Driver assistance system and driver assistance procedures for a vehicle

Abstract

The present disclosure relates to a driver assistance system (100) for a vehicle (10), comprising: - a driving maneuver detection module (110) configured to detect a driving maneuver to change direction, wherein the driving maneuver is a turning maneuver or a U-turn (UT); - a selection module (120) configured to select a target lane (GFS1, GFS2, GFS3) of a multi-lane target carriageway (GFB) for the driving maneuver based on route information and / or other road user information; and - a control module (130) that is configured to cause the vehicle (10) to enter the selected target lane (GFS1, GFS2, GFS3) by executing the driving maneuver to change direction.

Description

[0001] The present disclosure relates to a driver assistance system for a vehicle, a vehicle having such a driver assistance system, a driver assistance method for a vehicle, and a storage medium for executing the driver assistance method. In particular, the present disclosure relates to the selection of a target lane of a multi-lane roadway onto which the vehicle is entering. State of the art

[0002] When merging onto a multi-lane road, selecting a destination lane can be difficult, as it's often impossible to predict which destination lane is best and / or what consequences choosing a particular lane might have. For example, choosing an unfavorable lane can impede following traffic and / or disrupt traffic flow, which can compromise road safety and possibly even lead to accidents. Disclosure of the invention

[0003] It is an object of the present disclosure to provide a driver assistance system for a vehicle, a vehicle with such a driver assistance system, a driver assistance method for a vehicle, and a storage medium for executing the driver assistance method, which enable optimal selection of a target lane for entering a multi-lane roadway. Furthermore, it is an object of the present disclosure to increase road safety.

[0004] This object is achieved by the subject matter of the independent claims. Advantageous embodiments are specified in the subclaims.

[0005] According to an independent aspect of the present disclosure, a driver assistance system for a vehicle, in particular a motor vehicle, is specified. The driver assistance system comprises a driving maneuver recognition module configured to recognize a driving maneuver for changing direction, wherein the driving maneuver is a turning maneuver or a U-turn; a selection module configured to select a target lane of a multi-lane target roadway for the driving maneuver based on route information and / or other road user information; and a control module configured to cause the vehicle to enter the selected target lane by executing the driving maneuver for changing direction.

[0006] According to the invention, before the direction change maneuver, a target lane is automatically selected, taking into account specific criteria related to route information and / or other road user information, so that the vehicle can enter the optimal target lane under the given circumstances. This can prevent obstruction of other road users, flowing traffic, etc. As a result, optimal traffic flow can be enabled, thus increasing road safety.

[0007] The driving maneuver recognition module and / or the selection module and / or the control module can be implemented in a common software and / or hardware module. Alternatively, the driving maneuver recognition module and / or the selection module and / or the control module can each be implemented in separate software and / or hardware modules.

[0008] The driving maneuver recognition module is configured to recognize the driving maneuver for changing direction. For this purpose, the driving maneuver recognition module can use or monitor one or more indicators, such as digital map data, a navigation route, a vehicle position, at least one driving parameter of the vehicle (e.g., a steering angle), environmental data from an environmental sensor system, and / or combinations thereof.

[0009] The driving maneuver for changing direction can be a turning maneuver or a U-turn. The term "U-turn," as used in the present disclosure, refers to a change in direction of travel or a change in the direction of travel of the vehicle by 180°. The change in direction or change in direction during a U-turn occurs by entering from one lane of the first lane into an oncoming lane.

[0010] According to some embodiments of the present disclosure, the U-turn can be performed in one move. The term "in one move" means that no corrective reverse movement is required to fully execute the change of direction.

[0011] The direction change maneuver occurs from the ego lane to the target lane, such as an oncoming lane during a U-turn or another lane during a turning maneuver. In some embodiments, the ego lane may be a single-lane roadway. In other embodiments, the ego lane may be a multi-lane roadway with two or more lanes.

[0012] The term “ego lane” as used in the present disclosure refers to the lane in which the vehicle is currently located.

[0013] The selection module is configured to select a target lane of a multi-lane target roadway for the maneuver based on the route information and / or the other road user information. The term "route information" refers to properties of a route ahead of the vehicle. The term "other road user information" refers to properties of at least one other road user in the vehicle's surroundings that could be relevant to the direction change maneuver.

