Method for indicating a lane change maneuver, computer program product, and vehicle

Abstract

The invention relates to a method (100) for displaying a lane change in a vehicle (1) for a lane change of the vehicle (1) from a first lane (11) to a second lane (12), wherein a display unit (2) with a display area (2.1) for displaying information in a field of view (3) for perceiving the external environment of the vehicle (1) is provided. The invention further relates to a computer program product and a vehicle (1).

Description

[0001] The invention relates to a method for displaying a lane change process in a vehicle, a computer program product, and a vehicle.

[0002] It is known that vehicle displays can be shown in a head-up display. One advantage of such a display is the ability to augment display content and function states directly in the operator's real field of vision. This reduces the abstraction of the display and thus the operator's required cognitive effort.

[0003] For lane changes, it is common practice to use head-up displays (HEDs) before the lane change to indicate the planned lane change to the driver. These HEDs often display animations in the form of arrows to visualize the direction of the planned lane change. However, these animations are typically defined by predefined image sequences, so the driver only receives the directional information and the general information that a lane change is planned, regardless of the vehicle's surroundings.

[0004] From US patent 2022 / 0018678 A1, it is also known to adapt predefined image patterns in a head-up display to the respective driving situation in order to, for example, avoid overlaps with other road users.

[0005] Thus, existing visualizations prior to a lane change provide an initial indication of the lane change for the vehicle operator. It is desirable to improve the visual support provided to the operator during the lane change itself.

[0006] It is an object of the present invention to at least partially overcome the aforementioned disadvantages known from the prior art. In particular, it is an object of the present invention to improve the support provided to a vehicle operator by visualizing a lane change during a lane-changing maneuver.

[0007] The foregoing problem is solved by a method with the features of claim 1, a computer program product with the features of claim 15, and a vehicle with the features of claim 16. Further features and details of the invention will become apparent from the respective dependent claims, the description, and the drawings. Features and details described in connection with the method according to the invention naturally also apply in connection with the computer program product and / or the vehicle according to the invention, and vice versa, so that the disclosure of the individual aspects of the invention always makes, or can make, reciprocal references.

[0008] According to a first aspect of the invention, a method for displaying a lane change in a vehicle is provided for a lane change of the vehicle from a first lane to a second lane. A display unit has a display area for showing information within a field of vision for perceiving the vehicle's external environment. The method comprises, in particular in the form of process steps: - Detection of a signal to initiate the lane change procedure, in particular by a control unit of the vehicle, - Acquisition of environmental data of the first and second lanes, in particular by the control unit, - Continuous detection of a reference position of the vehicle to the first and second lanes during the lane change process, in particular by the control unit, - Detection of a target area of ​​the second lane depending on the environmental data, in particular by the control unit, - Determining a visualization of the lane change for display in the display area, in particular by the control unit, so that the visualization extends optically from the reference position towards the target area in the field of view, - preferably outputting the visualization for display in the display area, in particular by the control unit and / or to the display unit, - Adjusting the visualization of the lane change depending on a change in the reference position, and preferably on the target area, during the execution of the lane change procedure by the vehicle.

[0009] The vehicle is preferably a motor vehicle, e.g., an electric vehicle. The display unit is preferably integrated into or connected to the vehicle. The viewing area may be formed, in particular, by the vehicle's windshield and / or glasses. Thus, the viewing area may be, in particular, the driver's field of vision, in which, for example, the road can be perceived by the driver while driving the vehicle. The display area may be a part, in particular a transparent part, of a display unit of the vehicle.

[0010] The display unit is preferably a vehicle head-up display (HUD), and particularly preferably an augmented reality head-up display (AR-HUD). For example, the visualization in the vehicle can be displayed by projecting it onto the windshield via the display unit and / or a transparent display device. With an augmented reality head-up display, the projected elements are positioned in a contact-like manner; that is, the display element is virtually superimposed onto the real-world view in front of the vehicle. It is known, for instance, to use AR-HUDs to virtually place navigation instructions in the driver's field of vision at an intersection to draw attention to the upcoming turn. Such a display is advantageous due to its intuitive comprehensibility for the user.

[0011] In particular, it is also conceivable that the display unit is part of an augmented reality device, especially a portable one, e.g., in the form of augmented reality glasses (AR glasses), which is connected to the vehicle and / or has a data communication link. Preferably, the display unit can be configured to perform an augmented reality function within the field of vision. The display of information within the field of vision can be achieved, in particular, through visualization.

