Computing device for a vehicle assistance system for planning an automated overtaking maneuver on a multi-lane roadway, assistance system and procedure

Abstract

The invention relates to a computing device (3) for an assistance system (2) for the automated lateral guidance of a vehicle (1) on a multi-lane roadway (14), wherein the computing device (3) is configured to: plan an overtaking maneuver, the overtaking maneuver comprising a first automated lane change maneuver and a second automated lane change maneuver; receive route data describing a planned navigation route; estimate an available driving distance (S) up to the execution of the second automated lane change maneuver based on the route data; receive environmental data describing the positions and speeds of other road users (17) on the roadway (14); receive speed data describing the speed of the vehicle (1); and determine the execution of the first automated lane change maneuver depending on the available driving distance (S).to plan using environmental data and speed data.

Description

The present invention relates to a computing device for an assistance system for the automated lateral guidance of a vehicle on a multi-lane roadway. The present invention also relates to an assistance system for a vehicle. The present invention also relates to a method for the automated lateral guidance of a vehicle.Assistance systems are known from the prior art, with which an at least partially automated lateral guidance of the vehicle can be carried out. Assistance systems of this type with partially automated lateral guidance assist the driver by assuming the steering task. Unlike in the case of assistance systems for lane keeping, this assistance is not only limited to situational interventions, such as lane departure, but also continuously assists the driver in lane guidance. During operation of the assistance system, roadway markings and / or a traveled trajectory of the front vehicle are generally detected and used as a basis for the trajectory of the ego vehicle to be planned.In part, these known assistance systems for partially automated lateral guidance allow the driver to remove the hands from the steering wheel at times. This is also referred to as a tolerated hands-off state. However, during operation of the assistance system, the driver is reminiscent of the driving task after a relatively short time by means of visual and / or acoustic instructions and is requested to take his hands back to the steering wheel.Furthermore, lane change assistance systems are known from the prior art, which assist the driver in lane change maneuvers. In known lane change assistance systems with an automated or automatic lane change function, the driver typically displays a lane change request by a specific operating action. When such an operating action is detected, the vehicle is maneuvered along a planned trajectory onto the adjacent lane or the destination lane with automatic lateral guidance and generally also with automatic longitudinal guidance by means of the lane change assistance system. In such lane change assistance systems, the driver's lane change request is usually signaled by actuating a corresponding operating element, for example a turn signal lever, in order to trigger direction indicators visible outside the vehicle.Furthermore, driver assistance systems are known from the prior art which assist the user of the vehicle on a multi-lane road when an exit or a branch is reached. In this case, the driver assistance system can prepare all necessary lane changes until an exit is reached, for example as a result of an input from a navigation destination. For this purpose, the driver assistance system can first recognize a free gap for the vehicle on the adjacent lane, and then adjust the speed of the vehicle into the recognized gap for the subsequent lane change maneuver.Lane change assistance systems are also known from the prior art, which propose an automated lane change maneuver to the driver. For example, the systems may recognize that a lane change is meaningful or required. This can be the case, for example, if a slower road user is to be passed. If the lane change proposed by the lane change assistance system is confirmed by the driver, the automated lane change maneuver can be carried out by means of the lane change assistance system.Such level 2 assistance systems can assist the driver in various situations by proposing and carrying out lane change maneuvers. In this case, in particular two scenarios are more frequently conflicting: passing a slower vehicle and changing to a suitable lane for following the route, in order to achieve a drive-out, for example. In this case, it is necessary to decide whether an overtaking maneuver is still expedient and can be concluded before, for example, the exit is missed.Current assistance systems usually plan hierarchically. Short-term destinations are derived from a long-term destination, for example, following the route. Such a short-term destination can be, for example, lane keeping or non-passing if the exit is already very close. The boundary conditions for long-term planning are usually not detectable by the surroundings sensors, and are therefore largely unknown. Here, greatly simplified assumptions are made. If the long-term planning has already defined the target of lane keeping, the short-term planning can no longer react to the current traffic situation, although this can be detected comparatively accurately with the surroundings sensors. Hierarchical planning of maneuvers can result in a slower leading vehicle no longer being bypassed, although it still allows the current traffic