[0014] The route information preferably includes travel path information. The travel path information relates to a travel path of the vehicle, such as a predicted travel path of the vehicle. The travel path of the vehicle typically refers to a trajectory that the vehicle follows.

[0015] In some embodiments, the travel path information is based on an active navigation route and / or historical information. For example, the historical information may indicate a most likely travel path learned from past trips.

[0016] Additionally or alternatively, the route information relates to the course of an active navigation route and / or a route destination. For example, according to the course of the active navigation route, another turning maneuver may be imminent directly after the driving maneuver, so that the destination lane can be selected accordingly. In another example, the route destination may be located on a specific side of the destination roadway, so that the destination lane can be selected accordingly, in particular to avoid a lane change to reach the route destination.

[0017] Additionally or alternatively, the driving path information relates to an upcoming parking process, such as a parking space search. The upcoming parking process can be detected based on a entered route destination, history information, etc. For example, the target lane can be a lane adjacent to a parking space, parking row, etc.

[0018] Preferably, the route information includes traffic infrastructure information. The traffic infrastructure information relates, for example, to traffic structures (e.g., roads, traffic junctions, etc.) and / or traffic regulations (e.g., traffic signs, etc.), but is not limited to these.

[0019] In some embodiments, the traffic infrastructure information relates to a lane type of lanes of the multi-lane target roadway. The lane type may relate to a direction of travel, such as "left-turn lane," "right-turn lane," and "straight-ahead lane."

[0020] Additionally or alternatively, the traffic infrastructure information relates to a location of at least one traffic junction. For example, a (further) turning maneuver may be imminent at a traffic junction directly after the driving maneuver, so that the target lane can be selected accordingly, in particular to avoid an unnecessary lane change after the driving maneuver. Preferably, the traffic junction is selected from the group that includes or consists of an intersection and a road junction. While at an intersection all traffic routes continue after they meet, at a road junction one of the traffic routes ends. However, the present disclosure is not limited to these examples, and other traffic junctions are conceivable.

[0021] Preferably, the other road user information relates to a possible obstruction of at least one other road user depending on the destination lane. For example, a other vehicle approaching quickly in a specific lane of the destination lane would be obstructed by the owner vehicle entering that same lane, so that a different lane can be selected as the destination lane to avoid braking the other vehicle.

[0022] Additionally or alternatively, the other road user information relates to the position of at least one other road user. For example, a third-party vehicle located in a specific lane of the target lane in the immediate vicinity of the ego vehicle would be impeded by the ego vehicle entering that same lane, so that another lane can be selected as the target lane to avoid impeding the other vehicle. Similarly, a third-party vehicle located in a specific lane of the oncoming lane at a considerable distance from the ego vehicle would not be impeded by the ego vehicle entering that same lane, so that this lane can be selected as the target lane.

[0023] Additionally or alternatively, the other road user information relates to a type of at least one other road user. For example, the type of at least one other road user (e.g. car, truck, tractor, cyclist, moped rider, etc.) can be used to determine their speed and / or driving behavior, so that it can be estimated whether the at least one other road user would be impeded, in particular slowed down, by the ego vehicle entering their lane. If this were the case, a lane other than the lane of the at least one other road user can be selected as the target lane. If this were not the case, the lane of the at least one other road user can be selected as the target lane.

[0024] Additionally or alternatively, the other road user information relates to the blocking of a lane of the destination lane by at least one other road user. If a specific lane of the destination lane is blocked, for example, by a stationary or parked vehicle, a lane other than the lane of the stationary or parked vehicle can be selected as the destination lane.

[0025] Preferably, the driving maneuver is a turning maneuver, wherein the multi-lane target roadway has a plurality of lanes for different directions of travel (e.g., left turn, right turn and / or straight ahead), and wherein an ego roadway has two or more turning lanes.

[0026] In some embodiments, the selection module can be further configured to select one of the two or more turning lanes of the ego lane as the ego lane for the turning maneuver based on the route information and / or other road user information. The control module can be configured to initiate positioning of the vehicle in the selected ego lane. This allows proactive selection of the turning lane that is most favorable for subsequent onward travel (e.g., turning left, turning right, or driving straight ahead) when there are multiple turning lanes for the same direction.

[0027] Preferably, the route information and / or other road user information is provided at least partially by an environmental sensor system of the vehicle.