[0012] The terms "first" and "second" lane can refer to, in particular, the lanes of a roadway. For example, the first lane can be a lane with a primary, designated direction of travel, and the second lane can be a lane with a secondary, designated direction of travel, oriented opposite to the first. However, it is also conceivable that the first and second lanes share the same designated direction of travel. Furthermore, the first and second lanes may be part of a roadway with more than two lanes. For example, the first or second lane may be surrounded by two other lanes. Preferably, the lanes are designed for vehicular traffic.

[0013] A lane change can be understood as the movement of a vehicle from the first lane, particularly the center of the first lane, to the second lane, particularly the center of the second lane. The lane change process can include the lane change itself and preferably accompanying time periods and / or functions. For example, the lane change process can begin before the vehicle moves from the first to the second lane. For example, the lane change process can be initiated by an operator action, such as activating the vehicle's turn signal. The signal to initiate the lane change can be received, particularly by the control unit, from a driver assistance system and / or a vehicle control unit. The signal to initiate the lane change can thus detect the beginning of the lane change process and / or start the lane change process.

[0014] Environmental data can be acquired by the vehicle's environmental sensors. For example, these sensors can include one or more cameras and / or at least one or more radar, lidar, and / or ultrasonic sensors. To capture the first and second lanes, geometric data, such as lane markings and / or lane boundaries, can be acquired from the environmental data.

[0015] The reference position can be understood to be, in particular, the vehicle's ego position and / or the position of the display unit. For example, the reference position could be the lower edge of the display area. This can be determined by locating the vehicle and / or display unit within the environmental data. However, it is equally conceivable that the reference position could be a different position within the display area that is advantageous and / or relevant for visualizing the lane change. To continuously detect the reference position, this detection can be repeated at regular or irregular intervals during the lane change process.

[0016] The target area can preferably be a section of the second lane that the vehicle can, for example, access for a lane change and / or that is suitable for such a change. To identify the target area, for example, a section of the second lane that lies ahead of the vehicle and is free of other road users can be determined.

[0017] Preferably, the visualization is displayed during the lane-changing process, particularly continuously. Displaying the visualization can, for example, involve sending graphic data to the display unit. Furthermore, the visualization can be shown in the display area when the display unit displays it. Preferably, the visualization can connect the reference position and the target area. However, it is also conceivable that the visualization extends only in the direction of the target area. The visualization can, particularly for the optical connection of the reference position and the target area, include, for example, two line-shaped markers with an arrowhead, preferably an arrow, for display in the display area. The optical connection can be in a direct line or, preferably, via a curved path.

[0018] The change in the reference position can be detected and processed as a result of the vehicle's movement during a lane change, particularly from the first to the second lane. This can be achieved, for example, by determining the vehicle's lateral displacement within the first and / or second lane. Furthermore, the change in the reference position can alter the distance between the reference position and the target position. When adjusting the visualization, it can be adapted to the changed distance. Preferably, the curvature of the visualization can be adjusted to change the orientation of an arrowhead in the visualization towards the target area. This visualization adjustment can preferably occur continuously during the lane change, particularly depending on the continuous detection of the reference position.

[0019] By dynamically changing the visualization, the vehicle operator can see directly in their field of vision how far the lane change has progressed. At the same time, the simple and intuitive visualization minimizes potential distractions for the operator. Thus, the invention recognizes that the dynamic adjustment of the visualization, depending on the operator's reference position, can intuitively convey additional information about the status of the lane change. In particular, it can be provided that the lane change is at least partially automated after the vehicle has initiated the lane change process. This dynamic visualization can thereby improve the vehicle occupants' confidence in the driver assistance system.Preferably, the visualization is assigned a color code depending on the automation level of the vehicle's lane change. This allows the driver to intuitively recognize the automation level of the driving maneuver based on the color of the visualization.

[0020] Furthermore, in a method according to the invention, it is conceivable that the visualization comprises at least a first curvature and a second curvature, wherein, when determining the visualization, the first curvature is calculated as a function of the vehicle's current trajectory and / or the second curvature as a function of a planned trajectory and / or the target area for the lane-changing maneuver. The planned trajectory can be calculated as a function of the environmental data. It can be provided that the first curvature is determined tangentially to the current trajectory. Furthermore, the second curvature can be determined tangentially and / or overlapping with the planned trajectory and / or the second lane, i.e., in particular, the target area of ​​the second lane. Preferably, the first and second curvatures can be oriented tangentially to each other. The first and second curvatures can, for example, form an S-shape.By adapting the curvatures to the current and planned trajectory, intuitive understanding and visualization can be improved. In particular, the vehicle operator can simultaneously receive further information about the current and planned trajectory, which can improve confidence in the vehicle during lane-changing maneuvers.