situation. In particular in the case of assist systems according to level 2, this can irritate the driver.It is the object of the present invention to show a solution how the operation of an assistance system of the type mentioned at the beginning can be improved, in particular with regard to the perception of the driver.This object is achieved according to the invention by a computing device, by an assistance system and by a method having the features according to the independent claims. Advantageous further developments of the present invention are specified in the dependent claims.A computing device according to the invention for an assistance system for the automated lateral guidance of a vehicle on a multi-lane roadway is configured to plan a passing maneuver, wherein the passing maneuver comprises a first automated lane change maneuver and a second automated lane change maneuver. In addition, the computing device is configured to receive route data describing a planned navigation route. Furthermore, the computing device is configured to estimate an available route from the route data until the second automated lane change maneuver is carried out. Furthermore, the computing device is configured to receive environment data describing positions and speeds of further road users on the roadway. In addition, the computing device is configured to receive speed data describing a speed of the vehicle. In addition, the computing device is configured to plan the execution of the first automated lane change maneuver as a function of the available route, the surroundings data and the speed data.With the aid of the computing device or the assistance system, the driver of the vehicle is to be assisted in maneuvering the vehicle on a multi-lane road. The multi-lane road may basically be a toll road, a federal road, an expressway, a highway-like road, or the like. The multi-lane road is preferably a freeway. The road can have, for example, two directional lanes each having at least two lanes, which are referred to in the present case as first lane and second lane.Both the host vehicle and further road users can move in a predefined direction of travel on this lane. The road can also have further lanes. In this case, the first lane can delimit an exit or the deceleration lane which leads to the exit. The first lane may be, for example, the right lane of a freeway. It can also be provided that the deceleration strip leads to a further road.By means of the computing device, automated lane change maneuvers can be prepared and carried out in order to carry out an overtaking process. The passing maneuver comprises at least the first automated lane change maneuver and the second automated lane change maneuver. For example, the first automated lane change maneuver can lead from a first lane to a second lane. The second automated lane change maneuver can then lead from the second lane back to the first lane. The passing maneuver can comprise further lane change maneuvers, which follow the second automated lane change maneuver. During the passing process, at least one further road user can be passed over.In order to be able to plan the passing maneuver, environment data can be received by means of the computing device, which environment data describe the further road users in the environment of the vehicle or on the roadway. The environmental data can describe the positions of the further road users. In particular, the environmental data can describe the lane on which the respective road users are currently located. In addition, the environmental data can describe the respective current speeds of the further road users. The surroundings data can be received by means of the computing device from at least one surroundings sensor of the vehicle or of the assistance system. The at least one environment sensor may be a camera, a radar sensor, a lidar sensor, an ultrasonic sensor or the like.By means of the computing device of the assistance system, the lane change maneuver from the lane on which the vehicle is currently located to the adjacent lane or the target lane can be planned. For example, a corresponding trajectory along which the vehicle is to be maneuvered can be calculated for this purpose. In order to plan the lane change maneuver, it is first possible to check whether or not there is a free gap for the vehicle between the further road users on the adjacent lane. A free gap describes in particular a sufficiently large maneuver space for safe execution of the lane change. If a gap is detected, it can be checked whether it is suitable for the lane change maneuver with regard to the dimensions and the differential speeds between the vehicle and the road users which delimit the potential gap.The speed data can also be received by means of the computing device. The speed data can describe the current speed of the vehicle. In addition, the speed data can describe a set speed or setpoint speed for a cruise control specified by the driver. Based on the environmental data and / or on digital map data, information on a permissible maximum speed for the travel on the roadway can also be ascertained. For example, road signs can be detected for this purpose by means of the camera of the assistance system, which road signs indicate the permissible maximum speed. The information about the permissible maximum speed can also be determined in a predictive manner via map information from the backend.The route data describing a planned navigation route can also be received by means of the computing device. For example, the route data can describe that the vehicle is to be maneuvered starting from the current lane, optionally