Method and vehicle system for selecting a gap for a lane change assistant

Abstract

Vehicle system (101) for operating a lane change assistance function of a motor vehicle (100); wherein the vehicle system (101) is configured - to determine that the vehicle (100) should perform a route-related lane change in order to travel along a planned route; - to determine a gap set of available gaps (311, 312, 321, 322, 323) on a neighboring lane (202) to which a change is to be made as part of the route-dependent lane change; - to determine a value of an urgency measure for the route-related lane change; wherein the value of the urgency measure indicates the urgency for the vehicle (100) to perform the route-related lane change in order to travel along the planned route; - selecting a gap (311) for the route-related lane change from the gap set; wherein selecting a gap (311) comprises - Establishing and / or adapting one or more selection criteria depending on the value of the urgency measure determined; - Checking for a considered available gap (311, 312, 321, 322, 323) from the gap set whether the considered available gap (311, 312, 321, 322, 323) meets the one or more selection criteria; and - taking into account the available gap (311, 312, 321, 322, 323) under consideration when selecting the gap (311) for the route-related lane change if the available gap (311, 312, 321, 322, 323) under consideration meets the one or more selection criteria; and - to operate the lane change assistance function for the route-related lane change with the selected gap (311).

Description

[0001] The invention relates to a vehicle with a lane change assistance function. In particular, the invention relates to a method and a corresponding vehicle system for operating a lane change assistant and / or for selecting a gap for a lane change.

[0002] A vehicle may have a vehicle system configured to assist a driver of the vehicle in driving the vehicle. In particular, the vehicle system may assist the driver in reaching the target lane to be used for traveling to a specific navigation destination on a multi-lane roadway. For example, the vehicle system may be configured to detect that the vehicle should leave the currently traveled lane at an upcoming exit or intersection in order to reach a navigation destination planned on the vehicle's navigation system or to travel along a planned route. In this context, it may be necessary for the vehicle to perform one or more lane changes in order to leave the currently traveled lane at the upcoming exit or intersection. DE 10 2004 034 445 A1 describes a lane change assistance system.DE 10 2016 216 134 A1 describes a method for informing a driver about a necessary lane change.

[0003] This document addresses the technical task of providing particularly reliable, safe and comfortable support when performing one or more route-related lane changes.

[0004] The problem is solved by each of the independent claims. Advantageous embodiments are described, among other things, in the dependent claims. It should be noted that additional features of a patent claim dependent on an independent patent claim can form a separate invention, independent of the combination of all features of the independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, which invention can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

[0005] According to one aspect, a vehicle system for operating a lane change assistance function of a (motor) vehicle is described. The lane change assistance function can be designed to assist the driver of the vehicle in guiding the vehicle along a planned route. It may be necessary (e.g., before exiting the currently traveled road and / or at an intersection or fork) for the vehicle to change lanes in order to travel along the planned route. A lane change resulting from a planned route and / or required to follow a planned route is also referred to in this document as a route-related lane change.

[0006] The vehicle system is configured to determine the value of an urgency measure for a route-related lane change. The value of the urgency measure can be determined such that the value of the urgency measure indicates the urgency for the vehicle to perform a lane change in order to travel along the planned route. The urgency of the lane change can increase with increasing value of the urgency measure. On the other hand, a relatively low value of the urgency measure can indicate a relatively low urgency of the route-related lane change. In an alternative example, a high value of the urgency measure indicates a low urgency, and a low value of the urgency measure indicates a high urgency.

[0007] The vehicle system may further be configured to operate the lane change assistance function depending on the determined value of the urgency measure.

[0008] In particular, the vehicle system can be configured to select a gap in the adjacent lane, to which the lane change is to be made as part of the route-dependent lane change, depending on the determined value of the urgency measure. For example, the vehicle system can be configured to define and / or adapt one or more selection criteria for selecting the gap in the adjacent lane depending on the determined value of the urgency measure. In this case, one or more restrictions on selecting a gap can be reduced as the urgency of the lane change increases. Examples of restrictions include: prioritizing a front-end gap over a rear-end gap, the minimum size of a gap, etc.

[0009] Alternatively or additionally, the vehicle system can be configured to issue a notification regarding the route-related lane change depending on the determined value of the urgency measure. In particular, the time for issuing a notification regarding the route-related lane change can be determined depending on the determined value of the urgency measure. The notification can be displayed, for example, on a screen. The time of issuing the notification can be brought forward as the urgency increases.

[0010] Taking into account the value of an urgency measure for a route-related lane change makes it possible to increase the comfort, safety and / or reliability of a lane change assistance function to support route-related lane changes.

[0011] To carry out the route-dependent lane change as part of the lane change assistance function, the vehicle system can be configured to automatically guide the vehicle longitudinally along the ego lane (occupied by the vehicle before the lane change) in order to guide the vehicle toward a specific gap (possibly selected by the vehicle system) in the adjacent lane. Alternatively or additionally, the vehicle system can be configured to automatically guide the vehicle longitudinally and / or laterally into the gap (possibly selected by the vehicle system) in the adjacent lane, particularly in response to an initiation by the vehicle driver. This can increase the comfort and safety of the vehicle when guiding along a planned route.

[0012] The vehicle system can be configured to determine a traffic indicator for the traffic situation in the vehicle's surroundings. The traffic indicator can represent a measure of the difficulty of changing lanes based on the current traffic situation. Typically, the difficulty of changing lanes is increased by relatively dense traffic and / or traffic traveling at a relatively high speed. Furthermore, changing lanes is usually also made more difficult by a relatively low difference in speed between the speed of the vehicle and the traffic in the adjacent lane (since in this case the vehicle only passes relatively few gaps for changing lanes in the adjacent lane). The traffic indicator can therefore be determined based on the traffic density and / or the speed of the traffic and / or the speed of the vehicle.

[0013] The traffic indicator can be determined based on environmental data from one or more of the vehicle's environmental sensors. Examples of environmental sensors include a radar sensor, a lidar sensor, an image camera, an ultrasonic sensor, etc. The value of the urgency measure can then be determined with particular precision based on the traffic indicator.

[0014] The vehicle system can be configured to determine a traffic indicator for the traffic situation in the ego lane in which the vehicle is traveling prior to the route-related lane change. The value of the urgency measure can then be determined based on the traffic indicator for the ego lane. Alternatively or additionally, the traffic indicator can be determined for the traffic situation in the adjacent lane to which the vehicle is to change as part of the route-related lane change. The value of the urgency measure can then be determined based on the traffic indicator for the adjacent lane. In particular, the value of the urgency measure can be determined based on the traffic indicator for the ego lane and for the adjacent lane.

[0015] The vehicle system can be configured to determine a corresponding sequence of instantaneous traffic indicators at a sequence of consecutive points in time. An instantaneous traffic indicator can indicate the traffic situation at a specific point in time. The individual instantaneous traffic indicators can each be determined (if necessary, solely) based on the environmental data for the respective point in time. The instantaneous traffic indicator for a selected point in time can thus describe the traffic situation at precisely this selected point in time (in particular, without taking environmental data for other points in time into account).

[0016] The traffic indicator for a specific point in time can be determined by filtering, in particular by low-pass filtering (e.g., using a PT1 filter), the sequence of instantaneous traffic indicators for a sequence of preceding points in time. Furthermore, the value of the urgency measure for the specific point in time can be determined based on the traffic indicator for the specific point in time. Furthermore, the lane change assistance function can be operated at the specific point in time depending on the determined value of the urgency measure for the specific point in time.

[0017] By temporally filtering the traffic indicator used to determine the value of the urgency measure, particularly stable operation of the lane change assistance function can be achieved.

[0018] The vehicle system can thus be configured to determine an updated value of the urgency measure at a sequence of points in time. The updated value of the urgency measure can then be taken into account when operating the lane change assistance function.

[0019] The traffic indicator can be determined based on one or more parameters for the traffic situation and / or the difficulty of changing lanes due to the traffic situation. Examples of parameters include traffic density, traffic flow, the speed of traffic (especially the average speed) in a lane, the vehicle's speed, and / or the difference between the vehicle's speed and the speed of traffic in the adjacent lane.

[0020] The vehicle system can, for example, be configured to determine the (instantaneous) traffic density of the traffic in the vicinity of the vehicle, in particular on one or more lanes in the vicinity of the vehicle. The traffic density can be determined based on the surrounding data. The traffic indicator and / or the value of the urgency measure can then be determined based on the traffic density.

[0021] Alternatively or additionally, the vehicle system can be configured to determine the traffic speed, in particular the average traffic speed, of the traffic in the vicinity of the vehicle, in particular on one or more lanes in the vicinity of the vehicle. The traffic indicator and / or the value of the urgency measure can then be determined based on the traffic speed.

[0022] In particular, the vehicle system can be configured to determine the traffic flow in the vicinity of the vehicle, in particular on one or more lanes in the vicinity of the vehicle, based on the traffic speed and the traffic density in the vicinity of the vehicle, in particular on one or more lanes in the vicinity of the vehicle. The traffic flow can be determined, for example, as the product of the traffic density and the traffic speed. The traffic indicator and / or the value of the urgency measure can then be determined based on the traffic flow.

[0023] Alternatively or additionally, the vehicle system can be configured to determine the difference between the vehicle's driving speed and the traffic speed of the traffic in the adjacent lane to which the lane change is to be made as part of the route-related lane change. The traffic indicator and / or the value of the urgency measure can then be determined based on the difference in speed.