[0028] The environmental sensor system preferably comprises at least one LiDAR system and / or at least one radar system and / or at least one camera and / or at least one ultrasound system. The environmental sensor system can provide the environmental data (also referred to as "surrounding data") that maps an area surrounding the vehicle.

[0029] The environmental data can be used to recognize the vehicle's surroundings and derive the route information and / or other road user information therefrom. In an exemplary embodiment, object recognition can be performed on the environmental data, such as semantic segmentation of a camera image using a trained neural network, to recognize at least the other vehicle and the roadway or street. Typically, this involves classifying objects / subjects into at least one class, such as "road surface," "ego lane," "crossing lane," "oncoming lane," "sidewalk," "bike lane," "post," "traffic sign," "traffic light," "pedestrian crossing," "bicycle crossing," "floor markings," "lane markings," "vehicle," "bicycle," and / or "pedestrian."

[0030] In addition or alternatively, the route information and / or other road user information is provided at least partially by digital map data, for example from a navigation system.

[0031] Additionally or alternatively, the route information and / or other road user information is provided at least partially by at least one external central unit, such as a backend. Preferably, the vehicle is configured for communication via a mobile network. The mobile network can be, for example, an LTE network or 5G network. The vehicle can thus communicate with the at least one external central unit via the mobile network to receive the route information and / or other road user information.

[0032] Additionally or alternatively, the route information and / or other road user information is provided at least partially by at least one third-party means of transport in a vehicle environment. Preferably, the vehicle is configured for vehicle-to-vehicle (V2V) communication. This allows the vehicle to communicate directly with the at least one third-party means of transport in its environment to receive the route information and / or other road user information. The at least one third-party means of transport can be, for example, a car, truck, van, bus, mobile home, motorcycle, etc., but is not limited thereto.

[0033] Additionally or alternatively, the route information and / or other road user information is provided at least partially by at least one stationary source in a vehicle environment. The at least one stationary source can, for example, comprise or be a technical infrastructure. Preferably, the vehicle is configured for vehicle-to-X (V2X) communication. This allows the vehicle to communicate directly, for example, with a technical infrastructure or other stationary sources in its environment to receive the route information and / or other road user information.

[0034] Preferably, the control module is configured to cause the vehicle to enter the selected target lane by executing the driving maneuver to change direction by controlling at least one output device to output at least one optical and / or acoustic driver instruction.

[0035] The at least one output device can comprise at least one display device and / or at least one loudspeaker. The at least one display device can comprise a display, in particular an LCD display, a plasma display or an OLED display. Additionally or alternatively, the at least one display device can comprise a projection device that is configured to display information directly in the driver's field of vision, in particular to project it onto a windshield. In some embodiments, the at least one display device can be a central information output device of an infotainment system, such as a head unit or a pillar-to-pillar display. Preferably, the at least one output device is permanently installed in the vehicle.

[0036] Preferably, the control module is configured to cause the vehicle to enter the selected target lane by executing the driving maneuver to change direction by controlling at least one driver assistance function for automated driving.

[0037] According to a further independent aspect of the present disclosure, a vehicle, in particular a motor vehicle, is specified. The vehicle comprises the driver assistance system according to the embodiments of the present disclosure.

[0038] The term "vehicle" includes cars, trucks, vans, buses, mobile homes, motorcycles, etc., used to transport people, goods, etc. In particular, the term includes motor vehicles used to transport people.

[0039] Preferably, the driver assistance system is configured for automated driving. In particular, the driver assistance system can be configured to cause the vehicle to enter the selected target lane by executing the direction change maneuver.

[0040] In this document, the term "automated driving" refers to driving with automated longitudinal and / or lateral guidance. Automated driving can, for example, involve extended driving on the highway or limited-time driving while parking. The term "automated driving" encompasses automated driving with any degree of automation. Examples of levels of automation include assisted, partially automated, conditionally automated, highly automated, and fully automated driving (each with an increasing degree of automation). The five levels of automation mentioned above correspond to SAE Levels 1 to 5 of the SAE J3016 standard (SAE - Society of Automotive Engineering) as of April 30, 2021.