via a further lane, to a deceleration lane of the roadway and from there to the exit of the roadway. Thus, for example, information is available to the computing device about which exit of the roadway the vehicle is to be maneuvered.If the passing maneuver is planned by means of the computing device, it can be determined on the basis of the route data when the second automated lane change maneuver is to be carried out, which completes the passing maneuver. The available route until the second automated lane change maneuver is carried out can thus be estimated by means of the computing device on the basis of the route data. In this case, the preparation of the second automated lane change maneuver can also be taken into account. The long-term planning with the aim of following the planned navigation route can therefore define the guideline for the distance at which a driving maneuver for following the route has to begin.The first automated lane change maneuver, which initiates the passing maneuver, can be planned by means of the computing device on the basis of the available route, the environment data and the speed data. In addition to the long-term planning that takes into account the navigation route, the available route, the speeds of the further road users, the traffic density and the speed of the own vehicle can be taken into account in the short-term planning for the passing maneuver. These data can describe the so-called acute traffic situation. On the basis of these data, it can then be determined whether the passing maneuver can be completed within the available route in order to start in good time with the second automated lane change maneuver and then with a further driving maneuver for following the route.By taking into account the acute traffic situation, situations can be avoided, for example, in which the vehicle follows a slow road user driving ahead until the exit is reached, although a passing maneuver would have been possible or expedient. As a whole, the operation of an assist system can thus be improved with respect to the driver's perception.The computing device is preferably configured to plan the first lane change maneuver from a first lane to a second lane, to determine a first speed of the road users on the first lane and a second speed of the road users on the second lane on the basis of the environmental data, and to plan the execution of the first automated lane change maneuver as a function of the first speed and the second speed. The first speed can describe the speed of at least one further road user on the first lane. For example, the first speed can describe the current speed of a road user driving in front of the vehicle. The first speed can also describe an average speed of a plurality of road users on the first lane. The second speed can describe the speed of at least one further road user on the second lane. The second speed can also describe an average speed of a plurality of road users on the second lane.In a further embodiment, the computing device is configured to determine, on the basis of the first speed and the second speed, whether the second automated lane change maneuver can be carried out within the available route. In addition, when checking whether the second automated lane change maneuver or the passing maneuver can be carried out within the available route, the speed of the vehicle or the set speed and / or the permissible maximum speed for the region of the roadway that comprises the available route can be taken into account. In particular, a difference between the second speed and the first speed can be determined. If the further road users on the second lane travel significantly faster than the road users on the first lane, for example, the first lane change maneuver and subsequently also the second lane change maneuver can be carried out. However, if the further road users on the second lane travel only slightly faster than the road users on the first lane, the execution of the first lane change maneuver or of the passing maneuver may be omitted.In a further embodiment, the computing device is configured to determine a general traffic density on the roadway on the basis of the speeds of the further road users and to estimate the available route on the basis of the general traffic density. For example, the general traffic density can be determined on the basis of the first speed of the road users on the first lane and the second speed of the road users on the second lane and, if appropriate, on the basis of the speeds of road users on other lanes and can be estimated for the available route. For example, a sensory observation of the general traffic density is used to estimate which route is required for searching for a gap and merging into the target lane or the first lane in order to reach it in good time with a high probability. In addition, real-time traffic information can be taken into account in this case. Thus, planning of the passing maneuver can be carried out reliably taking into account the general traffic density.In addition, when checking whether the second automated lane change maneuver can be carried out within the available route, the at least one driving maneuver required to follow the navigation route after the passing maneuver can be taken into account. This driving maneuver can be, for example, a further lane change maneuver to an exit lane, a deceleration lane, a further roadway or the like. In addition, the time period required for preparing the driving maneuver can be taken into account. For example, a free gap can be sought during the preparation of the driving maneuver. It can also be taken into