Method and device for assisting a driver in steering the vehicle in the area of ​​a lane boundary

Abstract

The present invention relates to a method for assisting a driver in steering the vehicle (1) in the area of ​​a lane boundary comprising the steps: - Detecting a lane (2a, 2b) currently occupied by the vehicle (1) by at least one first sensor device (14), - Monitoring a steering torque applied by the driver to a control device (10), - Detection and / or calculation of a current or future approach of the vehicle to a lane boundary by a computer device (16) based on the steering torque applied by the driver to the control device (10), - Calculating a plausibility value for a desired approach of the vehicle to the lane boundary, and - Not applying any additional steering torque or an additional steering torque supporting the approach to the track limit to the control device (10) if the plausibility value exceeds a critical plausibility value, or applying an additional steering torque counteracting the approach to the track limit to the control device (10) if the plausibility value is below the critical plausibility value. Furthermore, the invention relates to a device (12) for assisting a driver in steering the vehicle (1) in the area of ​​a lane boundary and to a vehicle (1) which includes such a device (12) or can perform such a method.

Description

[0001] The present invention relates to a method and a device for assisting a driver in steering the vehicle in the area of ​​a lane boundary.

[0002] Modern vehicles are supported by a variety of driver assistance systems. One type of support is to prevent the vehicle from leaving its designated lane. These systems are collectively known as "lane keeping assist" or "lane assist."

[0003] In the European Union, Regulation (EU) 2019 / 2144 defines two different types of lane departure warning systems: a lane departure warning system (LDWS), also known as a "passive lane keeping system," and an emergency lane keeping system (ELKS).

[0004] A lane departure warning system alerts the driver if the vehicle unintentionally leaves its lane. It does not intervene or assist the driver in maintaining the lane. In contrast, an emergency lane keeping assist system actively assists the driver in maintaining a safe position relative to the lane or road boundaries if the vehicle leaves its lane or is about to do so, and crossing the lane markings could result in a collision. This assistance may include steering intervention to keep the vehicle in its lane unless the driver counter-steers.

[0005] In addition, there are numerous lane-keeping assistance systems that not only actively intervene in the steering in emergencies, but also keep the vehicle in its lane to increase driving comfort and make driving easier. The applicant markets such a system under the name "Driving Assistant - Travel Assist". Depending on the supplier, such systems are also referred to as "steering assistant", "active steering support", "active lane-keeping assistant", or in English, "lane centering assist" (LCA), "heading control", or "lane keeping support".

[0006] An example of a steering assistance procedure and a steering assistance system for a vehicle is known from DE 10 2017 200 431 A1. In this steering assistance procedure, the vehicle's driving situation is detected, and the vehicle's driving behavior is determined from this. The vehicle is assigned to a vehicle class, and the system intervenes in a driving maneuver depending on the driving situation by determining and generating an actuating torque and applying it—in particular, in addition to a torque applied by the driver—to a steering system of the vehicle. The limits, timing, duration, and / or extent of the intervention depend on the assigned vehicle class. The class can be changed to adapt the type of intervention to various parameters, such as the vehicle's load.The type and, in particular, the intensity of the vehicle's intervention in the steering process varies, for example, with vehicle weight, inertia and / or yaw natural frequency.

[0007] From DE 10 2007 050 189 A1, a driver assistance system and a method for supporting the driver of a vehicle in lateral control are known, in which the lateral control-supporting steering intervention is adapted to the current driving situation and thus to the driver's situation-dependent varying need for support. In particular, it is provided that the steering input setpoint is modified and, for example, the steering intervention is suppressed if the vehicle's deviation from a target lane line is within a situation-dependent, predefined tolerance range. This makes it possible to adjust the degree of automation such that, for example, the driver is offered strong support with a high degree of automation in driving situations at low speeds, and weak support with a low degree of automation in driving situations at high speeds.

