CONTROL DEVICE AND METHOD FOR CONTROLLING AN OVERTAKE PREVENTION FOR A MOTOR VEHICLE

Abstract

A control device (1) for controlling an overtaking prevention system for a motor vehicle (10) is provided. The control device (1) is designed to detect a traffic situation on a road with two lanes (31, 32; 34, 35) with the same direction of travel (S1), wherein the motor vehicle (10) is traveling in the first lane (31; 34) of the two lanes (31, 32; 34, 35) and another vehicle (20) is traveling in the second lane (32; 35) of the two lanes (31, 32; 34, 35) ahead of the motor vehicle (10). The control device (1) is designed to identify, once the traffic situation has been detected, a turning maneuver by the other vehicle (20) away from the first lane (31; 34) (S2), and an overtaking maneuver by the motor vehicle (10) in the first lane (31; 34) to allow (S3) when the turning maneuver has been identified.

Description

[0001] The present disclosure relates to a control device for controlling an overtaking prevention system for a motor vehicle, a motor vehicle comprising the control device, and / or a method for controlling an overtaking prevention system for a motor vehicle. Additionally, or alternatively, a computer program is provided which comprises instructions that, when executed by a computer, cause the computer to at least partially execute the method. Additionally, or alternatively, a computer-readable medium is provided which comprises instructions that, when executed by a computer, cause the computer to at least partially execute the method.

[0002] Driver assistance systems are increasingly being installed in modern motor vehicles, especially automobiles.

[0003] Advanced Driver Assistance Systems (ADAS) are electronic, particularly mechatronic, devices in motor vehicles that support the driver in certain driving situations. These often focus on safety aspects, but also on increasing driving comfort.

[0004] A well-known driver assistance system is the distance control system (also known as adaptive cruise control, ACC). It is known for maintaining a predefined (e.g. speed-dependent) distance from a vehicle in front and for regulating the speed of the host vehicle so that the host vehicle automatically maintains a comfortable distance from the vehicle in front. If there is no vehicle in front, such a system regulates to a desired speed specified by the driver, which can, however, also be partially modified by other (sub-control) systems, e.g. based on the detection of speed limit signs. The speed is adjusted based on the vehicle in front because such a control system must be active and also uses sensors to detect vehicles in front, including at least their distance from the host vehicle, but e.g.the (difference) speed to the ego vehicle and / or the acceleration is also determined.

[0005] Furthermore, it is known that such a system not only detects and considers vehicles ahead in the same lane as the ego vehicle, but also vehicles in adjacent lanes. It also detects or determines whether (e.g., relative to the ego vehicle) neighboring lanes (with the same direction of travel as the ego vehicle's lane) exist, and in which lane (e.g., relative to the ego vehicle) vehicles are present and traveling. This enables the implementation of known functions such as overtaking assistance and / or overtaking prevention in certain situations.

[0006] For example, in the situation "ego vehicle is following a vehicle in front at speed or distance control, but the ego vehicle's speed is lower than the specified desired speed," the overtaking assistance detects an overtaking attempt by the driver (or, in the future, by the vehicle) and accelerates the vehicle in the ego lane before pulling out to overtake, thereby increasing the speed and reducing the distance to the vehicle in front (temporarily, until the ego vehicle pulls out). If possible, the adjacent lane into which the driver intends to pull out is also monitored (e.g., whether such an adjacent lane even exists, whether a vehicle is currently driving in it, and / or whether a faster vehicle is approaching from behind).

[0007] An overtaking prevention system, on the other hand, detects a situation where, for example, in countries where driving on the right is mandatory and overtaking is on the left (or vice versa), a vehicle traveling slower than the desired speed is in the lane to the left of the ego vehicle and then regulates the speed of the ego vehicle (i.e. down) so that the ego vehicle does not drive or overtake in the lane to the right of the vehicle. The functionalities are designed in such a way that suitable situations are recognized as accurately as possible in order to avoid unwanted driving behavior by the ego vehicle in “inappropriate” situations. Unwanted driving behaviors include, for example, the overtaking aid shortening a distance but the overtaking lane is blocked by another vehicle, or an overtaking prevention system delays a vehicle on the left but the vehicle is in a left-turn lane at an intersection and the ego vehicle is just exiting its lane.