account whether a plurality of driving maneuvers, for example a plurality of lane changes, are required in order to follow the navigation route after the passing maneuver. In addition, a target speed can be taken into account for the further route profile. For example, tight curve radii in exits can be taken into account.The computing device is preferably configured to output an offer signal for outputting an offer for the first automated lane change maneuver to a driver of the vehicle. It can also be provided that the computing device is configured to output an offer signal for outputting an offer for the second automated lane change maneuver to a driver of the vehicle. For example, it can first be checked on the basis of the environmental data whether a free gap is present for the lane change maneuver. If a suitable gap is present for the lane change maneuver, the offer signal can be output or transmitted to an output device by means of the computing device. The output device can be used to output the offer or a proposal for the automated lane change maneuver to the driver. The output device can comprise a display or a display and can output the offer to the driver visually or in the form of a display. By means of the display, the current traffic situation in the environment of the vehicle can be visualized to the driver. For example, an image of the vehicle and of the further road users in the environment of the vehicle can be displayed on the display. In addition, the lanes can be displayed on the display.When outputting the offer, a symbol describing the planned lane change maneuver can be displayed to the driver. The symbol can be, for example, a trajectory or an arrow which illustrates the movement of the vehicle during the planned lane change. Alternatively or additionally, a text can be displayed to the driver on the offer, which text points to the planned lane change maneuver. Furthermore, the offer can be output acoustically, for example in the form of an additional notification tone or as a voice announcement. Alternatively or additionally, a haptic signal can be output to the driver when the offer is made.In addition, it can be checked by means of the computing device whether the driver has accepted the offer for the automated lane change maneuver. For this purpose, it is possible to check, for example, whether the driver has carried out a predetermined operating action for acceptance. When the driver confirms the offer, it can be assumed that there is a situational awareness of the driver with respect to the lane change maneuver.The computing device is preferably configured to output the offer signal for outputting the offer during a hands-off operation by the assistance system, wherein the attention of the driver is checked during the hands-off operation. In other words, the automated lane change maneuver can be offered to the driver when the vehicle is in the so-called hands-off operation. In the hands-off operation, the automated lateral guidance is controlled by means of the assistance system in order to keep the vehicle within the lane. In particular, the function of a steering and lane guidance assistant or of an active lane keeping assistant is thus provided. In the hands-off mode, the longitudinal guidance of the vehicle is preferably also controlled in the form of an adaptive cruise control (ACC).During the hands-off operation, the attention of the driver may be determined based on the attention data of the driver monitoring device. By means of the computing device, the driver attention data can be received by a driver monitoring device. The driver attention data can be provided by means of the driver monitoring device, which describes a current viewing direction and / or a current orientation of the head of the driver. The driver monitoring device can comprise, for example, an interior camera directed at the driver. By means of the driver monitoring device, the head position or the head alignment can be determined on the basis of the detected nose of the driver. In addition, the position of the pupils of the driver and thus the viewing direction of the driver can be determined by means of the driver monitoring device. By means of the driver monitoring device it can also be detected whether the eyes are open or closed. The driver monitoring device can have infrared light sources, so that the head position and / or the viewing direction of the driver can also be determined when wearing sunglasses and / or in dark environmental conditions. In addition, a posture or an orientation of the upper body of the driver can be determined on the basis of the attention data or on the basis of the data of the driver monitoring device.In particular, the attention data can be continuously evaluated to determine whether the driver is distracted from his actual driving task. For example, it can be checked whether the driver directs his gaze to the roadway. In this case, the viewing direction and / or the head alignment of the driver can be evaluated on the basis of the attention data. If it is determined that the driver is not attentive, the hands-off operation can be interrupted and the driver can be requested to take his hands to the steering wheel or take over control.In a further embodiment, the computing device is configured to determine whether a situation awareness of the driver for the automated lane change maneuver is given as the assumption for the offer, wherein the situation awareness describes an assignment of a viewing direction and / or a head orientation to an area assigned to the free gap. On the basis of the data of the driver monitoring device, a situational awareness