[0024] In particular, the vehicle system can be configured to determine the traffic indicator based on traffic density, traffic flow, and / or differential speed. The traffic indicator can be determined as a weighted average of the traffic density, traffic flow, and differential speed. Furthermore, the traffic indicator can be determined such that the traffic indicator is normalized between a minimum value, in particular zero, and a maximum value, in particular one.

[0025] By taking into account different parameters to describe the traffic situation in the vehicle's surroundings, the value of the urgency measure can be determined in a particularly precise manner.

[0026] The vehicle system can be configured to determine the value of the urgency measure in such a way that the value of the urgency measure indicates an increasing urgency for the route-related lane change when • the traffic density in the vicinity of the vehicle increases; and / or • the speed of the traffic in the vicinity of the vehicle increases; and / or • the traffic flow from the traffic in the vicinity of the vehicle increases; and / or • the difference in speed between the vehicle's driving speed and the traffic speed of the traffic in the adjacent lane, to which the lane change is to be made as part of the route-related lane change, drops or decreases (since the vehicle then overtakes fewer possible gaps for the lane change).

[0027] In particular, the value of the urgency measure can be determined such that a relatively high value of the urgency measure indicates a relatively high urgency and a relatively low value indicates a relatively low urgency. Such a standardized urgency measure can be used for precise control of the lane change assistance function.

[0028] As already explained above, the vehicle system can be configured to determine environmental data relating to the vehicle's surroundings, in particular using one or more of the vehicle's environmental sensors. The value of the urgency measure, in particular the traffic indicator for the traffic situation in the vehicle's surroundings, can then be precisely determined based on the environmental data.

[0029] The vehicle system can be configured to determine distance information relating to the distance of the vehicle to a route point on the planned route at which the vehicle should be positioned in the target lane or from which the vehicle should or can enter the target lane in order to travel along the planned route. Alternatively or additionally, the vehicle system can be configured to determine lane change information relating to the number of lanes between the ego lane in which the vehicle is traveling before the route-related lane change and the target lane. The distance information and / or the lane change information can be determined based on position data relating to the current position of the vehicle (e.g. based on the GPS coordinates of the vehicle) and / or based on digital map information relating to the road network traveled by the vehicle.

[0030] The value of the urgency measure can then be determined particularly precisely depending on the distance information and / or the lane change information. This can be done, in particular, such that the value of the urgency measure indicates an increasing urgency for the route-dependent lane change when the distance information indicates a decreasing distance to the route point and / or when the lane change information indicates an increasing number of lanes between the ego lane and the target lane. The value of the urgency measure can thus increase the closer the vehicle approaches the route point and / or the more lane changes must be performed.

[0031] The vehicle system can be configured to determine the value of the urgency measure based on the distance information and the traffic indicator in such a way that the influence of the traffic indicator on the value of the urgency measure decreases with decreasing distance to the route point. In particular, a weight with which the traffic indicator is taken into account when determining the value of the urgency measure can depend on the distance information, in particular in such a way that the weight decreases with decreasing distance to the route point. Thus, the urgency of the route-related lane change can be determined particularly precisely.

[0032] According to a further aspect, a further vehicle system for operating a lane change assistance function of a (motor) vehicle is described. The aspects described in this document for a vehicle system can be combined with one another in any desired manner. In particular, the aspects described above can each be combined individually or in combination with the following aspects.

[0033] The vehicle system may be configured to determine that the vehicle should perform a route-dependent lane change in order to travel along a planned route. The planned route may have been planned using a navigation system of the vehicle. It may be determined that a route-dependent lane change should be performed based on the position data relating to the current position and / or based on digital map information relating to the road network traveled by the vehicle. Furthermore, the value of the urgency measure for the route-dependent lane change may be determined (as explained above).

[0034] The vehicle system can further be configured to determine a gap set (also referred to as a set for short or alternatively as a gap list or list) of available gaps in the adjacent lane to which the vehicle is to change as part of the route-dependent lane change. The individual gaps can each be delimited by a front gap object (e.g. another vehicle) and / or by a rear gap object (e.g. another vehicle). The terms "front" and "rear" refer to the direction of travel of the vehicle. The one or more available gaps can be determined or detected based on the environmental data from the one or more environmental sensors of the vehicle.

[0035] Furthermore, the vehicle system can be configured to select a gap for the route-dependent lane change from the set of gaps. The gap can be selected such that a gap at the front of the vehicle (in front of the front of the vehicle) has a higher priority during the selection than a gap at the rear of the vehicle (which is located at least partially or completely behind the front and / or behind the rear of the vehicle). In other words, a front gap can be preferred over a rear gap when selecting a suitable gap. This can result in a gap selection that can typically be particularly well understood by the vehicle driver. Furthermore, the impact of the lane change on the surrounding traffic can be reduced. This can thus result in particularly comfortable, safe, and reliable operation of the lane change assistance function.

[0036] Even if a front gap is preferred over a rear gap and / or selected with a higher priority, it may happen that a rear gap is selected, especially if no front gap can be found that meets one or more selection criteria and is thus recognized as suitable for the lane change.

[0037] The lane change assistance function for route-dependent lane changes can be operated depending on the selected gap, in particular with the selected gap. In particular, the vehicle system can be configured to support and / or execute a lane change of the vehicle into the selected gap in the adjacent lane as part of the lane change assistance function for route-dependent lane changes. In doing so, the driver of the vehicle can be given a hint regarding the selected gap (e.g., to prompt the driver to manually drive into the selected gap in the adjacent lane). Alternatively or additionally, the vehicle can be automatically guided longitudinally in the vehicle's ego lane up to the height of the selected gap.Alternatively or additionally, the vehicle can be automatically guided longitudinally and / or laterally into the selected gap in the adjacent lane, particularly in response to a driver's request. This provides particularly reliable, convenient, and safe support for route guidance, especially for route-dependent lane changes.

[0038] The vehicle system can be configured to check, as part of the lane change assistance function, whether the selected gap is still accessible to the vehicle. The selected gap can be checked repeatedly, in particular periodically, at a sequence of points in time. At each point in time, it can then be determined whether the selected gap is still accessible to the vehicle. By repeatedly checking the accessibility or availability of the selected gap, the reliability of the lane change assistance function can be further increased.

[0039] The vehicle system can be configured to abort the lane change assistance function into the selected gap if it is determined that the selected gap is no longer accessible to the vehicle. A notification can then be issued to the driver of the vehicle to inform the driver of the aborted lane change assistance function into the selected gap. Alternatively or additionally, the vehicle system can be configured to select an alternative gap from the gap set if it is determined that the selected gap is no longer accessible to the vehicle. The lane change assistance function can then be operated depending on the alternative gap. This can further increase the safety and availability of the lane change assistance function.

[0040] The vehicle system can be configured to select an alternative gap from the set of gaps that lies behind the originally selected gap in relation to the vehicle's direction of travel. Alternatively or additionally, the alternative gap can be selected such that the alternative gap is as close as possible to the selected gap. This can further increase the convenience and safety of the lane change assistance function.

[0041] The vehicle system can be configured to check for a specific or for a considered available gap (or for each gap) from the gap set whether the considered available gap meets one or more selection criteria. Examples of selection criteria for checking a considered available gap are: • a selection criterion relating to the required minimum size of the available gap under consideration; this selection criterion has the size of the gap as a selection parameter and has the required minimum size as a possibly adjustable selection threshold for this selection parameter; and / or • a selection criterion relating to the maximum permissible relative speed of the vehicle to a (front and / or rear) gap object delimiting the available gap under consideration; this selection criterion has the relative speed as a selection parameter and the maximum permissible relative speed as a possibly variable selection threshold; and / or • a selection criterion relating to the minimum and / or maximum permissible or required distance of the vehicle from a (front and / or rear) gap object delimiting the available gap under consideration; in particular, for a front gap, a selection criterion relating to a minimum required distance of the vehicle from the front and / or rear gap object of the front gap can be taken into account (in order to ensure that a gap is selected in a forward-looking manner); on the other hand, for a rear gap, a selection criterion relating to a maximum permissible distance of the vehicle from the front and / or rear gap object of the rear gap can be taken into account (in order to ensure that the vehicle does not fall too far back for the lane change); these one or more selection criteria have as selection parameters the distance of the vehicle from the front and / or rear gap object and, if applicable,variable selection threshold, the minimum required and / or the maximum permissible distance; and / or. • a selection criterion relating to the maximum permissible time period for guiding the vehicle (possibly automated) to the level of the available gap under consideration; this selection criterion has the duration as a selection parameter and the maximum permissible duration as a selection threshold value, which can be changed if necessary; and / or • a selection criterion relating to the minimum permissible time-to-collision (TTC) duration of the vehicle with a (front and / or rear) gap object delimiting the available gap under consideration, in particular based on the current position and / or the current driving speed of the vehicle; this selection criterion has the TTC duration as a selection parameter and the minimum permissible TTC duration as a selection threshold value, which can be changed if necessary; and / or • a selection criterion relating to the maximum permissible deceleration and / or acceleration of the vehicle when changing lanes into the available gap under consideration; this selection criterion has the deceleration and / or acceleration of the vehicle as a selection parameter and the maximum permissible deceleration and / or acceleration of the vehicle as a possibly variable selection threshold; and / or • a selection criterion relating to the minimum permissible distance of the vehicle and / or the minimum permissible travel time of the vehicle with a (front and / or rear) gap object limiting the available gap under consideration, after the vehicle has been guided longitudinally to the level of the available gap under consideration for the lane change; the minimum permissible distance and the minimum permissible travel time are typically convertible into one another via the vehicle's driving speed or are proportional to one another; the minimum permissible distance can correspond to the distance between the vehicle and the (front and / or rear) gap object at which the lane change into the available gap under consideration begins; this selection criterion has the travel time and / or the distance as a selection parameter and the minimum permissible travel time and / or the minimum permissible distance as a possibly variable selection threshold; and / or • a selection criterion relating to the maximum permissible overtaking time for overtaking the available gap under consideration; this selection criterion has the overtaking time as a selection parameter and the maximum permissible overtaking time as a selection threshold value, which can be changed if necessary.