[0021] Furthermore, in a method according to the invention, it can advantageously be provided that, depending on the environmental data, a lane center of the second lane is detected, wherein the target area comprises the lane center of the second lane. Preferably, the target area can be formed by the lane center. It can be provided that the second curvature is aligned tangentially to the second lane, in particular to the lane center of the second lane, when determining and changing the visualization. Preferably, the planned trajectory for the lane-changing process includes an alignment of the vehicle in the lane center of the second lane, so that straight-ahead driving can be continued in the second lane after the lane change. The lane center therefore represents an area for the target area that is intuitively understandable to the operator, in particular for completing the lane change.

[0022] Furthermore, in a method according to the invention, it is conceivable that upon reaching the second lane, in particular the target area, a finalization process is executed in which the visualization is converted into a target display, in particular wherein the target display includes a lane guidance for the second lane. Preferably, the first and second curvatures during the lane change can be straightened so that the visualization in the target display, in particular perspective with respect to the display area, lies in the second lane. The target display can preferably include hiding the arrowhead of the visualization and / or splitting the visualization, in particular the line-shaped markings of the visualization. The lane guidance can include a path for the second lane, which is determined depending on the environmental data.Lane guidance allows the target display to be adjusted to the second lane depending on the surrounding data and / or the reference position. The line markers can be adapted to the course of the second lane and / or the center of the second lane, and / or aligned with the second lane, depending on the surrounding data.

[0023] Preferably, the linear markings of the visualization can be animated horizontally outwards and displayed for a few seconds across the width of the vehicle as a lane centering indicator. Subsequently, the markings can be hidden to minimize driver distraction and obscurity. This allows the operator to intuitively understand that the vehicle is aligned with the second lane and / or that the lane change is complete.

[0024] Furthermore, in a method according to the invention, it is conceivable that the road alignment of the first and second lanes is detected based on the environmental data, and that the road alignment is taken into account when recognizing the target area and / or when adapting the visualization of the lane change. The road alignment can, for example, include the alignment of the first and second lanes, particularly in front of the vehicle. When determining and adapting the visualization, the visualization can be adjusted to the road alignment and preferably placed on the first and second lanes. In particular, the road alignment can also be taken into account for the first and / or second curvature of the visualization and / or the current and / or planned trajectory.By taking the road layout into account, the visualization can be individually and / or dynamically adapted to the road layout to enable improved integration into the vehicle environment and thus facilitate the driver's understanding.

[0025] Furthermore, in a method according to the invention, it is conceivable that the target display is dynamically determined depending on the environmental data and the reference position, in particular taking the road alignment into account when determining the target display. To take the road alignment into account, the linear markings can, for example, be adapted to the road alignment, preferably considering a perspective from the vehicle. To determine the target display depending on the road alignment, the linear markings can, for example, be oriented parallel to the road alignment. Through the dynamic determination of the target display, the target display can be individually and / or dynamically adapted to the respective driving situation, in particular to the road alignment, in order to enable improved integration into the vehicle environment and thus facilitate the driver's understanding.

[0026] Furthermore, in a method according to the invention, it is conceivable that, depending on the signal to initiate the lane change process, the vehicle executes the lane change in a fully automated manner. This automated execution of the lane change can be carried out by a driver assistance system, particularly a lane change assistant. The driver assistance system can be configured to issue the signal to initiate the lane change process in order to trigger the visualization in the display area. During the automated execution of the lane change, the dynamic change in the visualization can directly indicate to the vehicle operator in their field of vision how far the lane change has progressed, and also that the vehicle is being guided as planned. This can increase the driver's confidence in the driver assistance system.

[0027] Furthermore, in a method according to the invention, it can advantageously be provided that the vehicle is guided by automated lane centering before the lane change in the center of the first lane and / or after the lane change in the center of the second lane. The lane centering can be performed by a driver assistance system of the vehicle, in particular by a lane keeping assistant. The vehicle can be kept in an area between the lane markings of the first or second lane while driving, and preferably steering movements to follow the road's course can be performed automatically. Thus, in particular, the lane keeping assistant and the lane change assistant can communicate with each other to perform the lane change automatically. In particular, the lane change can therefore be executed as an autonomous driving maneuver of the vehicle.Through visual support, especially visualization and / or target display, the vehicle's actions can be intuitively understood by the operator at all times.