of the driver with regard to the following automated lane change maneuver can be detected. If the computing device or the assistance system has detected the situational awareness of the driver, this can be evaluated as an acceptance for the offer. In order to check whether the situation awareness is present, it is determined on the basis of the attention data whether the driver directs the gaze and / or the head alignment to at least one area which is associated with the free gap. This assessment can also take account of the general posture of the driver. Preferably, it is possible to check whether the driver is performing a safety look.This means in particular that the situation awareness of the driver with regard to the lane change maneuver is assumed to be given if the driver is looking at the free gap or in the direction of the free gap and thus safeguards the traffic space for the automated lane change maneuver. The driver then has the full responsibility, in particular for the subsequent automated lane change maneuver. This preferably also applies to checking whether the target lane, as already recognized by the vehicle or the assistance system itself, is really free.The computing device is preferably configured to output an activation signal for automatically activating direction indicators of the vehicle if the offer is given. The external indicators of the direction of travel can be activated automatically by means of the computing device in preparation for the automated lane change maneuver. In particular, the direction indicators can be activated without a preceding actuation of an operating element, for example a turn signal lever. In particular, the direction indicators can be activated automatically if the offer for the automated lane change maneuver has been accepted by the driver.An assistance system according to the invention for the automated lateral guidance of a vehicle comprises a computing device according to the invention. The computing device can be formed by at least one processor or by at least one electronic control unit. In addition, the assistance system may have at least one environment sensor, by means of which environment data may be provided. As a surroundings sensor, the assistance system may have a camera, by means of which image data describing the surroundings of the vehicle may be provided. The image data can then be used to identify the roadway markings and / or other boundaries of the roadway or lanes by means of the computing device. In addition, objects and further road users can be detected in the image data. In addition, the assistance system can have at least one distance sensor as a surroundings sensor, which can be designed as a radar sensor and / or as a lidar sensor. On the basis of the sensor data of these distance sensors, for example, the further road users can be detected and the speeds of the further road users can also be determined.The assistance system can also have the driver monitoring device, by means of which the attention data can be provided. The driver monitoring device can have an interior camera and corresponding light sources, in particular light sources which emit light in the infrared wavelength range. On the basis of this attention data, it is possible to check by means of the computing device during a hands-off operation whether the driver is attention or is attracting his attention to the traffic situation. Furthermore, it can be checked on the basis of the attention data whether the situation awareness of the driver with respect to the planned automated lane change maneuver is given or whether the gaze confirmation has taken place as an acceptance for the automated lane change maneuver.In addition, the assistance system can have the output device, by means of which visual, acoustic and / or haptic outputs can be output to the driver. The output device can be controlled by means of the computing device as a result of the transmission of the offer signal, so that the offer or the proposal for the lane change maneuver is offered to the driver.The steering system of the vehicle can be actuated by means of the computing device of the assistance system in order to control the lateral guidance of the vehicle. Thus, the vehicle can be held, for example, within the lane. In addition, the steering system can be controlled to carry out the lane change maneuver. Preferably, a brake system and / or a drive motor can also be activated by means of the computing device in order to control a longitudinal guidance of the vehicle.A vehicle according to the invention comprises an assistance system according to the invention. The vehicle is designed in particular as a passenger car.A method according to the invention for automatically traversing a vehicle on a multi-lane roadway comprises planning a passing maneuver, wherein the passing maneuver comprises a first automated lane change maneuver and a second automated lane change maneuver. The method also includes receiving route data describing a planned navigation route. The method also includes estimating an available route until the second automated lane change maneuver is carried out on the basis of the route data. In addition, the method includes receiving surroundings data which describe positions and speeds of further road users on the roadway. The method further includes receiving speed data describing a speed of the vehicle. The method further comprises planning the execution of the first automated lane change maneuver as a function of the available route, the environment data and the speed data.A further aspect of the invention relates to a computer program comprising