[0042] Thus, one or more selection criteria for selecting a gap can be defined and used based on one or more selection parameters, in particular based on (possibly modifiable or adjustable) selection thresholds for one or more selection parameters. This allows for a reliable selection of a suitable gap.

[0043] A selection criterion can thus define a selection threshold for a specific or selected selection parameter, which must be exceeded or undercut for the selection criterion to be met. To check whether a gap meets the selection criterion, it can be verified whether the actual value of the selection parameter for the gap is greater or less than the selection threshold of the selection parameter.

[0044] The vehicle system can be configured to take the considered available gap into account when selecting the gap for the route-dependent lane change (if applicable, only if the considered available gap meets the one or more selection criteria. In particular, the vehicle system can be configured to select the considered available gap (if applicable, only if) for the route-dependent lane change if the considered available gap meets the one or more selection criteria. Furthermore, the vehicle system can be configured to select an available gap and / or abort the search for a suitable gap as soon as an available gap is found that meets the one or more selection criteria. This can result in a particularly reliable and timely selection of a suitable gap.

[0045] The vehicle system can, for example, be configured to sequentially (i.e., one after the other) check the various available gaps from the gap set to determine whether the respective available gap meets the one or more (front-side or rear-side) selection criteria (and is thus suitable as a gap for the route-dependent lane change). A checked gap can be selected for the route-dependent lane change as soon as it is detected that the checked gap meets the one or more selection criteria. The further search for a suitable gap, in particular the checking of one or more other available gaps, can then be aborted.The vehicle system can thus be configured to select the available gap for the route-dependent lane change from the set of gaps for which it is first determined that the available gap meets the one or more selection criteria (and is thus suitable as a gap for the route-dependent lane change). This allows a suitable gap to be identified in an efficient and timely manner.

[0046] The vehicle system can be configured to prioritize a front-end gap over a rear-end gap based on the order in which it searches for a gap suitable for a route-dependent lane change. In particular, one or more front-end gaps from the set of gaps can be checked and, if necessary, selected first, before one or more rear-end gaps or a gap located at the level of the vehicle are checked and, if necessary, selected. In this case, a gap located at the level of the vehicle can be prioritized over a rear-end gap (in the order of checking and, if necessary, selection).

[0047] In particular, the vehicle system can be configured to prioritize a front-end gap over a rear-end gap during selection by first checking the one or more front-end gaps from the set of gaps to determine whether they are suitable as a gap for the route-dependent lane change. Furthermore, a front-end gap can be prioritized over a rear-end gap during selection by only checking the one or more rear-end gaps and / or a gap located at the level of the vehicle to determine whether they are suitable as a gap for the route-dependent lane change if, in particular within the limited front time period, no front-end gap could be identified (and selected) that is suitable as a gap for the route-dependent lane change. This can result in efficient and reliable prioritization of a front-end gap.

[0048] The vehicle system can be configured to check the available gap under consideration based on one or more front-side selection criteria if the available gap under consideration is a front-side gap. Alternatively or additionally, the vehicle system can be configured to check the available gap under consideration based on one or more rear-side selection criteria if the available gap under consideration is a rear-side gap or a gap arranged at the height of the vehicle. In other words, the one or more rear-side selection criteria can be applied if the available gap under consideration is a rear-side gap. Alternatively or additionally, the one or more rear-side selection criteria can be applied if the available gap under consideration is a gap arranged at the height of the vehicle.

[0049] A front-side gap can be a gap in which the rear of the rear gap object is at the same height as or in front of the front of the vehicle (with respect to the direction of travel). A rear-side gap can be a gap in which the front of the front gap object is at the same height as or behind the rear of the vehicle (with respect to the direction of travel). A gap arranged at the level of the vehicle can be a gap that is neither a front-side gap nor a rear-side gap. In particular, a gap arranged at the level of the vehicle can be a gap in which the rear of the rear gap object is arranged behind the front of the vehicle (with respect to the direction of travel) and in which the front of the front gap object is arranged in front of the rear of the vehicle (with respect to the direction of travel).

[0050] The one or more front-side selection criteria and the one or more rear-side selection criteria can be at least partially or completely different. In particular, the selection thresholds of the one or more selection parameters of the individual selection criteria can be at least partially different, depending on whether the specific selection criterion is configured as a rear-side selection criterion or as a front-side selection criterion. Thus, the same one or more selection criteria (with the same one or more selection parameters) can be used to check a front-side gap and a rear-side gap, but with different selection thresholds of the one or more selection parameters.In other words, a front-side selection criterion and a corresponding rear-side selection criterion can each have the same selection parameter but a different selection threshold.

[0051] By taking into account different selection criteria, in particular differently parameterized selection criteria, for front and rear gaps, the comfort for the driver of the vehicle can be further increased.

[0052] The one or more front-side selection criteria may be more restrictive than the one or more rear-side selection criteria. In particular, the combination of the one or more front-side selection criteria may be more restrictive than the combination of the one or more rear-side selection criteria. In particular, the one or more front-side selection criteria (in combination) and the one or more rear-side selection criteria (in combination) may be such that if the available gap under consideration satisfies the one or more front-side selection criteria, the available gap under consideration also satisfies the one or more rear-side selection criteria, and / or if the available gap under consideration satisfies the one or more rear-side selection criteria, the available gap under consideration does not necessarily satisfy the one or more front-side selection criteria.

[0053] By using less restrictive selection criteria when checking a rear gap, the comfort and, in particular, the availability of the lane change assistance function can be further increased.

[0054] The vehicle system can be configured, in a first step (immediately after detecting the need for a route-related lane change), to check one or more front-side gaps from the set of gaps based on one or more selection criteria. The one or more front-side gaps can be checked for a specific front-side time period. The individual front-side gaps can be checked multiple times and / or repeatedly within the front-side time period. During the front-side time period, a rear-side gap or the gap at vehicle level may not be checked. As soon as a front-side gap is found that meets the one or more selection criteria, this front-side gap can be selected for the lane change.

[0055] Furthermore, the vehicle system can be configured (possibly only if) (within the front time period) none of the one or more front gaps from the gap set meets the one or more selection criteria (and was selected as a result), in a subsequent step, to check one or more rear gaps or the gap arranged at the level of the vehicle based on one or more selection criteria.

[0056] This allows one or more front-end gaps from the gap set to be checked first (exclusively) to determine whether they meet one or more selection criteria. This allows for reliable prioritization of a front-end gap.

[0057] The vehicle system can be configured to check the one or more front-end gaps from the gap set based on one or more (relatively restrictive) front-end selection criteria. Furthermore, the vehicle system can be configured to check the one or more rear-end gaps or the gap located at the level of the vehicle based on one or more (less restrictive) rear-end selection criteria. This can enable a particularly reliable selection of a suitable gap.

[0058] The vehicle system can be configured to check at least one front-end gap from the set of gaps based on the one or more rear-end selection criteria before the one or more rear-end gaps or the gap located at the level of the vehicle are checked based on the one or more rear-end selection criteria (e.g., after the front time period has elapsed). Thus, at least one front-end gap can be checked again based on the (less restrictive) one or more rear-end selection criteria before a rear-end gap or the gap located at the level of the vehicle is considered. This allows for particularly reliable prioritization of the one or more front-end gaps.

[0059] As already explained above, the vehicle system can be configured to determine the value of an urgency measure for the route-dependent lane change. The value of the urgency measure can indicate the urgency for the vehicle to perform the route-dependent lane change in order to travel along the planned route. The value of the urgency measure can be updated at a sequence of points in time (to determine the urgency of the route-dependent lane change, which typically increases over time).

[0060] The one or more selection criteria, in particular the selection thresholds of the one or more selection parameters of the one or more selection criteria, can be set and / or adjusted (over time) depending on the determined value of the urgency measure. The one or more selection criteria can be set and / or adjusted such that the probability that an available gap from the set of gaps satisfies the one or more selection criteria increases with increasing value of the urgency measure or with increasing urgency of the route-related lane change. In other words, the one or more selection criteria can be set and / or adjusted such that the one or more selection criteria become less restrictive with increasing urgency.By taking the value of the urgency measure into account when selecting a suitable gap, the comfort, safety and reliability of the lane change assistance function can be further increased.