[0041] In assisted driving (SAE Level 1), the system performs longitudinal or lateral guidance in certain driving situations. In partially automated driving (SAE Level 2), the system assumes longitudinal and lateral guidance in certain driving situations, although the driver must continuously monitor the system, as with assisted driving. In conditionally automated driving (SAE Level 3), the system assumes longitudinal and lateral guidance in certain driving situations without the driver having to continuously monitor the system; however, the driver must be able to assume control of the vehicle within a certain period of time upon request from the system. In highly automated driving (SAE Level 4), the system assumes control of the vehicle in certain driving situations, even if the driver does not respond to a request for intervention, thus eliminating the driver as a fallback.In fully automated driving (SAE Level 5), the system can perform all aspects of the dynamic driving task under any road and environmental conditions that can also be mastered by a human driver.

[0042] Furthermore, the term "at least partially automated driving or maneuvering" is also understood in this document to include partially automated, conditionally automated, highly automated, and fully automated driving. In other words, the term "at least partially automated driving" refers to a level of automation up to and including SAE Level 2.

[0043] However, the embodiments of the present disclosure are not limited to automated driving. In alternative embodiments, the driver assistance system can output driver instructions regarding the vehicle's entry into the selected target lane and / or the execution of the direction change maneuver when the vehicle is driven manually, using at least one output device.

[0044] According to a further independent aspect of the present disclosure, a driver assistance method for a vehicle, in particular a motor vehicle, is specified. The driver assistance method comprises recognizing, by a driving maneuver recognition module, a (e.g., impending) driving maneuver for changing direction, wherein the driving maneuver is a turning maneuver or a U-turn; selecting, by a selection module, a target lane of a multi-lane target roadway for the driving maneuver based on route information and / or other road user information; and inducing, by a control module, the vehicle to enter the selected target lane by executing the driving maneuver for changing direction.

[0045] The driver assistance procedure can implement the aspects of the driver assistance system described in this document.

[0046] According to a further independent aspect of the present disclosure, a software (SW) program is provided. The SW program can be configured to run on one or more processors and thereby execute the driver assistance method described in this document.

[0047] According to a further independent aspect of the present disclosure, a storage medium is provided. The storage medium can comprise a software program configured to be executed on one or more processors and thereby to execute the driver assistance method described in this document.

[0048] According to a further independent aspect of the present disclosure, software with program code is provided. The software is configured to implement the driver assistance method described in this document when the software runs on one or more software-controlled devices.

[0049] According to a further independent aspect of the present disclosure, a driver assistance system for a vehicle is provided. The driver assistance system comprises one or more processors; and at least one memory connected to the one or more processors and containing instructions executable by the one or more processors to carry out the driver assistance method described in this document.

[0050] A processor or processor module is a programmable computing unit, i.e. a machine or an electronic circuit that controls other elements according to given instructions and thereby drives an algorithm (process). Short description of the drawings

[0051] Embodiments of the disclosure are illustrated in the figures and are described in more detail below. They show: Fig. 1 schematically shows a driver assistance system for a vehicle according to embodiments of the present disclosure, Fig. 2 schematically shows an entry of a vehicle into a target lane according to embodiments of the present disclosure, Fig. 3 schematically shows an entry of a vehicle into a target lane according to further embodiments of the present disclosure, Fig. 4 schematically shows an entry of a vehicle into a target lane according to further embodiments of the present disclosure, Fig. 5 schematically shows an entry of a vehicle into a target lane according to further embodiments of the present disclosure, Fig. 6 schematically shows a vehicle with a driver assistance system for automated driving according to embodiments of the present disclosure, and Fig. 7 is a flowchart of a driver assistance method according to embodiments of the present disclosure. Embodiments of the disclosure

[0052] In the following, unless otherwise stated, the same reference symbols are used for identical and equivalent elements.

[0053] Fig. 1 schematically shows a driver assistance system 100 for a vehicle 10 according to embodiments of the present disclosure. Fig. 2 schematically shows an entry of the vehicle 10 into a target lane according to embodiments of the present disclosure.

[0054] The driver assistance system 100 comprises a driving maneuver recognition module 110 configured to recognize a driving maneuver for changing direction, wherein the driving maneuver is a turning maneuver or a U-turn; a selection module 120 configured to select a target lane of a multi-lane target roadway for the driving maneuver based on route information and / or other road user information; and a control module 130 configured to cause the vehicle 10 to enter the selected target lane by executing the driving maneuver for changing direction.

[0055] This allows for an automatic selection of a target lane prior to the direction change maneuver, taking into account specific criteria related to route information and / or other road user information, so that vehicle 10 can enter the optimal target lane under the given circumstances. This prevents obstruction of other road users, flowing traffic, etc. As a result, optimal traffic flow can be enabled, thus increasing road safety.