instructions which, when the program is executed by the computing device, cause the latter to execute a method according to the invention and the advantageous embodiments thereof. Furthermore, the invention relates to a computer-readable storage medium comprising instructions which, when executed by the computing device, cause the computing device to execute a method according to the invention and the advantageous embodiments thereof.The preferred embodiments presented with reference to the computing device according to the invention and the advantages thereof correspondingly apply to the assistance system according to the invention, to the vehicle according to the invention, to the computer program according to the invention and to the computer-readable storage medium according to the invention.Further features of the invention are evident from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description, and the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respectively specified combination but also in other combinations or alone without departing from the scope of the invention.The invention will now be explained in more detail on the basis of preferred exemplary embodiments and with reference to the appended drawings. The following are shown: FIG. 1 shows a schematic illustration of a vehicle which has an assistance system for the automated lateral guidance of the vehicle; and FIG. 2 shows a schematic illustration of a traffic situation in which the vehicle according to FIG. 1 is located on a right lane of a roadway and in which an overtaking process is planned.FIG. 1 shows a vehicle 1, which is designed in the present case as a passenger car, in a plan view. The vehicle 1 comprises an assistance system 2, by means of which automatic lane change maneuvers can be carried out with the vehicle 1. Assistance system 2 includes a computing device 3, which may be formed, for example, by at least one electronic control unit of vehicle 1.In addition, assistance system 2 includes at least one distance sensor 4 as a surroundings sensor. In the present example, the assistance system 2 comprises four distance sensors 4, of which two distance sensors 4 are assigned to a front region 7 and two distance sensors 4 are assigned to a rear region 8. In this case, the distance sensors 4 are arranged in the respective corners in the rear region 8 of the vehicle 1 and the front region 7 of the vehicle 1. The distance sensors 4 can be designed, for example, as radar sensors. Corresponding measurements can be carried out with the distance sensors 4 in order to be able to detect objects in an environment 5 of the vehicle 1. Corresponding data lines between the distance sensors 4 and the computing device 3 are not shown here for the sake of clarity.In addition, assist system 2 includes a camera 6 as a surroundings sensor, by means of which image data or surroundings data describing surroundings 5 of vehicle 1 may be provided. The surroundings data of distance sensors 4 and camera 6 can be processed by computing device 3 and objects, further road users 17, roadway markings, or the like, in surroundings 5 can thus be recognized, for example.In addition, the computing device 3 is configured to actuate a steering system 9, which is only schematically illustrated in the present case, of the vehicle 1. By controlling the steering system 9, a lateral guidance of the vehicle 1 for holding the vehicle 1 in a lane 15, 16 and / or during lane change maneuvers can be carried out. By controlling the steering system 9, steerable wheels 10 of the vehicle 1 can be steered and the lateral guidance can thus be controlled during the lane change maneuver. The computing device 3 can also preferably be used to activate the drive motor and a brake system of the vehicle 1 in order to control the longitudinal guidance of the vehicle 1, in particular in the sense of a cruise control.Furthermore, the assistance system 2 comprises a driver monitoring device 12 by means of which attention of a driver of the vehicle 1 can be detected. The driver monitoring device 12 can have an interior camera, by means of which a viewing direction of the driver, a head pose of the driver and / or a posture of the driver can be detected. Furthermore, the assistance system 2 comprises an output device 13 by means of which an output can be output to the driver. The output can be output acoustically, optically and / or haptically.The computing device 3 is also configured to actuate direction indicators 11 of the vehicle 1. For this purpose, an activation signal can be transmitted from the computing device 3 to the direction indicators 11. As a result of the activation, the direction indicators 11 can be activated, so that a flashing signal is output with the direction indicators 11. By means of a further control, the direction indicators 11 can also be deactivated again. In this case, the direction indicators 11 can be actuated by the driver independently of an actuation of an operating element, for example of a turn signal lever.The computing device 3 is also provided with data which describe the current speed of the vehicle 1 and / or a set speed for a cruise control. On the basis of the measurements of the environment sensors, i.e. the distance sensors 4 and the camera 6, the speeds of further road users 17 can be determined. In addition, it is possible to determine on the basis of the data from the environment sensors 4, 6 and / or on the basis of digital map data together with a satellite-based position determination system on which lane 15, 16 of a roadway 14 the vehicle 1 is currently located. On the basis of this information, it can be determined