[0008] Patent DE 10 2022 201 268 B3, also issued by the applicant, discloses a method and an assistance system for supporting a driver of a motor vehicle during a parking maneuver. The system automatically identifies a target parking space and determines the current position of the motor vehicle. Depending on the accessibility of the target parking space from the current position of the motor vehicle, a corrective additional steering torque is determined according to a corresponding predefined setting. This additional steering torque is superimposed on any steering torque applied manually by the driver to assist in reaching the target parking space. The patent also mentions that the driver's acceptance of the assistance may be dependent on the situation.A driver might desire or accept more assistance in one situation than in another, or than another driver who, for example, might generally reject relatively large or clearly noticeable steering interventions. Therefore, in one possible configuration of the system, the auxiliary steering torque curves used to determine the respective additional steering torque are designed to be adjustable during vehicle operation. The driver can select a parameter value for the auxiliary steering torque curves and thus predetermine a level of additional steering torque that suits them or the current situation.

[0009] In some driving situations, it may be necessary for a driver to move the vehicle close to a lane marking without crossing it. In such situations, intervention by the lane keeping assist system is desirable to keep the vehicle within its lane. When the lane keeping assist system intervenes, it generates a steering torque that steers the vehicle away from the nearby lane marking. This torque (possibly in addition to any steering torque applied by the driver) can be perceived by the driver at the steering wheel as counter-steering or steering assistance.

[0010] In other situations, however, the intervention of the lane keeping assist system may be perceived by the driver as surprising and / or disruptive. In some situations, the driver may even attempt to actively override the counter-steering, a phenomenon also known as "counter-counter-steering." Such overcompensation could lead to more or less unsafe driving maneuvers.

[0011] Despite the aforementioned solutions known from the state of the art, there is a need for a system and a procedure that automatically predetermines an appropriate strength of the vehicle's steering intervention.

[0012] This problem is solved by a method according to claim 1, a device according to claim 7, and a vehicle according to claim 10. Advantageous embodiments and further developments of the invention are the subject of the dependent claims.

[0013] The inventive method for assisting a driver in steering the vehicle in the area of ​​a lane boundary comprises the following steps: - Detecting a lane currently occupied by the vehicle by at least one initial sensor device, - Monitoring the steering torque applied by the driver to a control device, - Detection and / or calculation of a current or future approach of the vehicle to a lane boundary by a computer system based on the steering torque applied by the driver to the control unit, - Calculating a plausibility value for a desired approach of the vehicle to the lane boundary, and - Applying an additional steering torque to the control unit to assist in approaching the track limit if the plausibility value exceeds a critical plausibility value, or applying an additional steering torque to the control unit to counteract approaching the track limit if the plausibility value is below the critical plausibility value.

[0014] Such a procedure can prevent or at least reduce the situations described above that are perceived as surprising and / or disturbing.

[0015] It is conceivable, and in some procedural variants preferred, that the intensity of the additional steering torque is variable and, for example, adjusted depending on the magnitude of the deviation of the determined plausibility value from the critical plausibility value. Thus, it is possible that the steering intervention by the additional steering torque does not occur uniformly in all driving scenarios, but rather differs between them.

[0016] Within the scope of this invention, the term "critical plausibility value" is to be understood as reflecting a value that represents a boundary or borderline between the plausibility of a desired approach of the vehicle to the lane boundary and the plausibility of an undesired approach of the vehicle to the lane boundary. A high plausibility of a desired approach of the vehicle to the lane boundary is understood as exceeding the critical plausibility value. If it is not very plausible that an approach to the lane boundary is desired, this is understood as falling below the critical plausibility value.It is irrelevant whether the calculated (numerical) value is actually greater or less than a (numerical) value of the critical plausibility value, since corresponding (numerical) values ​​can easily be manipulated, for example by taking the reciprocal, so that a lower (numerical) value corresponds to a higher plausibility of a desired approach of the vehicle to the lane boundary.

[0017] In a preferred variant, at least one value from another vehicle system, for example a driver assistance system, is used to calculate the intensity of the additional steering torque.

[0018] A control device can be, for example, a steering wheel. However, the term "control device" is not limited to steering wheels. Rather, other devices for inputting a control command, such as control sticks, levers, wheels, and joysticks, can also be used. Similarly, the terms "steering input" and "additional steering torque" are not intended to be limited to the operation of a steering wheel or a torque exerted on a steering wheel, respectively. Within the scope of this invention, "steering input" and "additional steering torque" are also to be understood in their general sense, i.e., "steering input" encompassing any command that can trigger steering of the vehicle, and "additional steering torque" encompassing any torque that can be applied to the steering of the vehicle.