[0061] The vehicle system can be configured to sequentially check available gaps from the gap set to determine whether the respective available gap is suitable as a gap for the route-dependent lane change. A first available gap is checked before a second available gap from the gap set if the first available gap is located closer to the vehicle than the second available gap. In particular, gaps from the gap set that have an increasingly large distance (to the front or rear) from the vehicle can be checked successively.

[0062] Alternatively or additionally, the vehicle system can be configured to cyclically and / or repeatedly check available gaps from the gap set to determine whether the respective available gap is suitable as a gap for the route-dependent lane change. If an available gap from the gap set furthest from the vehicle is identified as unsuitable for the route-dependent lane change, an available gap from the gap set closest to the vehicle is checked again. Thus, a cyclical check of the available (front-side or rear-side) gaps can be performed, starting from the closest to the furthest gap. This further increases the convenience and traceability of the lane change assistance function.

[0063] As already explained above, the vehicle system can be configured to initially check (in the first step after detecting the need for a route-dependent lane change) for a front period of time, in particular based on one or more selection criteria, whether a front-end gap from the gap set is suitable as a gap for the route-dependent lane change. The search for a suitable gap can thus be limited to the one or more front-end gaps from the gap set for an (initial) front period of time.

[0064] Furthermore, the vehicle system can be configured to check whether a rear gap or the gap at the level of the vehicle from the set of gaps is suitable for the route-dependent lane change only if no front gap suitable for the route-dependent lane change has been found after the front time period has elapsed. This allows for particularly reliable prioritization of the front gaps.

[0065] The vehicle system can be configured to determine and / or adjust the front time duration depending on the determined value of the urgency measure for the route-related lane change, in particular such that the front time duration is reduced as the value of the urgency measure or as the urgency increases. This can further increase the convenience and traceability of the lane change assistance function.

[0066] According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises at least one of the vehicle systems described in this document.

[0067] According to a further aspect, a method for operating a lane change assistance function of a vehicle is described. The method comprises determining a value of an urgency measure for a route-related lane change, such that the value of the urgency measure indicates the urgency for the vehicle to perform a lane change in order to travel along a planned route. Furthermore, the method comprises operating the lane change assistance function depending on the determined value of the urgency measure.

[0068] According to a further aspect, a method for operating a lane change assistance function of a vehicle is described. The method comprises determining that the vehicle should perform a route-dependent lane change in order to travel along a planned route. The method further comprises determining a gap set of available gaps in the adjacent lane to which the lane change is to be made as part of the route-dependent lane change. The method further comprises selecting a gap for the route-dependent lane change from the gap set such that a gap at the front of the vehicle has a higher priority during selection than a gap at the rear of the vehicle. The method further comprises operating the lane change assistance function for the route-dependent lane change depending on, in particular with, the selected gap.

[0069] According to a further aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on a control unit of a vehicle) and thereby to perform at least one of the methods described in this document.

[0070] According to a further aspect, a storage medium is described. The storage medium can comprise a software program configured to be executed on a processor and thereby to carry out at least one of the methods described in this document.

[0071] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways.

[0072] The invention will be described in more detail below using exemplary embodiments. Fig. 1a shows an exemplary vehicle with a vehicle system for assisting a driver of the vehicle during a route-related lane change; Fig. 1b an exemplary display to support a route-related lane change; Fig. 2 example parameters of an urgency measure for the urgency of a lane change; Fig. 3 an exemplary sequence of checking available gaps for a lane change; Fig. 4a is a flowchart of an exemplary method for operating a lane change assistance function; and Fig. 4b is a flowchart of an exemplary method for selecting a gap for a lane change.

[0073] As stated at the beginning, this document deals with increasing the comfort, reliability and / or safety of route-related lane changes. In this context, Fig. 1a shows exemplary components of a vehicle 100. The vehicle 100 includes one or more environmental sensors 102 configured to collect sensor data (also referred to as environmental data in this document) relating to the surroundings of the vehicle 100. Exemplary environmental sensors 102 include a radar sensor, a lidar sensor, an ultrasonic sensor, an image camera, etc.

[0074] An evaluation and / or control device 101 of the vehicle 100 (which, for example, is part of a vehicle system of the vehicle 100) can be configured to determine, based on the environmental data, in which (ego) lane of a multi-lane roadway the vehicle 100 is currently located. Furthermore, the device 101 can be configured to detect one or more road users, in particular one or more other vehicles, in the vicinity of the vehicle 100 based on the environmental data. Furthermore, a suitable gap between other vehicles in an adjacent lane can be detected based on the environmental data.

[0075] The device 101 can further be configured to inform the driver of the vehicle 100 about a possible gap for a lane change via a user interface 103 of the vehicle 100. For example, the current traffic situation in the vicinity of the vehicle 100 can be displayed graphically and / or by symbols on a screen of the user interface 103. Furthermore, a detected gap for a lane change can be displayed to the driver.

[0076] The driver of vehicle 100 then has the option of manually changing lanes into the indicated gap. Alternatively, the driver of vehicle 100 can initiate an automatic lane change into the detected gap via user interface 103, e.g., by operating the turn signal lever. For this purpose, device 101 can control one or more longitudinal and / or lateral guidance actuators 104 of vehicle 100 (e.g., a steering device, a drive device, and / or a braking device) to perform the lane change in an automated manner.

[0077] The vehicle 100 may include a position sensor 105 configured to acquire sensor data (also referred to herein as position data) relating to the position of the vehicle 100. An exemplary position sensor 105 is a GPS receiver. The device 101 may be configured to provide a navigation system for route guidance of the vehicle 100 based on the position data. For this purpose, the device 101 may access digital map information relating to the road network traveled by the vehicle 100. The digital map information may be stored on a memory unit 106 of the vehicle 100.

[0078] The driver of vehicle 100 can be enabled to enter a navigation destination via user interface 103. Device 101 can then, based on the digital map information, plan and, if necessary, track a route from the current position of vehicle 100 to the navigation destination. Furthermore, driving instructions can be issued to the driver of vehicle 100 via user interface 103 to prompt the driver to drive along the planned route. For example, the driver can be indicated via user interface 103 that the currently traveled lane should or must be left at an upcoming exit, junction, and / or intersection in order to follow the planned route.

[0079] As part of route guidance, device 101 can detect that vehicle 100 should perform one or more lane changes to enable the driver of vehicle 100 to guide vehicle 100 along the planned route. A lane change that should or must be performed due to a planned route is also referred to in this document as a route-related lane change.

[0080] Device 101 can further be configured to determine a suitable gap for the detected route-related lane change based on the surrounding data. Furthermore, device 101 can be configured to inform the driver of vehicle 100 about the route-related lane change to be performed via user interface 103. Furthermore, information about the detected gap for the route-related lane change can be output via user interface 103.

[0081] Fig. 1b shows an exemplary display on a screen 120 of the user interface 103. The current traffic situation in the vicinity of the vehicle 100 can be represented by symbols on the screen 120. The display can, for example, have lane symbols 111, 112 for one or more lanes of the roadway traveled by the vehicle 100. In particular, a lane symbol 111 can be displayed for the ego lane traveled by the (ego) vehicle 100. Furthermore, a lane symbol 112 can be displayed for the neighboring lane into which the ego vehicle 100 should change.

[0082] Furthermore, an ego symbol 110 for the ego vehicle 100 and one or more road user symbols 116 for one or more other road users in the vicinity of the ego vehicle 100 can be shown on the display. Furthermore, navigation information 122 relating to the planned route can be displayed. For example, navigation information 122 can indicate that the ego vehicle 100 should leave the current lane and / or turn at an upcoming intersection. The navigation information 122 can indicate the reason for a route-related lane change.

[0083] The device 101 can also be configured to display information relating to the route-related lane change to be performed on the screen 120. In particular, the gap detected and / or selected for the lane change can be highlighted on the display by a suitable gap symbol 121. Furthermore, a lane change symbol 123 can indicate that the ego vehicle 100 should change from the ego lane into the detected gap in the adjacent lane. The lane change can then be performed manually by the driver, automatically in response to a driver input, or directly automatically (without driver input).

[0084] Device 101 may, if appropriate, be configured to support and / or automatically perform multiple route-dependent lane changes in succession in order to move from the current ego lane to a target lane for the planned route. For this purpose, the measures described in this document can be performed for each of the individual route-dependent lane changes.

[0085] To ensure the most comfortable, reliable, and safe route guidance possible, the driver should be notified of a route-related lane change as soon as possible, to avoid a hasty lane change. On the other hand, the notification of a route-related lane change should also be avoided too early, to prevent an early lane change to a possibly slower adjacent lane and the associated delay.

[0086] Device 101 can be configured to determine the value of an urgency measure for the urgency of a route-related lane change. Furthermore, device 101 can be configured to operate the lane change assistance function depending on the determined value of the urgency measure. In particular, the time for issuing a notification regarding the route-related lane change can be determined depending on the determined value of the urgency measure. Alternatively or additionally, a suitable gap in the adjacent lane for the route-related lane change can be determined depending on the determined value of the urgency measure. By taking an urgency measure into account, particularly convenient, reliable, and safe route guidance can be enabled.

[0087] The value of the urgency measure can be determined based on the surrounding traffic situation, which is indicated by the environmental data from one or more environmental sensors 102. Based on this, the point in time at which the driver is offered a lane change can then be determined. To determine the value of the urgency measure, one or more parameters can be determined and considered. Examples of parameters include traffic density, traffic flow, and / or the surrounding relative speed. The individual parameters can be weighted and evaluated in a standardized manner.