by means of the computing device 3 for a current traffic situation whether a lane change is required or meaningful. In addition, route data can be received by a navigation device of the vehicle 1 by means of the computing device 3. The route data describes a planned navigation route.By means of the assistance system 2, a so-called hands-off operation is also made possible. This means that the driver can remove his hands from the steering wheel as long as it is detected from the data of the driver monitoring device 12 that the driver is attentive. The driver can be assumed to be attentive if the driver directs his gaze to the roadway 14. If the driver is attracting attention, the automated tracking is continuously controlled by the assistance system 2 without the driver having to take his hands back to the steering wheel after a certain time. In addition, the speed of the vehicle 1 can be controlled to the set speed by means of the assistance system 2 and the distance to the further road user 17 driving ahead can be kept.FIG. 2 shows a schematic illustration of a traffic situation in which the vehicle 1 according to FIG. 1 is located on a multi-lane roadway 14. Currently, the vehicle 1 is located on a first lane 15 or a right lane of the roadway 14. On a second lane 16 or a left lane of the roadway 14, there are further road users 17 in the form of passenger cars. For the travel with the vehicle 1, a navigation route is specified according to which the vehicle 1 has to leave the roadway 14 via an exit 18. Thus, the vehicle 1 can change to another roadway, for example, at a freeway cross or a branch. The illustration according to FIG. 2 is not true to scale. The exit can be 2 km away, for example. In approximately 2 km, it is therefore necessary to change to the exit 18 to the right in order to follow the route. This means that a lane change to the right is to be carried out from the current lane or starting from the first lane 15. The lane change is to be performed earliest when the lane 18 starts and to end latest when the new road 18 separates to the right.It is assumed that the one set speed has been set to 110 km / h by the driver. The permissible maximum speed on the roadway 14 is 120 km / h. A first speed of the road users 17 on the first lane 15 can be determined on the basis of the environmental data of the environmental sensors 4, 6. It is assumed that the first speed is about 80 km / h. In addition, a second speed of the road users 17 on the second lane 16 can be determined.By means of the computing device 3, it can be determined whether a passing maneuver should be carried out before the exit 18 is reached or whether the vehicle 1 should continue to travel on the first lane 15. The passing maneuver comprises a first lane change maneuver from the first lane 15 to the second lane 16 and a subsequent second lane change maneuver from the second lane 16 back to the first lane 15. An available travel distance s until the second lane change maneuver is carried out can be determined from the general traffic density.Furthermore, the acute traffic situation is determined by means of the computing device 3 on the basis of the first speed, the second speed, the set speed and the permissible maximum speed. On the basis of this, it is calculated whether the passing maneuver can be completed within the available route S in order to start in good time with the maneuver for following the route. Three exemplary situations are presented below.According to a first situation, it is assumed that the second speed of the road users 17 on the second lane 16 is significantly higher than the first speed of the road users 17 on the first lane 15. In this case, the driver is offered the automated performance of the first lane change maneuver because it is possible with the setting speed of 110 km / h to quickly pass the road user 17 or the truck on the first lane 15 before the second lane change maneuver is to be prepared.According to a second situation, it is assumed that the second speed is only slightly higher than the first speed. In this case, the first lane change maneuver is not offered to the driver, since the passing maneuver would take a long time and the exit 18 is likely not to be able to be reached in good time.According to a third situation, it is assumed that the traffic is sufficiently dense overall that a long period of time is to be assumed for the gap search and the merge. In this case, the first lane change maneuver is not offered to the driver because passing can very probably not be completed within the available route S.If the passing maneuver is to be carried out, the first automated lane change maneuver can first be offered to the driver. It is also necessary for the driver to accept or confirm the offer for the first lane change maneuver. For this purpose, it can be provided that the driver actuates an operating button or the direction indicator. However, it is preferably provided that the driver safeguards the first lane change maneuver or the traffic space for the planned lane change maneuver. For this purpose, it is provided that the driver directs his viewing direction in the direction of the free gap onto the second lane 16. The acceptance of the offer for the automated lane change maneuver can therefore be effected by a gaze confirmation.If the assumption has taken place, the direction indicators 11 which face the second lane 16 can be activated automatically and the lane change maneuver can be carried out automatically by means of the assistance system 2. The subsequent second automated lane change maneuver can be carried out analogously to the first lane change maneuver.