[0019] In a preferred variant of the method, at least one parameter characteristic of driver activity is used to calculate the plausibility score. Such a value has proven particularly suitable because it correlates strongly with the driver's intention to change lanes. For example, if a driver makes many vehicle control commands within a given time interval, this indicates a high level of activity and attention. An approach to a lane boundary by such an active driver is therefore more likely to be desirable than an approach by a driver with low activity. Low activity can be an indication of distraction or fatigue. Such a driver may not be able to perceive or assess all the potentially hazardous parameters of the current and / or future driving situation.A warning of a lane change by means of an additional steering torque acting in the opposite direction to the lane change is more likely to be considered desirable and helpful.

[0020] It is particularly preferred that at least one second sensor device detects driver activity. This preferably occurs during the application of steering torque to the control unit. A second sensor device makes it possible to determine the driver's activity—in addition to the steering torque applied to the control unit—based on at least one further parameter. This allows for a particularly precise determination of the driver's activity. It has been found that determining the activity immediately during the application of steering torque correlates particularly well with the driver's actual intention to actually execute, or refrain from executing, driving maneuvers corresponding to the steering torque applied to the control unit.For example, if a microsleep is detected while the steering torque is being applied to the control unit, the steering torque applied at the same time is highly likely to be undesirable, and counter-steering by the vehicle is considered helpful and promotes safety.

[0021] To determine the driver's activity, preferably at least one value from a group is used which includes values ​​that - are characteristic of the number of hands contacting the vehicle's control unit, - are characteristic of an activity at the control device, - correlate with the driver's fatigue level, - describe a tilt and / or rotation of the driver's head, and - correlate with the driver's brain activity.

[0022] It has been shown that these values ​​are particularly suitable for depicting the driver's activity, especially with regard to their intention to change lanes.

[0023] For example, if the driver has both hands on the steering wheel and actively applies a clearly measurable torque to the steering, this can be seen as an indication that the driver is actively steering the vehicle towards the edge of the currently used lane. Consequently, this maneuver can be assigned a high plausibility value above the critical plausibility value, and no intervention, or even intervention by the driver assistance system to support this maneuver, can occur.

[0024] If the driver has at least one hand on the steering wheel but exerts little influence on the steering, a lower plausibility value could be assigned to the maneuver associated with that steering command. If this value falls below the critical plausibility threshold, the driver assistance system intervenes by applying an additional steering torque to the steering system to counteract the approach to the lane boundary. This additional steering torque should ensure that the driver is alerted to the vehicle's approach to the lane boundary and thus performs the lane change with particular care or remains in the previously occupied lane.

[0025] For example, if the driver has no hand on the steering wheel and the vehicle is approaching the edge of the currently used lane, this maneuver is assigned an even lower plausibility value, below the critical plausibility value. It is obvious that the driver assistance system must intervene and apply a sufficiently strong (additional) steering torque to the control unit to prevent a lane change.

[0026] Preferably, as illustrated by the examples above, low driver activity correlates with a plausibility value that indicates an undesirable approach of the vehicle to the lane boundary.

[0027] In a further preferred embodiment, at least one piece of data provided by a navigation system is used to calculate the plausibility value. A particularly suitable piece of data has proven to be selected from a group that includes a pre-calculated route, a (relative) position and / or a speed vector of at least one vehicle detected by an environmental monitoring device, a position of an obstacle detected by an environmental monitoring device, a traffic sign detected by an environmental monitoring device, a (relative) position and / or a speed vector of at least one person detected by an environmental monitoring device, a current time, a current weather date, a known driving pattern and sensor data of at least one other vehicle, or data transmitted by another vehicle, for example, swarm data.in particular, data relating to road surface conditions, traffic density or average vehicle speed, and data obtained from an external source of information, such as weather data, severe weather warnings, traffic warnings or information about construction activity.

