road user 2 to recognize and interpret.

[0037] In the example shown here, the control unit 5 is, as already described above, coupled both to the drive train 6 and the braking device 7 as well as to the environmental detection sensor system 4, shown here in the form of the radar sensor, and to the front display unit 8, so that it carries out in particular both the longitudinal guidance of the vehicle 1 and the display of the lane change permission information SI on the front display unit 8 in the manner described and for this purpose uses information detected by means of the environmental detection sensor system 4.

[0038] It can thus be provided, for example, that the information device 9 for displaying the lane change permission information SI, the environment detection device, the position determination device and / or the communication device for communicating with the vehicle-external device, in particular the backend, have a common control unit in the form of the control unit 5 shown here, or it can be provided, for example,that the control unit 5 shown here is provided for carrying out the method described here for operating the vehicle 1 and is thus in particular a component of the information device 9 for displaying the lane change permission information SI by means of the front display unit 8 and only for carrying out this method described here for operating the vehicle 1, takes over the longitudinal control of the vehicle 1 by controlling and / or regulating the drive train 6 and the braking device 7 and is coupled for data transmission to the environment detection device, in particular its environment detection sensor system 4, to the position determination device and / or to the communication device for communication with the vehicle-external device. List of reference symbols 1 vehicle 2 other road users 3 other road users ahead 4 Environmental detection sensors 5 Control unit 6 Drivetrain 7 Braking device 8 Front display unit 9 Information device FS1 lane FS2 adjacent lane SI lane change permission information VS traffic situation

Claims

[1] Vehicle (1) designed as an automated or autonomous vehicle (1) and comprising an information device (9) with a front display unit (8) for transmitting information designed as lane change permission information (SI) to another road user (2) located laterally in front of the vehicle (1) on a lane (FS2) adjacent to a lane (FS1) of the vehicle (1), wherein the information device (9) is designed and configured to display the lane change permission information (SI) on the front display unit (8) upon a recognized and / or predicted intention of the other road user (2) to change into the lane (FS1) of the vehicle (1), wherein the information device (9) is designed and configured to display the lane change permission information (SI) by means of symbols and / or characters, wherein the vehicle (1) comprises an environment detection device,which is designed and configured to detect an environment of the vehicle (1), to detect road users (2, 3) in the environment of the vehicle (1), and to detect their distance from the vehicle (1) and their speed and / or relative speed to the vehicle (1), and wherein the vehicle (1) comprises a control unit (5) which is coupled to a drive train (6) and / or a braking device (7) of the vehicle (1) for its control and / or regulation, wherein the control unit (5) is provided to carry out a longitudinal control of the vehicle (1) in such a way that the other road user (2) is enabled to change into the lane (FS1) of the vehicle (1), wherein the control unit (5) is provided to carry out the longitudinal control in such a way that a gap to another road user (3) traveling ahead in the lane (FS1) of the vehicle (1) is increased and / or a speed of the vehicle (1) is reduced,to allow the other road user (2) to change into the lane (FS1) of the vehicle (1). [2] Vehicle (1) according to claim 1, characterized by that the front display unit (8) is arranged in a front region of the vehicle (1), in particular in a front region of the vehicle (1), in particular on a vehicle front of the vehicle (1), in particular on a windscreen, on a front bumper or on a radiator grille of the vehicle (1). [3] Vehicle (1) according to one of the preceding claims, comprising a position determining device, designed and arranged to determine a current position of the vehicle (1). [4] Vehicle (1) according to one of the preceding claims, comprising a communication device designed and configured for communication with a vehicle-external device, in particular an information provision device, in particular with a vehicle-external server. [5] Method for operating a vehicle (1) according to one of the preceding claims, wherein, upon a detected and / or predicted intention of another road user (2), who is located laterally in front of the vehicle (1) in a lane (FS2) adjacent to a lane (FS1) of the vehicle (1), to change into the lane (FS1) of the vehicle (1), information in the form of lane change permission information (SI) is displayed on the front display unit (8), wherein the lane change permission information (SI) is displayed by means of symbols and / or characters, wherein a longitudinal control of the vehicle (1) is carried out in such a way that the other road user (2) is enabled to change into the lane (FS1) of the vehicle (1), and wherein a gap to another road user (3) traveling ahead in the lane (FS1) of the vehicle (1) is increased and / or a speed of the vehicle (1) is reduced,to allow the other road user (2) to change into the lane (FS1) of the vehicle (1).

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