[0008] While the distance control system and the overtaking assistance and overtaking prevention functions work relatively well and robustly on motorways and structurally separated roads without intersections, the problem on rural roads or urban streets is that, due to possible traffic junctions, e.g., intersections, the situations "overtaking request" and "overtaking opportunity" cannot always be accurately recognized on such roads.

[0009] Against the background of this prior art, the object of the present disclosure is to provide a device and / or a method which are each suitable for enriching the prior art.

[0010] The problem is solved by the features of the independent claims. The subordinate claims and the dependent claims each contain optional developments of the disclosure.

[0011] The object is then achieved by a control device for controlling an overtaking prevention device (and / or overtaking aid) for a motor vehicle.

[0012] The control device is designed to detect a traffic situation on a road (e.g., a federal highway) with two (e.g., adjacent) lanes that have the same lane direction. The motor vehicle is traveling in a first lane of the two lanes, and another vehicle is traveling ahead of the motor vehicle in a second lane of the two lanes. The motor vehicle can also be referred to as the ego vehicle.

[0013] The control device is designed to identify, if the traffic situation has been recognized, a turning maneuver of the other vehicle leading away from the first lane and to allow an overtaking maneuver by the motor vehicle in the first lane if the turning maneuver has been identified.

[0014] The control device or control unit can be part of the driver assistance system or represent it. The control device can be, for example, an electronic control unit (ECU). The electronic control unit can be an intelligent processor-controlled unit that can communicate with other modules, for example, via a central gateway (CGW) and, if necessary, can form the vehicle's on-board network via fieldbuses such as the CAN bus, LIN bus, MOST bus, FlexRay, and / or via the automotive Ethernet, e.g., together with telematics control units and / or environmental sensors.

[0015] It is conceivable that the control device controls functions relevant to the vehicle's driving behavior, such as the steering, engine control, power transmission, and / or the braking system. Furthermore, driver assistance systems such as a parking assistant, adaptive cruise control (ACC), lane keeping assistant, lane change assistant, traffic sign recognition, traffic light recognition, start-off assistant, night vision assistant, and / or intersection assistant can be controlled by the control device.

[0016] Adaptive cruise control may also be referred to as adaptive cruise control (and / or adaptive cruise control). The adaptive cruise control system may have one or more (additional) functionalities. The adaptive cruise control system may include overtaking assistance and / or overtaking prevention.

[0017] The control device can be configured to execute the overtaking prevention function and, for example, to activate and / or deactivate it. The overtaking prevention function can be configured to detect when the other vehicle is traveling slower than a desired speed (or a predetermined driving speed and / or a current driving speed of the motor vehicle) and to reduce and / or regulate the current driving speed of the motor vehicle and / or to brake the motor vehicle in such a way that the motor vehicle does not drive or overtake the other vehicle in the first lane.

[0018] Allowing the overtaking maneuver may include (e.g. temporarily) suppressing, overriding, deactivating and / or non-activating the overtaking prevention system (and / or the distance control system).

[0019] The control device can be designed to detect the traffic situation based on lane-accurate map data and, for example, lane-accurate positions of the motor vehicle and the other vehicle.

[0020] The lane-accurate map data can be stored in a memory of the control device and / or the motor vehicle (retrievable), or obtained from an external database, an external backend (or an external data storage and / or data processing device), or otherwise externally, e.g., via the internet. The map data can be obtained and / or updated over-the-air, for example.

[0021] The position of the motor vehicle, e.g., lane-accurate, and / or the position (also: third-party position) of the third-party vehicle, e.g., lane-accurate, can be obtained and / or updated, e.g., via a communication interface of the motor vehicle, from a global navigation satellite system (GNSS for short), an external backend, or otherwise externally, e.g., via the Internet.