[0028] Furthermore, in a method according to the invention, it can advantageously be provided that the vehicle is switched to a waiting mode for checking the vehicle's driving situation by means of the signal for initiating the lane change process, wherein the lane change is executed automatically when the driving situation fulfills a start condition, in particular wherein the visualization in waiting mode has a first visualization type, wherein the first visualization type is switched to a second visualization type when the lane change is carried out by the vehicle. The first and second visualization types can preferably be different colors. The color of the visualization can change when the first is switched to the second visualization type. However, other visualization types are also conceivable.For example, one of the visualization types might involve flashing, while the other involves a continuous display. The waiting mode can preferably be triggered by user interaction, specifically by a manual request from the operator for an assisted lane change. In waiting mode, the lane change can be delayed by the vehicle, for example, due to environmental factors, until conditions permit it, such as when there is sufficient space in the second lane. Thus, the first visualization type can indicate the vehicle's search for and / or planning of an assisted lane change. The second visualization type informs the operator that the lane change is currently in progress.

[0029] Furthermore, in a method according to the invention, it is conceivable that, to check the driving situation, at least one driving parameter of the vehicle and / or an area of ​​the first and / or second lane is checked based on environmental data, depending on the starting condition. The starting condition can include a limit condition, such as a minimum clearance on the second lane and / or a minimum vehicle speed. The at least one driving parameter can, for example, include the vehicle's speed and / or acceleration. For example, it can be provided that the waiting mode is only exited by the vehicle at a speed of 90 km / h. Based on the environmental data, it can also be determined whether an object on the first and / or second lane is obstructing the execution of the lane change.For example, the environmental data can be used to determine whether a faster vehicle is approaching from behind in the second lane. The visualization can then inform the driver about the current status of the standby mode.

[0030] Preferably, in a method according to the invention, a cancellation process is performed when a lane change is aborted, thereby ending the visualization of the lane change. During the cancellation process, the visualization can disappear from the display area. For example, the visualization can be gradually faded out. This allows the operator to receive information about the cancellation. At the same time, this frees up the display area to focus the driver's attention on the current driving situation.

[0031] Furthermore, in a method according to the invention, it can advantageously be provided that driver interaction is continuously monitored during the execution of the lane change, with the lane change being automatically aborted if a lack of driver interaction is detected during the monitoring. The driver interaction can, particularly depending on the vehicle's level of automation, ensure that the operator is attentive and / or able to intervene in the vehicle's control. For example, the driver interaction monitoring can check whether the operator's hand is detected on the vehicle's steering wheel. If the operator releases the steering wheel, the abort can be triggered immediately and / or after a predetermined time.The operator also receives immediate feedback on the aborted lane change during the cancellation process, allowing the operator to assess the vehicle's movement.

[0032] Within the scope of the invention, it is further conceivable that a viewing position in the vehicle is detected for the operator's view of the display area, wherein the visualization is determined and / or positioned within the display area depending on the viewing position and the environmental data. The viewing position can preferably be a stationary and / or predefined position in the vehicle from which the driver can view the display area. For example, the viewing position can be determined based on average dimensions of people in a driver's seat of the vehicle. In particular, the viewing position can be a so-called eyebox position, which can be preset and / or changeable by the driver. The viewing position can define the driver's field of view, especially with regard to the display area.The viewing position can be independent of the driver's actual line of sight. However, it is also conceivable that the viewing position is dynamically determined and / or adjusted during the process, particularly depending on movement and / or the driver's actual line of sight. By recognizing the viewing position, the operator's perspective can be identified and taken into account when positioning the visualization, depending on the reference position and environmental data, in order to embed the visualization from the operator's point of view into the vehicle environment.

[0033] According to a further aspect of the invention, a computer program product is provided. The computer program product comprises instructions which, when executed by a control unit, cause the control unit to execute a method according to the invention.