[0056] The driving maneuver recognition module 110 is configured to recognize the driving maneuver for changing direction. For this purpose, the driving maneuver recognition module 110 can use or monitor one or more indicators, such as digital map data, a navigation route, a vehicle position, at least one driving parameter of the vehicle (e.g., a steering angle), environmental data from an environmental sensor system, and / or combinations thereof.

[0057] The maneuver to change direction can be a turning maneuver or a U-turn. In the example of Fig. Figure 2 shows a U-turn UT from a first-line lane EFB to an oncoming lane GFB with two lanes GFS1, GFS2. The first-line lane EFB can be a multi-lane roadway with two or more lanes, such as a first-line lane EFB and a secondary lane NFS. In other embodiments, the first-line lane can be a single-lane roadway.

[0058] The selection module 120 is configured to select an optimal target lane from lanes GFS1 and GFS2 of the oncoming lane GFB for the driving maneuver based on the route information and / or the other road user information. The term "route information" refers to properties of a route ahead of the vehicle 10. The term "other road user information" refers to properties of at least one other road user in the vehicle's surroundings that could be relevant to the driving maneuver for changing direction.

[0059] The control module 130 is configured to cause the vehicle 10 to enter the selected target lane, for example, automatically or by issuing appropriate driver instructions.

[0060] Fig. 3 schematically shows an entry of a vehicle 10 into a target lane according to further embodiments of the present disclosure.

[0061] In the example of Fig. Figure 3 shows a free parking space PL into which vehicle 10 could or would like to park. The free parking space PL can, for example, already be detected from the ego lane EFS using the environmental sensors of vehicle 10. Vehicle 10 can then select lane GFS2 of the oncoming lane GFB as the target lane. Optionally, the driving maneuver for entering lane GFS2 of the oncoming lane GFB can be deliberately extended very far or with the maximum radius in order to be able to measure the parking space PL from close proximity.

[0062] Alternatively, vehicle 10 can select lane GFS1 of the oncoming lane GFB as the destination lane and initiate a subsequent lane change to lane GFS1 and / or parking in the parking space PL. This can occur, for example, if a direct entry into lane GFS2 of the oncoming lane GFB is impossible, e.g., due to a parked vehicle, or if lane GFS2 of the oncoming lane GFB is a bus lane.

[0063] However, the present disclosure is not limited to the examples mentioned, and when selecting the target lane, suitable criteria can be taken into account depending on the situation, for example whether a lane may be used (e.g., bus lanes may generally not be used), whether a U-turn is possible in one go, whether a subsequent correction is still possible or is prevented, for example, by a next intersection, a structural separation or a solid line, etc.

[0064] Fig. 4 schematically shows an entry of a vehicle 10 into a target lane according to further embodiments of the present disclosure.

[0065] In the Fig. Figure 4 shows various examples of how other road users can influence the selection of the destination lane.

[0066] In a first example, a cyclist 30 and a first other vehicle 40 are considered when selecting the destination lane (the other road users are shown only to illustrate other examples and are assumed to be absent in the first example). Here, the lane of the oncoming lane GFB that is clear again first, taking the right-of-way rules into account, can be selected as the destination lane. This could be lane GFS2.

[0067] In a second example, a second other vehicle 50 is taken into account when selecting the target lane (the other road users are shown only to illustrate other examples and are assumed to be absent in the second example). In this case, the target lane could be lane GFS1. Optionally, a lane change request from the second other vehicle 50 can also be taken into account when selecting the target lane. In this case, a probability assessment could be performed, and the other lane could be selected, or the vehicle could be stopped if unclear.

[0068] In a third example, a third other vehicle 60 is taken into account when selecting the destination lane (the other road users are shown only to illustrate other examples and are assumed not to be present in the second example). In this case, vehicle 10 could wait until the third other vehicle 60 has crossed, or, if the third other vehicle 60 is sufficiently far away, could enter lane GFS2 so as not to slow down the third other vehicle 60. Optionally, a lane change request from the third other vehicle 60 can also be taken into account when selecting the destination lane. In this case, a probability assessment could be performed and the other lane selected, or the vehicle could stop if unclear.