[0022] Alternatively, or additionally, it is conceivable that the control device can be designed to determine the position of the other vehicle based on sensor data (or environmental data) from an environmental sensor system of the motor vehicle.

[0023] Lane-accurate can mean that the lane-accurate map data can include (or display) a road network or roads of a road network differentiated into (driving) lanes (also: lanes) and / or the lane-accurate position (of the motor vehicle and / or the other vehicle) can have an accuracy and / or resolution that enables the motor vehicle or the other vehicle to be assigned to (exactly) one of the (driving) lanes.

[0024] The lane-accurate map data can include a respective lane direction for each of the lanes. The respective lane direction can be a predetermined direction that a vehicle (e.g., the motor vehicle and / or the other vehicle) (logically) follows or should follow when traveling in the respective lane.

[0025] The control device described above offers a number of advantages. Among other things, it provides an improved technology for controlling the overtaking prevention or overtaking assistance system for a motor vehicle on rural roads or urban streets. For example, in an area or on a road where driving on the right applies, overtaking by the motor vehicle in the right lane can be permitted by detecting the turning maneuver of another vehicle in the left lane. This can prevent unintended driving behavior of the motor vehicle by suppressing unnecessary or undesired braking of the motor vehicle, for example, by intervening the overtaking prevention system.

[0026] Possible further developments of the device described above are explained in detail below.

[0027] The control device can be configured to permit the overtaking maneuver by deactivating a distance control system of the motor vehicle (at least with respect to the other vehicle). The distance control system can be deactivated temporarily, e.g., until the overtaking maneuver is completed. The distance control system can be activated during normal driving of the motor vehicle, e.g., upon detecting the traffic situation.

[0028] The control device may be configured to permit the overtaking maneuver in order to suppress and / or not activate an overtaking prevention.

[0029] The control device can be configured to check, based on map data (and / or lane-accurate map data), whether a next traffic junction in the lane direction is within a specified distance (e.g., from the position of the motor vehicle). The next traffic junction can be, for example, an intersection, a turn, a lane widening, a junction, and / or an exit.

[0030] Alternatively, or additionally, the control device can be configured to check, based on sensor data (or environmental data) from an environmental sensor system of the motor vehicle, whether the nearest traffic junction is located within a specified distance in the lane direction. For this purpose, the control device can be configured, for example, to evaluate the sensor data using traffic sign recognition.

[0031] The specified distance can be a stored distance value. Furthermore, it is conceivable that the specified distance can be selected from a plurality of stored distance values ​​depending on the (current) driving speed of the motor vehicle.

[0032] The control device may be configured to identify the turning maneuver of the other vehicle when the nearest traffic junction in the lane direction is within a predetermined distance.

[0033] The control device can be designed to identify the turning maneuver of the other vehicle if it has been determined from map data that the second lane is a turning lane or exit lane or merges into a turning lane or exit lane within a predetermined distance in the lane direction.

[0034] Furthermore, it is conceivable that the control device can be designed to identify the turning maneuver of the other vehicle if it has been determined on the basis of map data that, in addition to the second lane, another lane of the road is opened within a predetermined distance.

[0035] The control device can be designed to detect a turn signal status of the other vehicle.

[0036] The control device can be configured to identify the turning maneuver of the other vehicle if the detected turn signal status indicates a turn of the other vehicle leading away from the first lane (and / or in a direction away from the first lane), e.g., a left turn or a right turn.

[0037] The control device can be designed to detect a third-party driving speed of the third-party vehicle.

[0038] The control device can be designed to identify the turning maneuver and / or to permit the overtaking maneuver if the detected external driving speed is below a predetermined driving speed and / or a current driving speed of the motor vehicle.

[0039] The control device can be designed to permit the overtaking maneuver only when the detected external driving speed is below a predetermined driving speed and / or a current driving speed of the motor vehicle.