[0088] The basis for determining the individual characteristic values are the objects, in particular road users, in the vicinity of the vehicle 100 detected on the basis of the environmental data. Based on the one or more characteristic values, a traffic factor (also referred to as traffic indicator in this document) can then be determined, with which, for example, the triggering time for the lane change assistance can be calculated.

[0089] The characteristic value "traffic density" can indicate the number of vehicles per route section. The characteristic value "traffic flow" can indicate the number of vehicles per time period. This characteristic value can be determined, for example, from the product of traffic density and the traffic speed. The characteristic value "relative speed" can be determined as the difference between the average speed in the target lane and the speed of the ego vehicle (100).

[0090] When calculating the traffic factor or the urgency measure, a distinction can be made between a lane change maneuver to the right (into an adjacent lane to the right of the ego lane) and a maneuver to the left (into an adjacent lane to the left of the ego lane). Therefore, a distinction can be made between these two directions for the individual parameters.

[0091] In order to depict the influence of the surrounding traffic on the lane change urgency, all (detected) vehicles in front of the ego vehicle 100 and / or all (detected) vehicles in the adjacent lane (in the respective lane change direction under consideration) can be taken into account for an upcoming lane change. The vehicles driving in front of the ego vehicle 100 typically have a significant influence on the lane change possibility. The vehicles driving in front of the ego vehicle 100 can therefore be depicted in the left and / or right traffic factor (for a left or right adjacent lane respectively). For example, in the case of relatively dense traffic in front of the ego vehicle 100 and the associated dynamics, the probability that a selected gap in the adjacent lane is no longer accessible, e.g. due to a decelerating vehicle in front, typically increases.In order to be prepared for such an eventuality, in relatively dense traffic, a route-related lane change should be indicated relatively early on in order to be able to carry out the lane change comfortably, reliably and safely even if it turns out during the lane change maneuver that the gap originally selected for the route-related lane change is no longer accessible.

[0092] As already explained above, traffic density can be determined as the number of vehicles per route section, particularly per unit of length. For example, a route section with a specific length, such as 50m or 100m, can be considered. Furthermore, the number of vehicles detected in this route section based on the surrounding data can be determined. Traffic density can be specified as the number of vehicles per unit of length (e.g., per meter or per kilometer).

[0093] The traffic density of the e on the ego lane of the ego vehicle 100 (where the index e represents the ego lane), the traffic density d l on the left adjacent lane (where the index l represents the left adjacent lane) and / or the traffic density d r on the right neighboring lane (where the index r represents the right neighboring lane).

[0094] The traffic flow can be determined as the product of the traffic density in a lane and the average speed v of all vehicles in that lane. To calculate this parameter, the sum of the traffic flow in the ego lane and each adjacent lane can be used. For the right side, the traffic flow s r be determined as: sr=dr⋅v¯r+de⋅v¯e and / or for the left side, the traffic flow can be lbe determined as: sl=dl⋅v¯l+de⋅v¯e.

[0095] The relative speed Δv can be calculated from the difference from the average speed v r or v l on the adjacent lane and the vehicle's own speed v e of the ego vehicle 100. For the right side, the relative speed Δv r as Δvr=v¯r−ve and / or for the left side the relative velocity Δv l as Δvl=v¯l−ve

[0096] The individual parameters can be filtered over time, e.g., using a PT1 filter. Furthermore, the individual parameters can be standardized, e.g., such that each individual parameter can assume a number between a minimum value (approximately zero) and a maximum value (approximately one). For standardization purposes, an upper and lower limit can be specified for each individual parameter, which can be determined experimentally, for example. In other words, the standardization of a parameter or characteristic can be based on an experimentally determined upper or lower limit (e.g., for traffic density and / or driving speed).

[0097] Based on one or more characteristic values, a traffic factor or traffic indicator f can be determined. In particular, the traffic factor f can be determined based on the sum of the weighted standardized characteristic values and, if necessary, standardized so that a value between a minimum value (approximately zero) and a maximum value (approximately one) is obtained. The traffic factor can be defined such that the minimum value (e.g., a value of zero) indicates a very low traffic value and the maximum value (e.g., a value of one) indicates a very high traffic value. A traffic factor f r for left-hand traffic fr=d^r⋅k1+s^r⋅k2+Δv^r⋅k3k1+k2+k3 and / or a traffic factor f l for right-hand traffic fl=d^l⋅k1+s^l⋅k2+Δv^l⋅k3k1+k2+k3 be determined.

[0098] In addition to one or more traffic factors that describe the current traffic situation in the vicinity of the ego vehicle 100 and / or that describe how difficult and / or how time-consuming it will be for the ego vehicle 100 to change lanes, distance information relating to the available maneuvering distance for carrying out the route-dependent lane change can be determined and taken into account when determining the value of the urgency measure. Furthermore, the own speed of the ego vehicle 100 can be taken into account. The distance information can, for example, indicate the distance from the current position of the ego vehicle 100 to the exit lane of an exit or to the beginning of the exit lane of a motorway junction. The maneuvering distance can be interpolated between a minimum and a maximum value depending on the one or more traffic factors in order to determine the value of the lane change urgency measure.

[0099] From the combination of the traffic factor f and the distance to the exit, a standardized lane change urgency or an urgency measure d s be calculated. Using this standardized lane change urgency, one or more function-relevant parameters of the lane change assistance function can be adapted to the situation. The urgency measure d s can be calculated as ds=k4⋅s^a+k5⋅fk4+k5 where ŝ a is the standardized distance to the exit or to a specific route point. The standardized distance can be defined such that ŝ a = 0 if the distance is greater than a certain distance threshold. From the distance threshold, the normalized distance can then be up to ŝ a= 1 (e.g. linearly) when the route point is reached. The influence factor k5 can be variable in such a way that k5 decreases depending on the distance to the exit in order to ensure that the value of the urgency measure d s when the exit is reached, it approaches 1. This can cause the influence of the traffic factor to decrease the closer the vehicle 100 approaches the exit or destination.

[0100] Fig. 2 shows an exemplary traffic situation in which the ego vehicle 100 is traveling in an ego lane 201 of a multi-lane roadway 200 and must cross several neighboring lanes 202 to reach the target lane 203. In this case, the other road users 206 must be taken into account when changing lanes. Based on the environmental data and in particular on the number or density of the other road users 206 and / or on the (average) driving speed of the other road users 206, a traffic factor or traffic indicator can be determined. Furthermore, distance information relating to the available maneuvering distance 211, 212, 213 can be determined (e.g., based on the position data and on the digital map information). The distance information can, for example, display or include • the distance 211 starting from the position 215 of the ego vehicle 100 to the beginning 216 of the destination lane 203 (in particular to the beginning of the departure lane); and / or • the length 212 of the exit lane 203; and / or • the length 213 of the corridor for a change to the exit lane 203.

[0101] Based on this information, the value of the urgency measure can be determined for the current position 215 of the ego vehicle 100 (taking into account the number of lane changes to be performed). Based on this, for example, the time at which the driver of vehicle 100 is alerted to a route-related lane change can be determined. The value of the urgency measure can then be adjusted or recalculated for each lane change to be performed.

[0102] The lane change assistance function can be operated depending on the respective value of the urgency measure. For example, after an early, successful first lane change with a subsequent low lane change urgency, the subsequent lane change can be further delayed. Alternatively or additionally, for example, deceleration limits for decelerating the ego vehicle 100 can be adjusted according to the lane change urgency, so that the vehicle reaction is adapted to the respective current environment, in particular the respective traffic situation, and is thus carried out in a way that is comprehensible for the driver. The acceleration and / or deceleration of the vehicle 100 when performing a route-dependent lane change can thus be set and / or adjusted depending on the determined value of the urgency measure. This can increase comfort for the driver of the vehicle 100.

[0103] As already explained above, one or more functional parameters of a lane change assistance function of the ego vehicle 100 can be adjusted depending on the determined value of the lane change urgency measure. In particular, the gap in the adjacent lane that is suggested to the driver of the vehicle 100 can be determined and / or selected depending on the value of the urgency measure.

[0104] The device 101 of the ego vehicle 100 can be configured to select one or more gaps that are as comprehensible as possible for the driver for the automatic lateral and / or longitudinal lane change preparation and / or execution within the driver assistance function. Fig. 3 shows a driving situation in which the ego vehicle 100 is in the ego lane 201 and should or wants to perform a route-dependent lane change to the adjacent lane 202. Other road users 206, in particular other vehicles, are located in the adjacent lane 202, which must be taken into account during the lane change.

[0105] Between the individual road users 206 (also referred to as gap objects), gaps 311, 312, 321, 322, 323 are arranged, wherein the gaps can be divided into a list of front-side gaps 311, 312 and a list of rear-side gaps 321, 322, 323. Changing lanes into a front-side gap 311, 312 typically requires the ego vehicle 100 to overtake at least one other road user 206 before the ego vehicle 100 can drive into the front-side gap 311, 312 onto the adjacent lane 202. Changing lanes into a rear-side gap 321, 322, 323 typically requires the ego vehicle 100 to fall back from the traffic in the adjacent lane 202 (e.g., by decelerating the ego vehicle 100) before the ego vehicle 100 can drive into the rear-side gap 321, 322, 323 onto the adjacent lane 202.Typically, a lane change into a front gap 311, 312 is perceived as more comfortable by the driver of a vehicle 100.