[0034] Thus, a computer program product according to the invention offers the same advantages as those already described in detail with reference to a method according to the invention. The method can, in particular, be a computer-implemented method. The computer program product can be implemented as computer-readable instruction code. Furthermore, the computer program product can be stored on a computer-readable storage medium such as a data disk, a removable drive, volatile or non-volatile memory, or an embedded memory / processor. Furthermore, the computer program product can be made available or provided in a network such as the Internet, from which it can be downloaded or executed online by a user as needed. The computer program product can be implemented using software as well as one or more special electronic circuits, i.e.,It can be implemented in hardware or in any hybrid form, i.e., using software components and hardware components.

[0035] According to a further aspect of the invention, a vehicle is provided. The vehicle has a display unit with a display area for showing vehicle information. The display area extends at least partially into a field of vision for perceiving the vehicle's external environment. Furthermore, the vehicle has a control unit for carrying out a method according to the invention.

[0036] Thus, a vehicle according to the invention offers the same advantages as those already described in detail with reference to a method and / or a computer program product according to the invention. The control unit can comprise a processor and / or a microprocessor. Furthermore, the control unit can be at least partially or completely integrated into a central control unit of the vehicle. However, it is also conceivable that the control unit is at least partially or completely integrated into one or more decentralized control units. The display unit can be permanently integrated into the vehicle and / or, in particular for receiving and / or exchanging data, connected to a display interface of the vehicle.

[0037] Further advantages, features, and details of the invention will become apparent from the following description, in which exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can be essential to the invention individually or in any combination. The drawings schematically show: Fig. 1 a waiting mode during a lane change operation in a vehicle according to the invention when performing a method according to the invention, Fig. 2 - 3 a change in a visualization during the process, Fig. 4. A target representation during a finalization process in the procedure, and Fig. 5. A description of the procedure.

[0038] In the following description of some embodiments of the invention, the same reference numerals are used for the same technical features even in different embodiments.

[0039] The Fig. Figures 1-4 show a vehicle 1 according to the invention, with a viewing area 3 for perceiving the vehicle 1's external environment in a first embodiment. The viewing area 3 is, in particular, the windshield of the vehicle 1. The vehicle 1 has a display unit 2, in this embodiment an augmented reality head-up display, with a display area 2.1 for projecting information from the vehicle 1 into the viewing area 3. The display area of ​​an AR-HUD is commonly referred to as the "field of view (FOV)." Thus, the display area 2.1 extends at least partially into the viewing area 3. Furthermore, the vehicle 1 has a control unit 4, which is configured to execute a method 100 according to the invention for displaying a lane change maneuver in the vehicle 1, specifically for a lane change of the vehicle 1 from a first lane 11 to a second lane 12.This can be achieved using a computer program product that includes instructions which, when executed by control unit 4, cause control unit 4 to execute procedure 100. A sequence of procedure 100 is described in . Fig. 5 shown.

[0040] In procedure 100, a signal 201 is first detected to initiate the lane change process. The signal 201 can be triggered, for example, by an operator of the vehicle 1. Specifically, the signal 201 puts the vehicle 1 into a waiting mode to check its driving situation. To check the driving situation, at least one driving parameter of the vehicle 1 and / or an area of ​​the first and / or second lane 11, 12 can be checked based on environmental data 210, depending on a start condition 214. The lane change is preferably performed automatically by the vehicle 1 and / or the control unit 4 when the driving situation meets the start condition 214.

[0041] Method 100 further comprises the acquisition 102 of environmental data 210 of the first and second lanes 11, 12. The environmental data 210 can represent the vehicle's surroundings digitally, e.g., by means of a virtual map. In particular, taking into account the environmental data 210, method 100 also involves the continuous detection 103 of a reference position 211 of the vehicle 1 in relation to the first and second lanes 11, 12 during the lane-changing process and the at least one, multiple, or continuous detection 104 of a target area 212 of the second lane 12, depending on the environmental data 210. The reference position 211 can be, as in the Fig. Figures 1-4 show the position of vehicle 1, preferably a position in the display area 2.1, for example at the lower edge of the display area 2.1. The target area 212 can comprise an area of ​​the second lane 12 in the direction towards which vehicle 1 moves during the lane change.

[0042] To simplify perception by the operator, especially the driver, of vehicle 1, procedure 100 further involves determining 105 a visualization 202 of the lane change for display in the display area 2.1, so that the visualization 202 extends optically from the reference position 211 towards the target area 212 in the field of vision 3. In standby mode, the visualization 202 has a first visualization type 202.3, as shown in Fig. Figure 1 shows that, for example, the first visualization type 202.3 can include an initial color scheme for the visualization 202. Furthermore, in method 100, a viewing position 2.2 in the vehicle 1 is detected for the operator's view of the display area 2.1. To integrate the visualization into the vehicle environment, it is determined based on the viewing position 2.2 and the environmental data 210 and / or positioned within the display area 2.1.