[0040] The first lane may be a right lane of two lanes, and the second lane may be a left lane of two lanes. A right-hand lane and / or a left-hand overtaking ban may apply on the road.

[0041] The turn may be a left turn. The turn lane may be a left-turn lane and / or the exit lane may be a left-exit lane.

[0042] Alternatively, the first lane can be a left lane of two lanes, and the second lane can be a right lane of two lanes. A left-hand lane and / or a right-hand overtaking ban may apply on the road.

[0043] The turn may be a right turn. The turn lane may be a right-turn lane, and / or the exit lane may be a right-exit lane.

[0044] The map data and / or a memory of the control device can store whether (on the road) a driving order to the right and / or a prohibition to overtake on the left applies or whether a driving order to the left and / or a prohibition to overtake on the right applies.

[0045] The control device can be designed to permit the overtaking maneuver only when the turning maneuver has been identified and no indicator of the motor vehicle is activated (or active).

[0046] The above description can be summarized in other words and in a possible more concrete embodiment of the disclosure as described below, whereby the following description is not to be interpreted as limiting the disclosure.

[0047] (Driving) functions in the motor vehicle can use map data, i.e., information from a navigation map stored in the vehicle or received over-the-air (and, for example, enhanced). The map data can include road attributes such as "number of lanes" and / or "direction of travel within lanes," which may not always be stored robustly and accurately. Intersections and / or turns can be very well mapped and present in the map data sets.

[0048] The basic principle of the present disclosure can consist in additionally storing a query in the situation recognition system as to whether the motor vehicle is on a road or lane on which intersections and / or turns are present or expected ahead (e.g., within a definable distance from the ego vehicle). This query can, for example, use information from the map data, but can alternatively or additionally be detected by vehicle sensors (with sufficiently long-range sensors). A query can also be made as to whether intersections and / or turns are or were present on the road behind (e.g., at a minimum distance from the ego vehicle). This information can also be taken from the map data or generated by the vehicle's own sensors (e.g., a camera) and stored along the route.

[0049] For example, the ego vehicle may be driving in the right lane on a federal highway with two lanes in each direction (e.g., with a structural separation) with an active distance control system. An intersection and / or bend in the road may lie ahead. A non-ego vehicle (e.g., a truck) traveling slower than the desired speed may be driving in the left lane and may, for example, have already activated its left turn signal. Overtaking prevention may not be suppressed or active if the ego vehicle is likely to drive straight ahead (e.g., without activating its turn signal), but the other vehicle could potentially decelerate to a standstill or into a turning speed range due to the intersection ahead.

[0050] Furthermore, a motor vehicle is provided which comprises the control device described above.

[0051] The motor vehicle may have an environmental sensor system. The control device may be connected to the environmental sensor system via signaling.

[0052] The motor vehicle may be a passenger car, in particular an automobile, or a commercial vehicle, such as a truck.

[0053] The motor vehicle can be automated and / or autonomous. The motor vehicle can be configured to at least partially and / or at least temporarily assume longitudinal and / or lateral guidance by means of the control device during automated driving of the motor vehicle.

[0054] Automated driving can be implemented in such a way that the motor vehicle's movement is (largely) autonomous. Automated driving can be controlled at least partially and / or temporarily by the control device.

[0055] It is conceivable that the motor vehicle intervenes in the lateral guidance of the motor vehicle through a driver assistance system actively, e.g. by adjusting an actual steering wheel position, and optionally passively, e.g. by displaying a turn-off instruction.

[0056] The motor vehicle may be a motor vehicle with autonomy level 0, i.e. the driver assumes the dynamic driving task, even if supporting systems (e.g. ABS or ESP) are present.

[0057] The motor vehicle may be a Level 1 autonomy motor vehicle, i.e. it may have certain driver assistance systems that support the driver in operating the vehicle, such as adaptive cruise control (ACC).