[0028] In the context of this invention, a "navigation system" is understood to be a device that can predict a future route and / or control command for the vehicle. This could, for example, be a device for calculating a favorable route to a destination. However, the destination need not be the final destination of the journey. A destination for a navigation system could, for instance, also be a point beyond an obstacle on a roadway. In such a case, the navigation system calculates an (alternative) route along which the vehicle can be guided past this obstacle. A route calculated by such a navigation system could be used to generate a control command (or a sequence of control commands) that guides the vehicle along the predicted route segment.

[0029] By incorporating data from a navigation system, the plausibility score can be calculated more accurately. For example, if a navigation system knows that the lane the vehicle is approaching following a driver's steering command is not passable—perhaps because it is occupied by another vehicle, signs indicate that the lane is closed, there are people or obstacles in the lane, or the lane does not lead to the desired destination—this information can strongly suggest that the steering command to maneuver the vehicle toward the lane's boundary is not intended. Accordingly, such a command might then be assigned a lower plausibility score after incorporating data as described above than without considering this data.On the other hand, for example, a control command to maneuver the vehicle towards the boundary of this lane could be assigned a higher plausibility value if this lane is clear and / or leads to the desired destination.

[0030] In a preferred variant of the method, the intensity of the additional steering torque correlates with the difference between the determined plausibility value and the critical plausibility value. For example, if the determined plausibility value falls significantly below the critical plausibility value, a stronger additional steering torque (opposing the driver's steering input) can be applied than if the determined plausibility value falls only slightly below the critical plausibility value. Conversely, if the determined plausibility value significantly exceeds the critical plausibility value, meaning that a lane change is not only possible but even advisable, for example, to reach the destination or avoid a hazard, a (greater) additional steering torque (supporting the driver's steering input) could be applied than if the determined plausibility value only slightly exceeds the critical plausibility value.If the critical plausibility value is only slightly exceeded, preferably no additional steering torque is applied, so that the driver has an unadulterated driving feel and does not perceive any intervention in the steering by the vehicle.

[0031] A trainable artificial intelligence system can be used to calculate the plausibility value.

[0032] Alternatively or additionally, a trainable artificial intelligence system can be used to calculate the driver's activity (for example, at the control unit).

[0033] An artificial intelligence system can (preferably independent of any of the application areas mentioned above) preferably access at least one, and preferably several, data points from the aforementioned group. Preferably, the artificial intelligence system can also access data from a camera system with image processing. This enables and / or improves, for example, the detection of indicators of reduced driver activity and / or distraction. In this regard, it is conceivable, for example, to analyze eye movements, pupil size, the time interval during which the eyes are closed (blinking), the time interval between two successive periods of closed eyes, facial expressions, head posture, and / or body posture.For example, if one or more of these characteristics indicate reduced driver activity, this can lead to a lower plausibility value being assigned to a control command.

[0034] Preferably, the machine learning model is suitable for executing a (computer-implemented) computer procedure and determines in which (computer-implemented) perception and / or acquisition tasks are performed, for example, (computer-implemented) procedures for semantic segmentation and / or (computer-implemented) object classification. In object classification, a signal captured and / or represented in measured values ​​(or in sensor data characteristic of the measured values) is assigned to a (previously trained and / or predefined) class. The classes can be (among other things) a meaning (especially with regard to user movement and / or pupil size) of a captured signal and / or a notification parameter characteristic of a meaning of the captured signal.

[0035] Preferably, the machine learning model is based on an (artificial) neural network (AI - Artificial Intelligence). Preferably, the sensor data (or data derived from it) are fed into the artificial neural network as input. Preferably, the artificial neural network maps the input variables to output variables as a function of a processing chain that can be parameterized (by the trainable or trained parameters).

[0036] Such a neural network can be designed, for example, as a deep neural network (DNN), in which the parameterizable processing chain has multiple processing layers, and / or as a convolutional neural network (CNN) and / or a recurrent neural network (RNN). Preferably, the parameterizable processing chain is parameterized during training. Preferably, datasets relating to the (base) datasets described above and / or training datasets are used as training data. Training preferably takes place using supervised learning. However, it would also be possible to train the artificial neural network using unsupervised learning, reinforcement learning, or stochastic learning.