[0106] A gap 311, 312, 321, 322, 323 can be defined as an area defined by vehicles 206 in the adjacent lane 202, into which an automated or manual lane change can be performed. A front gap object can be referred to as a vehicle 206 that delimits the drivable area (i.e., a gap 311, 312, 321, 322, 323) in the adjacent lane 202 to the front (with respect to the direction of travel of the ego vehicle 100). Correspondingly, a rear gap object can be referred to as a vehicle 206 that delimits the drivable area (i.e., a gap 311, 312, 321, 322, 323) in the adjacent lane 202 to the rear (with respect to the direction of travel of the ego vehicle 100).

[0107] A front or front-side gap 311, 312 can be referred to as a drivable area of the adjacent lane 202 that is delimited by at least one rear gap object 206. The rear of the rear gap object 206 is located at the level of the front of the ego vehicle 100 or further in front. Such a gap 311, 312 can be selected as a possible gap for a lane change with or without a front gap object 206.

[0108] The ego gap 321 can be defined as the drivable area of the adjacent lane 202, which is delimited by at least one front gap object 206. The front gap object 206 is located with its rear at least at the level of the front of the ego vehicle 100 or further in front. The ego gap 321 can be selected with or without a rear gap object 206 (i.e., no vehicle present).

[0109] A rear or rear gap 322, 323 can be referred to as a drivable area of the adjacent lane 202 that is delimited by at least one front gap object 206. The front gap object 206 is located with its rear behind the front of the ego vehicle 100. The gap 322, 323 can be selected with or without a rear gap object 206 (ie, no vehicle present).

[0110] If device 101 detects that a route-related lane change is necessary to follow the navigation destination, this lane change can be proactively prepared by selecting a suitable vehicle gap 311, 312, 321, 322, 323 in the adjacent lane 202. At a suitable time (e.g., when a sufficiently low relative speed is present and / or when a specific target distance is present), the driver of ego vehicle 100 can be informed that a lane change into a specific gap 311, 312, 321, 322, 323 in the adjacent lane 202 can be performed.

[0111] Prior to issuing an indication of a suitable gap 311, 312, 3321, 322, 323 for a lane change, the device 101 can be configured to select a suitable gap 311 from the list of available gaps 311, 312, 3321, 322, 323. For this purpose, one or more selection criteria can be used, wherein the one or more selection criteria can be adapted or varied depending on the surrounding traffic situation, in particular depending on the traffic factor and / or depending on the value of the lane change urgency measure. In this case, the device 101 can select a gap 311, 312, 3321, 322, 323 that comes as close as possible to a driver's typical behavior.A driving style that is appropriate to the traffic environment, anticipatory, forward-looking and comfort-oriented can be assumed to be typical for the driver when assessing a suitable lane change opportunity in the adjacent lane 202.

[0112] The traceability of the automatic gap selection can be actively designed using one or more decision criteria. In particular, a situation-adaptive variation and / or reinforcement of the one or more relevant selection criteria for a suitable gap 311, 312, 3321, 322, 323 can be carried out. Alternatively or additionally, a prioritization of the available gaps 311, 312, 3321, 322, 323 can be performed. If necessary, a cancellation of or a departure from a gap 311, 312, 3321, 322, 323 that has already been selected but can no longer be reached can be initiated.

[0113] The device 101 can be configured to pursue the goal of always preferring or prioritizing, if possible, a gap 311, 312 that is further forward and thus visible to the driver and can be reached comfortably (e.g., with the lowest possible average deceleration). This can cause the driver assistance function to have a predictive and confident effect on the driver of the vehicle 100. To achieve this behavior, the traffic situation surrounding the ego vehicle 100 can be taken into account in the gap selection process in conjunction with the current lane change urgency, i.e., in conjunction with the current value of the urgency measure.

[0114] As already explained above, the current value of the lane change urgency measure can be calculated based on the distance 215 to the target lane 203 ahead, based on the number of lane changes required to reach the target lane 203 and / or based on the traffic situation in the lane change direction (e.g., taking into account the history and the current environment).

[0115] Based on the determined current value of the lane change urgency measure, one or more selection criteria for gap selection can be dynamically adjusted. In particular, the selection thresholds of selection parameters of one or more selection criteria can be adjusted to the current value of the urgency measure.

[0116] The aim is to ensure that no strong braking intervention occurs in relatively light traffic, as this would be perceived as inappropriate by the driver. On the other hand, in relatively heavy traffic and a possibly short distance 215 to the target lane 203 or the exit, a relatively strong and targeted deceleration of the ego vehicle 100 may be perceived by the driver as appropriate and necessary.

[0117] Example selection criteria or selection parameters for a gap 311, 312, 321, 322, 323, which can be varied or adjusted depending on the value of the lane change urgency measure; • the minimum permissible gap size 341 of the gap 311, 312, 321, 322, 323; • the maximum permissible relative speed of the ego vehicle 100 to the front gap object 206 of the gap 311, 312, 321, 322, 323; • the maximum permissible mean deceleration on the front gap object 206 of the gap 311, 312, 321, 322, 323 that would be required for the lane change; • the minimum permissible target time gap and / or the minimum permissible target desired distance to the front gap object 206 of the gap 311, 312, 321, 322, 323 (in particular after the vehicle 100 has been driven to the level of the gap 311, 312, 321, 322, 323 in preparation for the lane change); • the minimum allowable time-to-collision (TTC) to the front gap object 206 of the gap 311, 312, 321, 322, 323; • the minimum permissible distance to the front gap object 206 of the gap 311, 312, 321, 322, 323 at the time of the check (in particular to cause a gap 311, 312, 321, 322, 323 to be selected in advance); • the maximum permissible adjustment period of the gap 311, 312, 321, 322, 323; and / or • the maximum time allowed to overtake a gap 311, 312, 321, 322, 323.

[0118] For example, the selection criterion "minimum permissible distance to the front gap object 206 of gap 311, 312, 321, 322, 323 at the time of the check" can be considered. The time of the check can be the starting time from which a suitable gap is searched in the adjacent lane 202.

[0119] If the value of the lane change urgency measure is relatively low (e.g., if the distance to the exit is relatively large), the selection criterion can be defined in such a way that the Fig. 3 vehicles 206 traveling directly from the ego vehicle 100 are rejected as the front gap object 206 located too close to the ego vehicle 100. In such a situation, the driver of the vehicle 100 would otherwise be surprised that the first suitable gap 321 is directly selected (although there is no urgency for a lane change).

[0120] On the other hand, the selection criterion can be adjusted in the case of an increased lane change urgency (e.g. at a relatively short distance 211 to the exit) in such a way that the Fig. 3 vehicles 206 traveling directly from the ego vehicle 100 are accepted as the front gap object 206 traveling sufficiently far in front of the ego vehicle 100, and thus the gap 321 is selected. This decision is then understandable for the driver of the vehicle 100 due to the increased urgency.

[0121] By adapting one or more selection criteria depending on the degree of urgency, the gap selection can be adapted to the prevailing traffic and / or driving situation in a manner that is understandable to the driver of vehicle 100. This can increase the comfort, reliability, and safety of the lane change assistance function.

[0122] If, based on one or more selection criteria, several gaps 311, 312, 321, 322, 323 are identified as accessible or possible, a prioritization of the different possible gaps can be performed. The prioritization can be performed in such a way that a forward or front-side gap 311, 312 is preferred over a rear-side gap 322, 323 and, if applicable, over the ego gap 321. Such a prioritization rule can enable a natural and comfortable merging into the adjacent lane 202.

[0123] Fig. Figure 3 illustrates a possible sequence in which a suitable gap 311, 312, 321, 322, 323 can be searched. One or more front gaps 311, 312 can be checked first. For example, the nearest front gap 311 (step 331), the subsequent front gap 321 (step 332), etc. can be checked successively (in steps 331, 332). The search for a suitable front gap 321, 322 can be limited to a front search period or a front search duration. The front search duration can depend on the value of the urgency measure (where the front search duration typically decreases with increasing value of the urgency measure). A relatively low lane change urgency can thus lead to a relatively long front search time and a relatively high lane change urgency can lead to a relatively short front search time.

[0124] If no suitable forward or front-side gap 311, 321 could be found after the front search period has elapsed, the remaining gaps 321, 322, 322 can also be checked for suitability (steps 334, 335, 336). Before this, it can be checked, if necessary, whether at least one of the front-side gaps 311 can be selected using one or more adapted (rear-side) selection criteria (step 333).

[0125] When checking a front-end gap 311, 312, one or more front-end selection criteria can initially be used in steps 331, 332. These one or more front-end selection criteria can be relatively restrictive compared to one or more corresponding rear-end selection criteria. Within the front search duration, the one or more front-end gaps 311, 312 can be checked (if necessary repeatedly) sequentially and cyclically (first the first front gap 311, then the second front gap 312, then the nth front gap) based on the front-end selection criteria (or comfort limits).

[0126] If no suitable front gap 311, 312 can be found within the front search duration that meets the front selection criteria, at least the first front gap 311 can be checked against the rear comfort limits or the rear selection criteria (step 333). If this check also fails to yield a suitable gap, the ego gap 321, the first rear gap 322, the second rear gap 323, the nth rear gap, etc. can be checked successively (each using the rear selection criteria).