[0058] The motor vehicle may be a motor vehicle of autonomy level 2, i.e. be so partially automated that functions such as automatic parking, lane keeping or lateral guidance, general longitudinal guidance, acceleration and / or braking are taken over by driver assistance systems.

[0059] The motor vehicle can be a Level 3 autonomy vehicle, meaning it is so conditionally automated that the driver does not need to continuously monitor the vehicle system. The vehicle performs functions such as activating the turn signal, changing lanes, and / or keeping in lane independently. The driver can attend to other activities but will be prompted by the system to take over driving if necessary within a pre-warning period.

[0060] The motor vehicle can be a Level 4 autonomy vehicle, meaning it can be so highly automated that the vehicle's control system permanently assumes control of the vehicle. If the system can no longer handle the driving tasks, the driver can be requested to take over.

[0061] The motor vehicle can be a Level 5 autonomy vehicle, meaning it is so fully automated that the driver is not required to perform the driving task. No human intervention is required other than setting the destination and starting the system. The motor vehicle can operate without a steering wheel or pedals.

[0062] What has been described above with reference to the control device also applies analogously to the motor vehicle and vice versa.

[0063] Furthermore, a method for controlling an overtaking prevention (and / or overtaking aid) for a motor vehicle is provided.

[0064] The method involves detecting a traffic situation on a road with two lanes traveling in the same direction. The motor vehicle is traveling in a first lane of the two lanes, and another vehicle is traveling ahead of the motor vehicle in a second lane of the two lanes.

[0065] The method comprises, if the traffic situation has been recognized, identifying a turning maneuver of the other vehicle leading away from the first lane, and allowing an overtaking maneuver by the motor vehicle in the first lane if the turning maneuver has been identified.

[0066] The (control) method may be a computer-implemented method, i.e. one, several or all steps of the method may be carried out at least partially by a computer or a data processing device, optionally the control device.

[0067] What has been described above with reference to the control device and the motor vehicle also applies analogously to the method and vice versa.

[0068] Furthermore, a computer program is provided, comprising instructions which, when the program is executed by a computer, cause the computer to at least partially carry out or implement the method described above.

[0069] A program code of the computer program may be in any code, in particular in a code suitable for motor vehicle controls.

[0070] What has been described above with reference to the control device, the motor vehicle and the method also applies analogously to the computer program and vice versa.

[0071] Furthermore, a computer-readable medium, in particular a computer-readable storage medium, is provided. The computer-readable medium comprises instructions which, when executed by a computer, cause the computer to at least partially execute or carry out the method described above.

[0072] This means that a computer-readable medium can be provided that contains a computer program as defined above. The computer-readable medium can be any digital data storage device, such as a USB flash drive, a hard disk, a CD-ROM, an SD card, or an SSD card (or SSD drive / SSD hard disk).

[0073] The computer program does not necessarily have to be stored on such a computer-readable storage medium in order to be made available to the motor vehicle, but can also be obtained via the Internet or otherwise externally.

[0074] What has been described above with reference to the method, the control device, the computer program and the motor vehicle also applies analogously to the computer-readable medium and vice versa.

[0075] Below are optional embodiments with reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4 described. Fig. 1 schematically shows a motor vehicle according to the disclosure with a control device for controlling an overtaking prevention of the motor vehicle, Fig. 2 schematically shows a flow diagram of a method according to the disclosure for controlling an overtaking prevention system for the motor vehicle; Fig. 3 shows schematically the motor vehicle in a first traffic situation; Fig. 4 shows schematically the motor vehicle in a second traffic situation; and Fig. Figure 5 shows schematically the motor vehicle in a third traffic situation.

[0076] The Fig. 1, the motor vehicle 10 shown only schematically comprises the control device 1.

[0077] To control an overtaking prevention (and / or overtaking assistance) of the motor vehicle 10, the control device 1 is designed to carry out the following with reference to Fig. 2 in detail, wherein, by way of example, reference is also made to the two Fig. 3, Fig. 4 and Fig. 5 refers to the traffic situations shown.