Claims

Computing device (3) for an assistance system (2) for the automated lateral guidance of a vehicle (1) on a multi-lane roadway (14), wherein the computing device (3) is configured to: - plan a passing maneuver, wherein the passing maneuver comprises a first automated lane change maneuver and a second automated lane change maneuver, - receive route data describing a planned navigation route, - estimate an available route (S) up to the performance of the second automated lane change maneuver on the basis of the route data, - receive environment data describing positions and speeds of further road users (17) on the roadway (14), - receive speed data describing a speed of the vehicle (1), and - plan the performance of the first automated lane change maneuver on the basis of the available route (S), the environment data and the speed data.Computing device (3) according to Claim 1, characterized in that the computing device (3) is configured to plan the first lane change maneuver from a first lane (15) to a second lane (16), to determine a first speed of the road users (17) on the first lane (15) and a second speed of the road users (17) on the second lane (16) on the basis of the environmental data, and to plan the execution of the first automated lane change maneuver as a function of the first speed and the second speed.The computing device (3) according to claim 2, characterized in that the computing device (3) is configured to determine, based on the first speed and the second speed, whether the second automated lane change maneuver can be carried out within the available route (S).Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is configured to determine a general traffic density on the roadway (14) on the basis of the speeds of the further road users (17) and to estimate the available route (S) on the basis of the general traffic density.The computing device (3) according to any one of the preceding claims, characterized in that the computing device (3) is configured to output an offer signal for outputting an offer for the first automated lane change maneuver to a driver of the vehicle (1).The computing device (3) according to claim 5, characterized in that the computing device (3) is configured to output the offer signal by the assistance system (2) during a hands-off operation, wherein a check of the attention of the driver takes place during the hands-off operation.The computing device (3) according to claim 5 or 6, characterized in that the computing device (3) is configured to determine whether a situation awareness of the driver for the first automated lane change maneuver is given as the assumption for the offer, wherein the situation awareness describes an assignment of a viewing direction and / or a head alignment to an area assigned to a free gap.The computing device (3) according to any one of claims 5 to 7, characterized in that the computing device (3) is configured to output an activation signal for automatically activating direction indicators (11) of the vehicle (1) if the offer is given.Assistance system (2) for the automated lateral guidance of a vehicle (1), comprising a computing device (3) according to one of the preceding claims.Method for the automated lateral guidance of a vehicle (1) on a multi-lane roadway (14), comprising the steps of: - planning an overtaking maneuver, wherein the overtaking maneuver comprises a first automated lane change maneuver and a second automated lane change maneuver, - receiving route data describing a planned navigation route, - estimating an available route (S) until the second automated lane change maneuver is carried out on the basis of the route data, - receiving environment data describing positions and speeds of further road users (17) on the roadway (14), - receiving speed data describing a speed of the vehicle (1), and - planning the execution of the first automated lane change maneuver on the basis of the available route (S), the environment data and the speed data.

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