[0037] The problem underlying the invention is further solved by a device for assisting a driver in steering the vehicle in the area of ​​a lane boundary, which comprises: - at least one initial sensor device for detecting a lane currently occupied by the vehicle, - a monitoring device for monitoring a steering torque applied by the driver to a control device, and - a computer system which is designed and equipped to detect and / or calculate a current or future approach of the vehicle to a lane boundary based on the steering torque applied by the driver to the control unit.

[0038] Such a device is further characterized by the fact that the computer system can calculate a plausibility value characteristic of a desired approach of the vehicle to the lane boundary. It also includes an application device for applying an additional steering torque to the control unit. This additional steering torque is either non-existent or supports the approach to the lane boundary if the plausibility value exceeds a critical value, and counteracts the approach to the lane boundary if the plausibility value is below the critical value. Such a device makes it possible, on the one hand, to assist a driver during a lane-change maneuver, and on the other hand, to prevent, avert, or warn the driver of an unwanted lane change.

[0039] Preferably, the device comprises a second sensor device by means of which driver activity can be detected. In particular, such a second sensor device and the ability to detect driver activity with it enable a more precise evaluation of a control command given by the driver with regard to the driver's intention.

[0040] In a preferred embodiment, the device comprises a navigation system from which data can be transmitted to the computer. The data is preferably selected from a group consisting of a pre-calculated route, a (relative) position and / or a speed vector of at least one vehicle detected by an environmental monitoring device, a position of an obstacle detected by an environmental monitoring device, a traffic sign detected by an environmental monitoring device, a (relative) position and / or a speed vector of at least one person detected by an environmental monitoring device, a current time, a current weather date, a previously known driving pattern and sensor data of at least one other vehicle, data transmitted by another vehicle, for example, swarm data, in particular data relating to road surface conditions.This includes traffic density or average vehicle speed, and data obtained from an external information source, such as weather data, severe weather warnings, traffic alerts, or information about roadworks. By incorporating such data into the evaluation of a driver's steering command regarding their intention, a further improvement in the evaluation result is possible.

[0041] In a preferred embodiment, the device includes a camera that captures the driver at least partially, preferably in the area of ​​the driver's head, particularly the face. The driver is captured at least for the period during which the control signal to approach a boundary of the lane currently occupied by the vehicle is given.

[0042] Preferably, the computer system is connected, at least temporarily, to a data network. This allows the computer system to receive updates. The data network can include a data processing unit with an artificial intelligence system that receives data from a multitude of data processing units (especially from various vehicles) and uses this data to generate improved algorithms for calculating a plausibility value.

[0043] Furthermore, the present invention relates to a vehicle, in particular a motor vehicle, which includes a device as described above for assisting a driver in steering the vehicle in the area of ​​a lane boundary or parts thereof, and / or is designed and equipped for carrying out a method as described above or one or more steps thereof. Such a vehicle can offer enhanced driving comfort and increased safety, as lane changes are simplified and—given sufficient plausibility—can be performed with vehicle assistance or at least without counter-steering torque. Conversely, such a vehicle—again, given sufficient plausibility—can maintain a lane independently and warn a driver of an unwanted or dangerous lane departure.

[0044] Preferably, the device and / or vehicle is configured, suitable, and / or intended to perform a method as described above, as well as all process steps described in connection with the method, individually or in combination, or to perform individual process steps using the device described above. Conversely, the method can be carried out with all features described in connection with the device, individually or in combination.

[0045] In a preferred embodiment, the computer system is connected to a data processing unit located outside the vehicle. This data connection enables the system to receive or transmit data relevant to enhancing comfort, such as weather data, navigation data, position data from another vehicle, and / or information about lane closures. This provides a more accurate data basis for the desired comfort enhancement and allows for data aggregation.

[0046] In another preferred embodiment, the computer unit is not, or at least not permanently, connected to a data processing unit located outside the vehicle. The computer unit can operate autonomously and acquire data relevant for increasing comfort based on vehicle sensors. This allows the comfort enhancement to be achieved even when there is no network connection.