[0043] Furthermore, visualization 202 includes at least a first curvature 202.1 and a second curvature 202.2, as shown in Fig. Figure 2 shows that when determining the visualization 202, the first curvature 202.1 is calculated based on the current trajectory 203 of the vehicle 1, and the second curvature 202.2 is calculated based on a planned trajectory 204 and / or the target area 212 for the lane change. It can be provided that, depending on the environmental data 210, a lane center 213 of the second lane 12 is detected, and that the target area 212 includes the lane center 213 of the second lane 12 and / or is formed by the lane center 213. Preferably, the vehicle 1 is guided by an automated lane centering system into a lane center 213 of the first lane 11 before the lane change.

[0044] Upon exiting wait mode, the first visualization type 202.3 is converted into a second visualization type 202.4, as shown in Fig. As shown in Figure 2, the lane change is performed when the lane change is carried out by vehicle 1. For example, depending on signal 201 to initiate the lane change process, the lane change can be executed fully automatically by vehicle 1, in which the waiting mode is automatically maintained and exited depending on the start condition 214 to execute the lane change.

[0045] To improve the assessment of the vehicle actions of vehicle 1 and to provide information about the status of the lane change, the procedure 100 further includes an adjustment 106 of the visualization 202 of the lane change depending on a change in the reference position 211 during the execution of the lane change process by vehicle 1. As in the Fig. 2 and Fig. As shown in Figure 3, when performing a lane change, vehicle 1 can leave the center point 213 of the first lane 11 to move towards the center point 213 of the second lane 12. The reference position 211 is continuously recorded, and the visualization 202, in particular the first curve 202.1 and the second curve 202.2, is adjusted accordingly. Although the first and second lanes 11 and 12 are located in the Fig. 1 - 4 runs straight, it can be provided that, based on the environmental data 210, a roadway profile 13, in particular in the form of a roadway curvature, which in particular in the illustrated embodiment runs straight, of the first and second lanes 11, 12 is detected and taken into account when recognizing 104 the target area 212 and / or when adapting 106 the visualization 202 of the lane change.

[0046] If vehicle 1 enters the second lane 12, as in Fig.Once the desired result has been achieved (as shown in Figure 4), a finalization process 220 can be executed, in which the visualization 202 is transformed into a target representation 221. Specifically, after changing lanes, vehicle 1 is guided by automated lane centering to the center of lane 213 of the second lane 12. The target representation 221 can include lane guidance for the second lane 12 and / or be dynamically determined based on the environmental data 210 and the reference position 211. For example, the road alignment 13 can be taken into account when determining the target representation 221.

[0047] Preferably, driver interaction 205 is continuously monitored during the execution of the lane change. The lane change can be automatically aborted if a lack of driver interaction 205 is detected during the monitoring process. Upon aborting the lane change, an abort process 107 is performed, which terminates the visualization 202 of the lane change.

[0048] The preceding explanation of the embodiments describes the present invention solely by way of examples. Naturally, individual features of the embodiments can be freely combined with one another, provided this is technically feasible, within the scope of protection defined by the claims, without departing from the scope of the present invention. Reference symbol list 1 vehicle 2 Display unit 2.1 Display area 2.2 Viewing position 3 Viewing area 4 Control unit 11 first lane 12 second lane 13 Road layout 100 procedures 101 Recording of 201 102 Recording of 210 103 Recognizing 211 104 Recognizing 212 105 Determining 202 106 Adjusting 202 107 Demolition process 201 Signal 202 Visualization 202.1 first curvature 202.2 second curvature 202.3 first type of visualization 202.4 second type of visualization 203 current trajectory 204 planned trajectory 205 Driver Interaction 210 environmental data 211 Reference position 212 Target area 213 Lane Center 214 Starting condition 220 Finalization process 221 Target presentation QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] US 2022 / 0018678 A1

[0004]