[0069] In a fourth example, a fourth other vehicle 70 is taken into account when selecting the destination lane (the other road users are shown only to illustrate other examples and are assumed to be absent in the second example). The fourth other vehicle 70 blocks lane GFS1, for example, due to a traffic jam. The destination lane in this case could be lane GFS2. Optionally, the vehicle can then switch to lane GFS1 later on. This would have the advantage of clearing the intersection area.

[0070] Fig. 5 schematically shows an entry of a vehicle 10 into a target lane according to further embodiments of the present disclosure.

[0071] In the example of Fig. Figure 5 shows a situation with multiple turning lanes. Assuming vehicle 10 wants to turn left again after turning from the ego lane onto the destination lane, the left-turn lane GFS1 could be selected as the destination lane. Vehicle 10 could then already position itself in the left lane EFS of the ego lane in order to optimally merge into the left-turn lane GFS1 of the destination lane.

[0072] In another example, vehicle 10 could be in the left lane EFS of the ego lane and, after turning from the ego lane onto the target lane, would want to turn right. In this case, the right-turn lane GFS3 could be selected as the target lane. Positioning vehicle 10 in the left lane EFS of the ego lane may initially be more advantageous, for example, because traffic is backed up in the right lane NFS (not shown). It can now be checked whether another vehicle wants to turn in the same direction from the right lane NFS. If this is not the case, the right-turn lane GFS3 can easily be selected as the target lane. However, if another vehicle wants to turn from the right lane NFS, for example, onto the right-turn lane GFS3, the right-turn lane GFS3 cannot be selected as the target lane.Vehicle 10 can then select the left-turn lane GFS1 or the straight-ahead lane GFS2 as the target lane and subsequently perform a lane change to the right-turn lane GFS3. It would also be conceivable to select the right lane NFS as the target lane for the subsequent right turn if the right lane NFS is permitted for left turns.

[0073] Fig. 6 schematically shows a vehicle 10 with a driver assistance system 600 for automated driving according to embodiments of the present disclosure.

[0074] The driver assistance system 600 may be the driver assistance system according to the invention, which is described with reference to Fig. 1 to 5, or may be communicatively connected to the driver assistance system according to the invention in order to implement the functionalities described in this document.

[0075] The driver assistance system 600 may be configured to move the vehicle 10 automatically so that the vehicle 10 enters the selected target lane by executing the driving maneuver to change direction.

[0076] In automated driving, the longitudinal and / or lateral guidance of the vehicle 10 is automatic. The driver assistance system 600 thus assumes vehicle guidance. To this end, the driver assistance system 600 controls the drive 20, the transmission 22, the (e.g., hydraulic) service brake 24, and the steering 26 via intermediate units (not shown).

[0077] To plan and implement automated driving, the driver assistance system 600 receives environmental information from an environmental sensor system 12 that monitors the vehicle's surroundings. In particular, the vehicle 10 may include at least one environmental sensor configured to record environmental data indicating the vehicle's surroundings. The at least one environmental sensor may, for example, include one or more LiDAR systems, one or more radar systems, one or more ultrasonic sensors, and / or one or more cameras.

[0078] However, the embodiments of the present disclosure are not limited to automated driving. In alternative embodiments, the driver assistance system can output driver instructions regarding the entry of the vehicle 10 into the selected target lane and / or the execution of the direction change maneuver when the vehicle 10 is driven manually, using at least one output device.

[0079] The at least one output device can comprise at least one display device and / or at least one loudspeaker. The at least one display device can comprise a display, in particular an LCD display, a plasma display or an OLED display. Additionally or alternatively, the at least one display device can comprise a projection device that is configured to display information directly in the driver's field of vision, in particular to project it onto a windshield. In some embodiments, the at least one display device can be a central information output device of an infotainment system, such as a head unit or a pillar-to-pillar display. Preferably, the at least one output device is permanently installed in the vehicle.

[0080] Fig.Figure 7 schematically shows a flowchart of a driver assistance method 700 for a vehicle according to embodiments of the present disclosure. The driver assistance method 700 can be implemented by appropriate software executable by one or more processors (e.g., a CPU).

[0081] The driver assistance method 700 comprises, in block 710, detection by a driving maneuver detection module of a (e.g., impending) driving maneuver to change direction, wherein the driving maneuver is a turning maneuver or a U-turn; in block 720, selection by a selection module of a target lane of a multi-lane target roadway for the driving maneuver based on route information and / or other road user information; and in block 730, initiation by a control module of the vehicle entering the selected target lane by executing the driving maneuver to change direction.