[0127] Thus, all forward gaps 311, 312 can first be checked according to the currently valid selection criteria (front comfort limits). If the front gaps 1 to n are not suitable, the gaps in the backward path, starting with the first front gap and ending with the nth rear gap, can be checked again using separate rear selection criteria (rear comfort limits). The rear or rear selection criteria can be less restrictive than the front or front selection criteria. However, one or more rear gaps 322, 323 are preferably only considered after the front search duration has elapsed and / or when a relatively high value of the urgency measure has been reached.

[0128] In the example for the selection criterion "minimum permissible distance to the front gap object 206 at the time of the check," adjusting the selection criterion can have the following effect: When considering the front comfort limits, it can be important, for example, that the front gap object 206 has a relatively large minimum distance to the front at the time of selection. The same selection criterion in the context of the rear comfort limits then means that the front gap object 206 must not exceed a certain maximum distance to the rear. Within the rear comfort limits, the distance criterion can additionally be combined with a lower parameterized threshold value regarding the relative speed.

[0129] In the context of lagging gaps 322, 323, it can be assumed that the driver typically only accepts a relatively lower deceleration and / or that gaps 323 located relatively far behind the ego vehicle 100 are perceived as disruptive and inappropriate. However, the greater the lane change urgency, the more likely it is to understand that the only suitable gap 323 is also located relatively far behind. Thus, based on this selection criterion, the tolerated maximum distance can be dynamically increased.

[0130] The one or more selection criteria can thus be combined in a context-based and situation-adaptive manner such that different sets of parameters (ie different sets of selection parameters or different sets of selection thresholds for one or more selection parameters), e.g. front and rear comfort limits, can be provided and used, which, depending on the driving situation, lead to a selection of a gap in the adjacent lane 202 that is understandable for the driver.

[0131] Due to the continuously and dynamically changing environmental conditions due to traffic, it may happen that a selected gap 311 has been selected, but is no longer quickly enough or even not accessible at all during the start-up time for the lane change. For example, in the Fig. In the example shown in Figure 3, the first front gap 311 may have been selected and possibly incorporated into the automated longitudinal control of the ego vehicle 100. A vehicle driving in front of the ego vehicle 100 in the ego lane 201 (not shown) may have reduced its speed so much while the selected gap 311 is being approached that the selected gap 311 can no longer be reached or can no longer be reached quickly enough.

[0132] Based on the calculated predicted approach time to the gap 311 and the remaining time to perform the lane change, the device 101 can make the decision whether or not an alternative gap needs to be selected.

[0133] For this purpose, all existing gaps 321, 322, 323 located behind the no longer reachable gap 311 can be evaluated (possibly in the background) based on the above-mentioned selection criteria. If one of these gaps 321, 322, 323 is suitable, the control of vehicle 100 can be adjusted to the no longer reachable gap and applied to the newly determined gap.

[0134] In this case, the frontmost of the available alternative gaps can be used with priority. To avoid frequent gap switching, the mechanism can be configured so that the gap selection can only switch from gaps further forward to gaps further back. This can ensure that the driver perceives the assistance function as decisive. In particular, if lane change preparation has been started but not successfully completed, the nearest and therefore most plausible alternative gap is always selected.

[0135] The measures described in this document can also be carried out several times in succession for a lane change maneuver across multiple lanes 202.

[0136] Fig. 4a shows a flowchart of a (possibly computer-implemented) method 400 for operating a lane change assistance function of a vehicle 100. The lane change assistance function can be designed to assist the driver of the vehicle 100 in the context of route guidance of the vehicle 100 during one or more route-related lane changes that are necessary to follow a specific planned route.

[0137] The method 400 includes determining 401 the value of an urgency measure for a route-related lane change. The value of the urgency measure can be determined such that the value of the urgency measure indicates the urgency for the vehicle 100 to perform a lane change in order to travel along the planned route.

[0138] Furthermore, method 400 includes operating 402 the lane change assistance function depending on the determined value of the urgency measure. In particular, the selection of a suitable gap 311 for the route-related lane change can be carried out depending on the determined value of the urgency measure.

[0139] Fig. 4b shows a flowchart of a further (possibly computer-implemented) method 410 for operating a lane change assistance function of a vehicle 100. The features of method 410 can be combined in any manner with the features of method 400 (and / or vice versa).

[0140] The method 410 includes determining 411 that the vehicle 100 should perform a route-dependent lane change in order to travel along a planned route. This can be determined, for example, based on the current position of the vehicle 100 and on a route planned in a navigation system of the vehicle 100. The route-dependent lane change can be configured to guide the vehicle 100 toward a specific target lane 203 for the planned route.

[0141] The method 410 further includes determining 412 a gap list or gap set of available gaps 311, 312, 321, 322, 323 in an adjacent lane 202, to which the lane change is to be made as part of the route-dependent lane change. The gap set can be determined based on environmental data from one or more environmental sensors 102 of the vehicle 100. An available gap 311, 312, 321, 322, 323 is typically located between two gap objects 206 or in front of or behind a gap object 206 in the adjacent lane 202.

[0142] Furthermore, the method 410 comprises selecting 413 a gap 311 for the route-dependent lane change from the gap set such that a front-side gap 311, 312 with respect to the vehicle 100 has a higher priority during the selection than a rear-side gap 322, 323 with respect to the vehicle 100. The increased priority can be achieved, in particular, by checking the one or more front-side gaps 311, 312 from the gap set before the one or more rear-side gaps 322, 323 to determine whether they are each suitable as a gap 311 for the route-dependent lane change. As soon as a suitable gap 311 is identified, this gap 311 can be selected for the route-dependent lane change.

[0143] The method 410 also includes operating 414 the lane change assistance function for the route-dependent lane change depending on the selected gap 311. For example, the selected gap 311 can be output, in particular displayed, via a user interface 103 of the vehicle 100. Alternatively or additionally, at least partially automated longitudinal and / or lateral guidance of the vehicle 100 for the route-dependent lane change to and / or into the selected gap 311 can be effected.

[0144] The measures described in this document can provide a comfortable, safe and reliable lane change assistance function.