Claims

[1] Method (100) for displaying a lane change process in a vehicle (1) for a lane change of the vehicle (1) from a first lane (11) to a second lane (12), wherein a display unit (2) with a display area (2.1) is provided for displaying information in a field of view (3) for perceiving an external environment of the vehicle (1), wherein the method (100) comprises: - detecting (101) a signal (201) for initiating the lane change process, - detecting (102) environmental data (210) of the first and second lanes (11, 12), - continuous detection (103) of a reference position (211) of the vehicle (1) relative to the first and second lanes (11, 12) during the lane change process, - detecting (104) a target area (212) of the second lane (12) depending on the environmental data (210), - determining (105) a visualization (202) of the lane change for display in the display area (2.1), so that the visualization (202) extends optically in the field of view (3) from the reference position (211) in the direction of the target area (212), - adapting (106) the visualization (202) of the lane change depending on a change in the reference position (211) during an execution of the lane change process by the vehicle (1). [2] Method (100) according to claim 1, characterized by that the visualization (202) has at least a first curvature (202.1) and a second curvature (202.2), wherein when determining (105) the visualization (202) the first curvature (202.1) is calculated as a function of a current trajectory (203) of the vehicle (1) and the second curvature (202.2) is calculated as a function of a planned trajectory (204) and / or of the target area (212) for the lane change process. [3] Method (100) according to claim 1 or 2, characterized by that a lane center (213) of the second lane (12) is detected as a function of the environmental data (210), wherein the target area (212) comprises the lane center (213) of the second lane (12). [4] Method (100) according to one of the preceding claims, characterized by that when the second lane (12) is reached, a finalization process (220) is carried out, in which the visualization (202) is converted into a target representation (221), wherein the target representation (221) comprises a lane guidance of the second lane (12). [5] Method (100) according to one of the preceding claims, characterized by that a lane course (13) of the first and second lanes (11, 12) is detected on the basis of the environmental data (210), wherein the lane course (13) is taken into account when detecting the target area (212) and / or when adapting (106) the visualization (202) of the lane change. [6] Method (100) according to claim 5, characterized bythat the target representation (221) is determined dynamically as a function of the environmental data (210) and the reference position (211), wherein the roadway course (13) is taken into account when determining the target representation (221). [7] Method (100) according to one of the preceding claims, characterized by that, depending on the signal (201) for initiating the lane change process, the lane change is carried out completely automatically by the vehicle (1) during the lane change process. [8] Method (100) according to one of the preceding claims, characterized by that the vehicle (1) is guided by an automated lane center guidance before the lane change in a lane center (213) of the first lane (11) and / or after the lane change in the lane center (213) of the second lane (12). [9] Method (100) according to one of the preceding claims, characterized bythat the vehicle (1) is transferred by the signal (201) for initializing the lane change process into a waiting mode for checking a driving situation of the vehicle (1), wherein the lane change is carried out automatically when the driving situation fulfills a start condition (214), wherein the visualization (202) in the waiting mode has a first visualization type (202.3), wherein the first visualization type (202.3) is transferred into a second visualization type (202.4) when the lane change is carried out by the vehicle (1). [10] Method (100) according to one of the preceding claims, characterized by in that, in order to check the driving situation, at least one driving parameter of the vehicle (1) and / or an area of ​​the first and / or second lane (11, 12) is checked on the basis of the environmental data (210) as a function of the starting condition (214). [11] Method (100) according to one of the preceding claims, characterized bythat when the lane change is aborted, an abort process (107) is carried out, by which the visualization (202) of the lane change is terminated. [12] Method (100) according to one of the preceding claims, characterized by that a driver interaction (205) is continuously checked during the execution of the lane change, wherein the abort of the lane change is automatically triggered if a lack of driver interaction (205) is detected during the checking of the driver interaction (205). [13] Method (100) according to one of the preceding claims, characterized by that a viewing position (2.2) in the vehicle (1) for the view of an operator on the display area (2.1) is detected, wherein the visualization (202) is determined and / or positioned in the display area (2.1) depending on the viewing position (2.2) and the environmental data (210). [14] Method (100) according to one of the preceding claims, characterized bythat the display unit (2) is a head-up display, an augmented reality head-up display or augmented reality glasses. [15] Computer program product comprising instructions which, when executed by a control unit (4), cause the control unit (4) to carry out a method (100) according to one of the preceding claims. [16] Vehicle (1), comprising a display unit (2) with a display area (2.1) for displaying information of the vehicle (1), wherein the display area (2.1) extends at least partially in a field of view (3) for perceiving an external environment of the vehicle (1), and a control unit (4) for carrying out a method (100) according to one of claims 1 to 14.

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