[0047] A vehicle can be a motor vehicle, which may be a driver-operated vehicle ("driver only"), a semi-autonomous vehicle, an autonomous vehicle (e.g., of autonomy level 3, 4, or 5 (according to standard SAE J3016)), or a self-driving vehicle. Furthermore, in addition to a road vehicle, the vehicle can also be an air taxi, an aircraft, a rail vehicle, or another means of transport or vehicle type, such as an air, water, or rail vehicle.

[0048] The present invention further relates to a computer program or computer program product, comprising program means, in particular a program code, which represents or encodes at least some of the and preferably all of the process steps of the method according to the invention and preferably one of the described preferred embodiments and is designed for execution by a processor device.

[0049] The present invention further relates to a data storage device on which at least one embodiment of the computer program according to the invention or a preferred embodiment of the computer program is stored.

[0050] Further advantages and embodiments can be seen from the attached drawings:

[0051] It shows: Fig. 1 a schematic representation of a vehicle equipped with a proposed device on a multi-lane road; Fig. 2 a schematic representation of the proposed method according to one embodiment; and. Fig. 3 a schematic representation of a vehicle equipped with a proposed device on a two-lane road;

[0052] Fig. Figure 1 is a schematic representation of a vehicle 1 equipped with a proposed device 12 on a multi-lane road 6. The multi-lane road consists of carriageways 2 and 4, each for one direction. Each of these carriageways 2 and 4 has two lanes 2a and 2b. In the example shown, the vehicle occupies lane 2b. The device 12 comprises a first sensor device 14 for detecting the lane 2b currently occupied by the vehicle 1. The vehicle also includes a monitoring device 20 for monitoring a steering torque applied by the driver to a control unit 10. Furthermore, a computer device 16 is arranged in the vehicle, which is designed and configured to detect and / or calculate a current or future approach of the vehicle to a lane boundary based on the steering torque applied by the driver to the control unit 10.

[0053] If the driver (not shown) applies a steering torque, for example, which steers vehicle 1 towards lane 2a, the computer unit 16 calculates a plausibility value. This plausibility value can indicate how realistic the driver's desire to actually approach the lane boundary between lanes 2a and 2b is considered to be. If the plausibility value exceeds a critical threshold, it is assumed that approaching the lane boundary is indeed the driver's intention. However, if the plausibility value falls below the critical threshold, the vehicle assumes that approaching the lane boundary does not correspond to the driver's intention.

[0054] Based on this evaluation, an additional steering torque is applied to the control unit, if necessary, by a control device (not shown), preferably integrated with the monitoring device 20 as a single unit. No additional steering torque, or an additional steering torque supporting the approach to the lane limit, is applied if the plausibility value exceeds the critical plausibility value, i.e., if the approach to the lane limit is classified as the driver's actual intention. Conversely, an additional steering torque counteracting the approach to the lane limit is applied if the plausibility value is below the critical plausibility value, i.e., if the approach to the lane limit is not classified as the driver's intention.

[0055] Preferably, a value characteristic of detected driver activity is used to calculate the plausibility score. The driver's activity is detected, for example, by means of a second sensor device 18, preferably continuously monitored. If the assessment of the driver's activity yields a value indicating low activity and thus reduced attention, this can be factored into the calculation of the plausibility score, resulting in a lower plausibility score than it would be without considering the activity value.

[0056] Furthermore, computer unit 16 is preferably in a data connection with a navigation system (not shown). This navigation system can transmit data to computer unit 16, which can also be included in the calculation of the plausibility score. For example, if the navigation system knows from swarm data or recognized traffic signs 7.1 - 7.5 that a lane is unusable for the vehicle because it is closed or an obstacle 4 is present and / or the road surface / road conditions are poor, this can lead to a lower plausibility score than it would be without the inclusion of the data provided by the navigation system.

[0057] In this context, it is also conceivable that, for example, in the area of ​​intersections, heading towards those lanes that do not lead to the desired navigation destination results in a significantly reduced plausibility value.

[0058] In Fig. Figure 2 shows a schematic representation of the proposed method for assisting a driver in steering the vehicle in the area of ​​a lane boundary according to one embodiment.

[0059] The step marked with reference numeral 30 represents the detection of a lane currently occupied by the vehicle by at least one first sensor device.

[0060] Reference numeral 32 stands for the monitoring of a steering torque applied by the driver to a control device.