[0145] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

[1] Vehicle system (101) for operating a lane change assistance function of a motor vehicle (100); wherein the vehicle system (101) is configured - to determine that the vehicle (100) should perform a route-related lane change in order to travel along a planned route; - to determine a gap set of available gaps (311, 312, 321, 322, 323) on a neighboring lane (202) to which a change is to be made as part of the route-dependent lane change; - to determine a value of an urgency measure for the route-related lane change; wherein the value of the urgency measure indicates the urgency for the vehicle (100) to perform the route-related lane change in order to travel along the planned route; - selecting a gap (311) for the route-related lane change from the gap set; wherein selecting a gap (311) comprises - Establishing and / or adapting one or more selection criteria depending on the value of the urgency measure determined; - Checking for a considered available gap (311, 312, 321, 322, 323) from the gap set whether the considered available gap (311, 312, 321, 322, 323) meets the one or more selection criteria; and - taking into account the available gap (311, 312, 321, 322, 323) under consideration when selecting the gap (311) for the route-related lane change if the available gap (311, 312, 321, 322, 323) under consideration meets the one or more selection criteria; and - to operate the lane change assistance function for the route-related lane change with the selected gap (311). [2] Vehicle system (101) according to claim 1, wherein the vehicle system (101) is arranged - sequentially checking the different available gaps (311, 312, 321, 322, 323) from the gap set to determine whether the respective available gap (311, 312, 321, 322, 323) satisfies the one or more selection criteria; and - to select a checked gap (311) for the route-related lane change as soon as it is detected that the checked gap (311, 312, 321, 322, 323) meets the one or more selection criteria; and / or - to select the available gap (311, 312, 321, 322, 323) from the set of gaps for the route-related lane change for which it is first determined that the available gap (311, 312, 321, 322, 323) satisfies the one or more selection criteria. [3] Vehicle system (101) according to one of the preceding claims, wherein the vehicle system (101) is configured to prioritize a front-side gap (311, 312) over a rear-side gap (322, 323) by an order in a search for a gap suitable for the route-related lane change. [4] Vehicle system (101) according to one of the preceding claims, wherein the vehicle system (101) is arranged to prioritize a front-side gap (311, 312) over a rear-side gap (322, 323) in the selection by - first, the one or more front-side gaps (311, 312) from the gap set are checked to see whether they are suitable as a gap for the route-related lane change; and / or - the one or more rear-side gaps (322, 323) and / or a gap (321) arranged at the level of the vehicle (100) are only checked to see whether they are suitable as a gap for the route-related lane change if, in particular within a limited front-side period, no front-side gap (311, 312) could be identified which is suitable as a gap for the route-related lane change. [5] Vehicle system (101) according to one of the preceding claims, wherein the vehicle system (101) is arranged - to check the available gap (311, 312, 321, 322, 323) under consideration using one or more front-side selection criteria if the available gap (311, 312, 321, 322, 323) under consideration is a front-side gap (311, 312); and - to check the available gap (311, 312, 321, 322, 323) under consideration based on one or more rear-side selection criteria if the available gap (311, 312, 321, 322, 323) under consideration is a rear-side gap (322, 323) or a gap (321) arranged at the level of the vehicle (100); wherein the one or more front-side selection criteria and the one or more rear-side selection criteria are at least partially different. [6] Vehicle system (101) according to claim 5, wherein the one or more front-side selection criteria, in particular in combination with one another, are more restrictive than the one or more rear-side selection criteria. [7] Vehicle system (101) according to one of claims 5 to 6, wherein - a specific selection criterion has one or more selection parameters; - which comprise one or more selection parameters for an available gap (311, 312, 321, 322, 323), in particular, - a gap size; and / or - a relative speed of the vehicle (100) to a gap object (206) delimiting the available gap (311, 312, 321, 322, 323); and / or - a distance of the vehicle (100) to a gap object (206) delimiting the available gap (311, 312, 321, 322, 323) at a time when the available gap (311, 312, 321, 322, 323) is checked; and / or - a time period for guiding the vehicle (100) longitudinally to the level of the available gap (311, 312, 321, 322, 323); and / or - a time-to-collision, TTC for short, duration of the vehicle (100) with a gap object (206) delimiting the available gap (311, 312, 321, 322, 323), in particular based on a current position (215) and / or a current driving speed of the vehicle (100); and / or - a deceleration and / or acceleration of the vehicle (100) when changing lanes into the available gap (311, 312, 321, 322, 323); and / or - a distance of the vehicle (100) and / or a travel time of the vehicle (100) with a gap object (206) delimiting the available gap (311, 312, 321, 322, 323) after the vehicle (100) has been guided longitudinally to carry out the lane change at the level of the available gap (311, 312, 321, 322, 323) under consideration; and / or - a time period for overtaking the available gap (311, 312, 321, 322, 323); and - selection threshold values of the one or more selection parameters are at least partially different depending on whether the specific selection criterion is designed as a rear-side selection criterion or as a front-side selection criterion. [8] Vehicle system (101) according to one of claims 5 to 7, wherein a front-side selection criterion and a corresponding rear-side selection criterion each have the same selection parameter but a different selection threshold value. [9] Vehicle system (101) according to one of the preceding claims, wherein the vehicle system (101) is arranged - in a first step (331, 332), checking one or more front gaps (311, 312) from the gap set using the one or more selection criteria; and - if, in particular only if none of the one or more front-side gaps (311, 312) from the set of gaps meets the one or more selection criteria, in a subsequent step (334, 335, 336), one or more rear-side gaps (322, 323) or a gap (321) arranged at the level of the vehicle (100) are to be checked on the basis of one or more selection criteria. [10] Vehicle system (101) according to claim 9 with reference back to claims 5 to 7, wherein the vehicle system (101) is arranged - to check the one or more front-side gaps (311, 312) from the gap set using the one or more front-side selection criteria; and - to check the one or more rear gaps (322, 323) or the gap (321) arranged at the level of the vehicle (100) using the one or more rear selection criteria. [11] Vehicle system (101) according to claim 10, wherein the vehicle system (101) is configured to check at least one front-side gap (311, 312) from the gap set based on the one or more rear-side selection criteria before the one or more rear-side gaps (322, 323) or the gap (321) arranged at the level of the vehicle (100) are checked based on the one or more rear-side selection criteria. [12] Vehicle system (101) according to one of the preceding claims, wherein the one or more selection criteria, in particular each as a rear-side and as a front-side selection criterion, comprise - a selection criterion relating to a required minimum size of the available gap under consideration (311, 312, 321, 322, 323); and / or - a selection criterion relating to a maximum permissible relative speed of the vehicle (100) to a gap object (206) delimiting the available gap (311, 312, 321, 322, 323) under consideration; and / or - a selection criterion relating to a minimum required and / or maximum permissible distance of the vehicle (100) to a gap object (206) delimiting the available gap (311, 312, 321, 322, 323) under consideration, at a time at which the available gap (311, 312, 321, 322, 323) under consideration is checked; and / or - a selection criterion relating to a maximum permissible time period for guiding the vehicle (100) longitudinally up to the level of the available gap (311, 312, 321, 322, 323) under consideration; and / or - a selection criterion relating to a minimum permissible time-to-collision, TTC for short, duration of the vehicle (100) with a gap object (206) delimiting the available gap (311, 312, 321, 322, 323) under consideration, in particular based on a current position (215) and / or a current driving speed of the vehicle (100); and / or - a selection criterion relating to a maximum permissible deceleration and / or acceleration of the vehicle (100) when changing lanes into the available gap (311, 312, 321, 322, 323) under consideration; and / or - a selection criterion relating to a minimum permissible distance of the vehicle (100) and / or relating to a minimum permissible travel time of the vehicle (100) with a gap object (206) delimiting the available gap (311, 312, 321, 322, 323) under consideration, after the vehicle (100) has been guided longitudinally at the level of the available gap (311, 312, 321, 322, 323) under consideration to carry out the lane change; and / or - a selection criterion relating to a maximum permissible time for overtaking the available gap under consideration (311, 312, 321, 322, 323). [13] Vehicle system (101) according to one of the preceding claims, wherein the vehicle system (101) is configured to define and / or adapt the one or more selection criteria such that the one or more selection criteria become less restrictive with increasing urgency. [14] Vehicle system (101) according to one of the preceding claims, wherein the vehicle system (101) is arranged - to sequentially check available gaps (311, 312, 321, 322, 323) from the gap set to determine whether the respective available gap (311, 312, 321, 322, 323) is suitable as a gap (311) for the route-related lane change, such that a first available gap (311, 312, 321, 322, 323) is checked before a second available gap (311, 312, 321, 322, 323) from the gap set if the first available gap (311, 312, 321, 322, 323) is located closer to the vehicle (100) than the second available gap (311, 312, 321, 322, 323); and / or - checking available gaps (311, 312, 321, 322, 323) from the gap set cyclically and repeatedly to determine whether the respective available gap (311, 312, 321, 322, 323) is suitable as a gap (311) for the route-dependent lane change, such that if an available gap (311, 312, 321, 322, 323) from the gap set that is furthest away from the vehicle (100) has been recognized as not suitable for the route-dependent lane change, an available gap (311, 312, 321, 322, 323) from the gap set that is closest to the vehicle (100) is checked again. [15] Vehicle system (101) according to one of the preceding claims, wherein the vehicle system (101) is arranged - firstly, for a front period of time, in particular based on the one or more selection criteria, to check whether a front gap (311, 312) from the gap set is suitable as a gap (311) for the route-related lane change; and - only if, after the front time period has elapsed, no front gap (311, 312) suitable for the route-related lane change has been found, to check whether a rear gap (322, 323) or a gap (321) arranged at the level of the vehicle (100) from the set of gaps is suitable as a gap (311) for the route-related lane change. [16] Vehicle system (101) according to claim 15, wherein the vehicle system (101) is configured to determine and / or adapt the front time duration as a function of the value of the urgency measure for the route-related lane change, in particular such that the front time duration is reduced with increasing value of the urgency measure. [17] Vehicle system (101) according to one of the preceding claims, wherein the vehicle system (101) is configured to support and / or carry out a lane change of the vehicle (100) into the selected gap (311) on the adjacent lane (202) as part of the lane change assistance function for the route-related lane change, in particular - by issuing a notice to a driver of the vehicle (100) regarding the selected gap (311); and / or - by automatically guiding the vehicle (100) along an ego lane (201) of the vehicle (100) up to the level of the selected gap (311); and / or - by automatically guiding the vehicle (100), particularly as a result of an initiation by a driver of the vehicle (100), longitudinally and / or transversely into the selected gap (311) on the adjacent lane (202). [18] Vehicle system (101) according to claim 17, wherein the vehicle system (101) is configured to enter the selected gap (311) as part of the lane change assistance function, - to check whether the selected gap (311) is still accessible to the vehicle (100); and - to cancel the lane change assistance function into the selected gap (311) if it is determined that the selected gap (311) is no longer accessible for the vehicle (100); and / or - to select an alternative gap (321) from the gap set if it is determined that the selected gap (311) is no longer accessible for the vehicle (100). [19] Vehicle system (101) according to claim 18, wherein the vehicle system (101) is configured to select an alternative gap (321) from the gap set - which lies behind the selected gap (311) with respect to a direction of travel of the vehicle (100); and / or - which has the smallest possible distance to the selected gap (311). [20] Method (410) for operating a lane change assistance function of a motor vehicle (100); the method (410) comprising - determining (411) that the vehicle (100) should perform a route-dependent lane change to travel along a planned route; - determining (412) a gap set of available gaps (311, 312, 321, 322, 323) on a neighboring lane (202) to which a change is to be made as part of the route-dependent lane change; - determining a value of an urgency measure for the route-related lane change; wherein the value of the urgency measure indicates the urgency for the vehicle (100) to perform the route-related lane change in order to travel along the planned route; - selecting (413) a gap (311) for the route-related lane change from the gap set; wherein selecting a gap (311) comprises - Establishing and / or adapting one or more selection criteria depending on the value of the urgency measure determined; - Checking for a considered available gap (311, 312, 321, 322, 323) from the gap set whether the considered available gap (311, 312, 321, 322, 323) meets the one or more selection criteria; and - taking into account the available gap (311, 312, 321, 322, 323) under consideration when selecting the gap (311) for the route-related lane change if the available gap (311, 312, 321, 322, 323) under consideration meets the one or more selection criteria; and - Operating (414) the lane change assistance function for the route-related lane change with the selected gap (311).

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