[0078] In a first method step S1, a traffic situation on a road with two lanes having the same lane direction is detected, wherein the motor vehicle 10 is driving in a first lane of the two lanes and a foreign vehicle is driving ahead of the motor vehicle 10 in a second lane of the two lanes.

[0079] The first lane may be a right lane and the second lane may be a left lane, with a right-hand lane and / or a left-hand overtaking ban in effect on the road. Alternatively, the first lane may be a left lane and the second lane may be a right lane, with a left-hand lane and / or a right-hand overtaking ban in effect on the road.

[0080] Fig. 3, Fig. 4 and Fig. Figures 5 illustrate three such traffic situations, each in which motor vehicle 10 and another vehicle 20 are traveling in the same direction 11 and 21, respectively, on a road where driving on the right and passing on the left are prohibited. The respective directions 11 and 21 correspond to the lane direction of lanes 31-38.

[0081] In the first traffic situation ( Fig. 3) the motor vehicle 10 is driving in the first lane 31, while the other vehicle 20 is driving ahead of the motor vehicle 10 in the second lane 32. Similarly, the motor vehicle 10 is driving in the second traffic situation ( Fig. 4) and the third traffic situation ( Fig. 3) in the first lane 34 or 36, while the other vehicle 20 is driving ahead of the motor vehicle 10 in the second lane 35 or 37.

[0082] In a second method step S2, if the traffic situation has been recognized, a turning maneuver of the other vehicle leading away from the first lane is identified.

[0083] For this purpose, map data can be used to check whether the nearest traffic junction in the lane direction is within a specified distance. The other vehicle's turning maneuver can be identified if the nearest traffic junction in the lane direction is within the specified distance.

[0084] Alternatively, or additionally, the turning maneuver of the other vehicle 20 can be identified if it has been determined based on map data that the second lane is a turning lane, e.g., a left-turn lane, or an exit lane, e.g., a left-exit lane, or that it merges into a turning lane or exit lane within a predetermined distance in the lane direction.

[0085] Based on these criteria, a left turn of the other vehicle 20 in the two traffic situations of Fig. 3 and Fig. 4 can be identified.

[0086] This is how the two lanes 31 and 32 run in the first traffic situation ( Fig. 3) towards a traffic junction, with the second lane 32 merging into a left exit lane 33 at this traffic junction.

[0087] In the second traffic situation ( Fig. 4) The two lanes 34 and 35 also converge on an interchange, which is an intersection. Furthermore, the second lane, 35, is a left-turn lane.

[0088] In the third traffic situation ( Fig. 5) Both lanes 36 and 37 also converge on an interchange. This involves a road widening, with an additional lane 38 being opened in the direction of travel to the left of the left lane 37.

[0089] In addition, further criteria for identifying a turning maneuver of the other vehicle are also conceivable, e.g., by detecting a turn signal status of the other vehicle (e.g., by means of an environmental sensor system of the motor vehicle 10), if the turn signal status indicates that the other vehicle is turning away from the first lane, e.g., a left turn.

[0090] In a third method step S3, an overtaking maneuver by motor vehicle 10 in the first lane is permitted if the turning maneuver has been identified. For this purpose, for example, a distance control system of motor vehicle 10 can be deactivated at least with respect to the other vehicle, and / or an overtaking prevention system can be suppressed or not activated, so that motor vehicle 10 can overtake the other vehicle.