[0061] If, based on these values ​​in step 34, a computer system calculates that the vehicle is currently or will be approaching a lane boundary, a plausibility value for a desired approach of the vehicle to the lane boundary is calculated in step 36.

[0062] Optionally, in step 38, the plausibility value can be adjusted using additional data. As explained above, for example, data from a navigation system and / or driver activity data could be included in the plausibility check and change the plausibility value accordingly.

[0063] Step 40 then represents either the application of no additional steering torque or an additional steering torque to the control unit that assists in approaching the lane limit if the plausibility value exceeds a critical plausibility value, or the application of an additional steering torque to the control unit that counteracts approaching the lane limit if the plausibility value is below the critical plausibility value. Thus, if the driving maneuver associated with the driver's command to the control unit is classified as sensible and safe (i.e., assigned a high plausibility value), no additional steering torque is applied, or the maneuver is even actively supported by an additional steering torque.If, on the other hand, the driving maneuver associated with the driver's command to the control unit is classified as pointless or unsafe (i.e., assigned a low plausibility value), the control unit applies a counteracting additional steering torque to the control unit.

[0064] In contrast to the representation in Fig. 1 shows Fig.Figure 3 shows a schematic representation of a vehicle 1 equipped with a proposed device 12 on a two-lane road 6. The road 6 has a single carriageway 2, comprising a right-hand lane 2a for the direction of travel of vehicle 1 and an opposite lane 4a for oncoming vehicles. In the example shown, vehicle 1 is moving in the direction of travel on lane 2a (upwards in the illustration). If a sensor detects a vehicle 24 ahead, which is moving at a lower speed than vehicle 1 on lane 2a or is even stationary there, it may be necessary for vehicle 1 to change to the opposite lane 4a to overtake the other vehicle 24.

[0065] If the monitoring device 20 detects a steering torque applied by the driver to a control unit 10, the computer unit 16 recognizes and / or calculates whether this steering torque will result in the vehicle approaching a lane boundary, either currently or in the future. Thus, if the driver (not shown) applies a steering torque that steers the vehicle 1 towards lane 4a, the computer unit 16 calculates a plausibility value. This plausibility value can indicate how realistic the driver's intention to actually steer the vehicle 1 into the oncoming lane 4a is considered. Sensor data that correlates with the occupancy of an upcoming lane segment 26 of the oncoming lane 4a could, for example, be used in this calculation.

[0066] For example, if an oncoming vehicle is located on this lane section 26, which is being used by vehicle 1 for the overtaking maneuver, the overtaking maneuver cannot be carried out safely and the desired initiation of the overtaking maneuver by the driver applying a corresponding steering torque to the control device is considered implausible.

[0067] According to this plausibility check, the control device (not shown), preferably designed as a single unit with the monitoring device 20, may apply a counter-steering or additional steering torque to the control unit. If the required section 26 of the opposite lane 4a is occupied by another vehicle, preferably no additional steering torque or even an additional steering torque counteracting the approach to the lane boundary is applied.

[0068] The applicant reserves the right to claim all features disclosed in the application documents as essential to the invention, provided they are novel individually or in combination compared to the prior art. It is further noted that the individual figures also describe features which may be advantageous on their own. A person skilled in the art will immediately recognize that a particular feature described in a figure may be advantageous even without incorporating other features from that figure. Furthermore, a person skilled in the art will recognize that advantages may also arise from a combination of several features shown in individual or different figures. Reference symbol list 1 vehicle 2 lanes 2a, 2b Lane 4 opposite lane 4a Opposite lane 6th Street 7.1 - 7.5 Traffic signs 8th obstacle 10 Control unit 12 System, Device 14 Sensor device 16 Computer setup 18 Sensor device 20 Monitoring device 24 vehicles 26 lane section 30-40 process steps 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] EP 2019 / 2144

[0003] DE 10 2017 200 431 A1

[0006] DE 10 2022 201 268 B3

[0008]