[0082] According to the invention, before the direction change maneuver, a target lane is automatically selected, taking into account specific criteria related to route information and / or other road user information, so that the vehicle can enter the optimal target lane under the given circumstances. This can prevent obstruction of other road users, flowing traffic, etc. As a result, optimal traffic flow can be enabled, thus increasing road safety.

[0083] Although the invention has been illustrated and explained in detail by means of preferred embodiments, the invention is not limited by the disclosed examples, and other variations may be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exist. It is also clear that the embodiments mentioned by way of example are truly only examples and should not be construed as limiting the scope, possible applications, or configuration of the invention in any way.Rather, the preceding description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete terms, whereby the person skilled in the art, with knowledge of the disclosed inventive concept, can make various changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without departing from the scope of protection defined by the claims and their legal equivalents, such as further explanations in the description. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited non-patent literature

[0000] SAE Standard J3016

[0040]

Claims

[1] Driver assistance system (100) for a vehicle (10), comprising: - a driving maneuver recognition module (110) configured to recognize a driving maneuver for changing the direction of travel, wherein the driving maneuver is a turning maneuver or a U-turn (UT); - a selection module (120) configured to select a target lane (GFS1, GFS2, GFS3) of a multi-lane target roadway (GFB) for the driving maneuver based on route information and / or other road user information; and - a control module (130) which is configured to cause the vehicle (10) to enter the selected target lane (GFS1, GFS2, GFS3) by executing the driving maneuver to change direction. [2] The driver assistance system (100) according to claim 1, wherein the route information comprises: - route information; and / or - Transport infrastructure information. [3] Driver assistance system (100) according to claim 2, wherein: - the route information is based on an active navigation route and / or on history information; and / or relates to the course of an active navigation route, a route destination and / or an upcoming parking process, in particular a parking space search; and / or - the traffic infrastructure information relates to a lane type of lanes of the multi-lane target carriageway (GFB) and / or a location of at least one traffic junction. [4] Driver assistance system (100) according to one of claims 1 to 3, wherein the other road user information relates to: - a possible obstruction of at least one other road user (30, 40, 50, 60, 70) depending on the destination lane (GFS1, GFS2, GFS3); and / or - a position of at least one other road user (30, 40, 50, 60, 70); and / or - a type of at least one other road user (30, 40, 50, 60, 70); and / or - a lane of the destination carriageway being blocked by at least one other road user (30, 40, 50, 60, 70). [5] Driver assistance system (100) according to one of claims 1 to 4, wherein the driving maneuver is a turning maneuver, wherein the multi-lane target lane (GFB) has a plurality of lanes (GFS1, GFS2, GFS3) for different directions of travel, wherein an ego lane (EFB) has two or more turning lanes (EFS, NFS). [6] Driver assistance system (100) according to one of claims 1 to 5, wherein the route information and / or other road user information is provided by: - an environmental sensor system (12) of the vehicle (10); and / or - digital map data; and / or - at least one external central unit, in particular a backend; and / or - at least one external means of transport in a vehicle environment, in particular via V2V communication; and / or - at least one stationary source in a vehicle environment, in particular via V2X communication. [7] Driver assistance system (100) according to one of claims 1 to 6, wherein the control module (130) is configured to cause the vehicle (10) to enter the selected target lane (GFS1, GFS2, GFS3) by: - controlling at least one output device to output at least one optical and / or acoustic driver instruction; and / or - controlling at least one driver assistance function for automated driving. [8] Vehicle (10), in particular a motor vehicle, comprising the driver assistance system (100) according to one of claims 1 to 7. [9] Driver assistance method (700) for a vehicle (10), comprising: - detecting (710), by a driving maneuver detection module (110), a driving maneuver for changing the direction of travel, wherein the driving maneuver is a turning maneuver or a U-turn (UT); - selecting (720), by a selection module (120), a target lane (GFS1, GFS2, GFS3) of a multi-lane target roadway (GFB) for the driving maneuver based on route information and / or other road user information; and - Initiating (730), by a control module (130), a drive of the vehicle (10) onto the selected target lane (GFS1, GFS2, GFS3) by executing the driving maneuver to change direction. [10] Storage medium comprising a software program configured to be executed on one or more processors and thereby to execute the driver assistance method (700) according to claim 9.

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