[0091] Furthermore, it is conceivable to carry out the second method step S2 and / or the third method step S3 only when a detected external driving speed of the external vehicle is below a predetermined driving speed and / or a current driving speed of the motor vehicle 10. List of reference symbols 1 control device 10 motor vehicle 11 Direction of travel of the motor vehicle 20 third-party vehicles 21 Direction of travel of the other vehicle 31-38 lanes 100 procedures S1-S3 process steps

Claims

[1] Control device (1) for controlling an overtaking prevention device for a motor vehicle (10), characterized by that the control device (1) is designed to: - to detect (S1) a traffic situation on a road with two lanes (31, 32; 34, 35; 36, 37) which have the same lane direction, wherein the motor vehicle (10) is traveling in a first lane (31; 34; 36) of the two lanes (31, 32; 34, 35; 36, 37) and a foreign vehicle (20) is traveling in front of the motor vehicle (10) in a second lane (32; 35; 37) of the two lanes (31, 32; 34, 35; 36, 37); and, - if the traffic situation has been recognized: - to identify (S2) a turning maneuver of the other vehicle (20) leading away from the first lane (31; 34; 36); and - to permit (S3) an overtaking maneuver by the motor vehicle (10) in the first lane (31; 34; 36) when the turning maneuver has been identified. [2] Control device (1) according to claim 1, characterized by that the control device (1) for permitting (S3) the overtaking access is designed to - to deactivate a distance control system of the motor vehicle (10) at least with respect to the other vehicle (20); and / or - to suppress and / or not activate an overtaking prevention system. [3] Control device (1) according to claim 1 or 2, characterized by that the control device (1) is designed to: - to check, using map data, whether the nearest traffic junction in the lane direction is within a specified distance; and - to identify the turning maneuver of the other vehicle (20) using map data (S2) if the next traffic junction in the lane direction is within a predetermined distance. [4] Control device (1) according to one of the preceding claims, characterized by that the control device (1) is designed to: - to identify (S2) the turning maneuver of the other vehicle (20) if it has been determined on the basis of map data that the second lane (32; 35; 37) is a turning lane (35) or departure lane or merges into a turning lane or departure lane (33) within a predetermined distance in the lane direction. [5] Control device (1) according to one of the preceding claims, characterized by that the control device (1) is designed to: - to detect a turn signal status of the other vehicle (20); and - to identify (S2) the turning maneuver of the other vehicle (20) if the detected indicator status indicates that the other vehicle (20) is flashing away from the first lane. [6] Control device (1) according to one of claims 3 to 5, characterized by that the control device (1) is designed to: - to detect a third-party driving speed of the third-party vehicle (20); and - to identify the turning maneuver (S2) and / or to permit the overtaking maneuver (S3) if the detected external driving speed is below a predetermined driving speed and / or a current driving speed of the motor vehicle (10). [7] Control device (1) according to one of the preceding claims, characterized by , that a) the first lane (31; 34; 36) is a right lane of the two lanes (31, 32; 34, 35; 36, 37), the second lane (32; 35; 37) is a left lane of the two lanes (31, 32; 34, 35; 36, 37), and there is a right-hand driving rule and / or a left-hand overtaking ban on the road, or b) the first lane is a left lane of the two lanes, the second lane is a right lane of the two lanes, and there is a left-hand driving rule and / or a right-hand overtaking ban on the road. [8] Motor vehicle (10), characterized bythat the motor vehicle (10) comprises the control device (1) according to one of the preceding claims. [9] Method (100) for controlling an overtaking prevention system for a motor vehicle (10), characterized by that the method (100) comprises: - detecting (S1) a traffic situation on a road with two lanes (31, 32; 34, 35; 36, 37) which have the same lane direction, wherein the motor vehicle (10) is traveling in a first lane (31; 34; 36) of the two lanes (31, 32; 34, 35; 36, 37) and a foreign vehicle (20) is traveling ahead of the motor vehicle (10) in a second lane (32; 35; 37) of the two lanes (31, 32; 34, 35; 36, 37); and, - if the traffic situation has been recognized: - identifying (S2) a turning maneuver of the other vehicle (20) away from the first lane (31; 34; 36); and - Permitting (S3) an overtaking maneuver by the motor vehicle (10) in the first lane (31; 34; 36) when the turning maneuver has been identified. [10] Computer program and / or computer-readable medium, characterized by that the computer program and / or computer-readable medium comprises instructions which, when executed by a computer, cause the computer to carry out the method (100) according to claim 9.

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