Claims

[1] Method for assisting a driver in controlling the vehicle (1) in the area of ​​a lane boundary, comprising the steps: - detecting a lane currently occupied by the vehicle by at least one first sensor device (14), - monitoring a steering torque applied by the driver to a control device (10), - Detection and / or calculation of a current or future approach of the vehicle (1) to a lane boundary by a computer device (16) based on the steering torque applied by the driver to the control device (10), - Calculating a plausibility value for a desired approach of the vehicle (1) to the lane boundary, and - applying no additional steering torque or an additional steering torque that supports the approach to the lane boundary to the control device (10) if the plausibility value exceeds a critical plausibility value or applying an additional steering torque that counteracts the approach to the lane boundary to the control device (10) if the plausibility value is below the critical plausibility value. [2] Method according to claim 1, characterized by that at least one parameter which is characteristic of a driver's activity is used to calculate the plausibility value. [3] Method according to one of the preceding claims, characterized by that an activity of the driver is determined by at least one second sensor device (18), preferably during the application of the steering torque to the control device (10). [4] Method according to claim 3, characterized bythat to determine the driver’s activity at least one value from a group is used which includes values ​​that - are characteristic of the number of hands contacting the control device (10) of the vehicle, - correlate to a driver’s fatigue level, - an activity on the control device (10), - describe a tilt and / or rotation of the driver’s head, and - correlate with the driver's brain activity. [5] Method according to one of claims 2-4, characterized by that a low activity of the driver correlates to a plausibility value, which represents an undesirable approach of the vehicle (1) to the lane boundary. [6] Method according to one of the preceding claims, characterized bythat to calculate the plausibility value, at least one datum provided by a navigation system is used, which is preferably selected from a group comprising a pre-calculated route, a (relative) position and / or a speed vector of at least one vehicle detected by an environmental monitoring device, a position of an obstacle detected by an environmental monitoring device, a traffic sign detected by an environmental monitoring device, a (relative) position and / or a speed vector of at least one person detected by an environmental monitoring device, a current time, a current weather datum, a previously known driving pattern and a sensor datum of at least one other vehicle, a datum transmitted by another vehicle, for example swarm data, in particular a datum relating to a road surface condition,a traffic density or an average vehicle speed, and a data item obtained from an external information source, such as a weather date, a severe weather warning, a traffic warning or information about construction activity. [7] Device (129) for assisting a driver in controlling the vehicle (1) in the area of ​​a lane boundary, comprising - at least one first sensor device (14) for detecting a lane currently occupied by the vehicle (1), - a monitoring device (20) for monitoring a steering torque applied by the driver to a control device (10), - a computer device (169) which is provided and configured to detect and / or calculate a current or future approach of the vehicle (1) to a lane boundary based on the steering torque applied by the driver to the control device (10) characterized bythat a plausibility value can be calculated by the computer device (16), which is characteristic of a desired approach of the vehicle (1) to the lane boundary, and wherein the device (12) further comprises an application device for applying an additional steering torque to the control device (10), wherein the additional steering torque is no additional steering torque or an additional steering torque that supports the approach to the lane boundary if the plausibility value exceeds a critical plausibility value and the additional steering torque is an additional steering torque that counteracts the approach to the lane boundary if the plausibility value is below the critical plausibility value. [8] Device (12) according to claim 7, characterized by a second sensor device (18) by means of which an activity of the driver can be determined. [9] Device (12) according to claim 7 or 8, characterized by, a navigation system from which a datum can be transmitted to the computer device (16), which datum is preferably selected from a group comprising a pre-calculated route, a (relative) position and / or a speed vector of at least one vehicle detected by an environmental monitoring device, a position of an obstacle detected by an environmental monitoring device, a traffic sign detected by an environmental monitoring device, a (relative) position and / or a speed vector of at least one person detected by an environmental monitoring device, a current time, a current weather datum, a previously known driving pattern and a sensor datum of at least one other vehicle, a datum transmitted by another vehicle, for example swarm data, in particular a datum relating to a road surface condition, a traffic density or an average vehicle speed,and a date obtained from an external information source, such as a weather date, a severe weather warning, a traffic warning, or information about construction activity. [10] Vehicle (1), in particular a motor vehicle, which comprises a device (12) according to one of claims 7-9 and / or is provided and arranged to carry out a method according to one of claims 1-6.

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