Method for performing an automated lane change by a motor vehicle

Abstract

The invention relates to a method for the automated lane change of a motor vehicle (1) from a first lane (3a) into an adjacent second lane (3b) of a roadway (2) with at least two lanes. According to the method, the first lane (3a) is traveled in a semi-automated manner by the motor vehicle (1). While traveling in the first lane (3a), a driver (F) of the motor vehicle (1) does not touch a manual steering wheel (4) of the motor vehicle (1) to adjust the direction of travel (FR) of the motor vehicle (1). Furthermore, during the semi-automated travel in the first lane (3a), a lane change from the first lane (3a) to the second lane (3b) suggested by the motor vehicle (1) is automatically carried out by the motor vehicle (1) after the driver has confirmed the lane change suggestion (SW). According to the invention, the suggestion is confirmed by the driver (F) at least temporarily touching the manual steering wheel (4).

Description

The invention relates to a method for carrying out an automated lane change of a motor vehicle from a first lane into an adjacent second lane of an at least two-lane roadway. The invention further relates to a control device which is set up / programmed for carrying out this method. The invention finally relates to a motor vehicle having such a control unit.In partially automated driving according to so-called "level 2" a confirmation of the driver is usually required in the case of an assisted lane change that a lane change suggested by the motor vehicle is also actually to be carried out by the latter.In conventional motor vehicles configured for partially automated driving according to "Level 2", such confirmation is typically effected by an actuation of the turn signal indicator or by an active movement of the hand steering wheel, in each case by the driver.However, a confirmation carried out in this way proves to be comparatively uncomfortable if the motor vehicle independently follows the lane being traveled in before the proposed lane change, without the driver touching or even actuating the hand steering wheel in the process. Such driving in a lane in which the manual steering wheel is not touched by the driver is known as "hands free in lane driving".It is an object of the present invention to provide an improved method for carrying out a lane change when partially automated driving on an at least two-lane roadway in the sense of the "hands free in lane driving" explained above.This object is achieved by the subject matter of the independent claims. Preferred embodiments are the subject of the dependent claims.The basic idea of the invention is therefore to carry out an automated lane change of a partially automated driving motor vehicle from a first lane into a second lane arranged next to the first lane with the aid of a touch sensor provided on the hand steering wheel of the motor vehicle, which can detect a contact of the hand steering wheel by the driver. Such a touch sensor, which can be designed in particular as a capacitive touch sensor, is often already installed in series in a motor vehicle set up for L2 operation.According to a first aspect of the invention, it is therefore proposed that such contact with the hand steering wheel-or another manually operable control device-by the driver is used to confirm a lane change suggested by the motor vehicle in the course of the partially automated driving. In this way, the rotational adjustment of the hand steering wheel to the left or right required in conventional methods and an actuation of the flasher, each for confirming to the motor vehicle that the latter is to execute a lane change, are dispensed with. In this way, the partially automated lane change is simplified for the driver in a comfort-enhancing manner.According to a second aspect of the invention, it is proposed, based on the idea of the invention explained above, to request a lane change in the case of "hands free in lane driving" by touching the hand steering wheel-or another manually operable control device.Preferably, by rotating the hand steering wheel, the desired direction of the lane change can be selected after the lane change has been touched. As a result, the partially automated lane change for the driver is considerably simplified and the driving comfort during the lane change is thus significantly improved.Particularly preferably, by looking in the direction of the desired lane change direction, in particular into a left or right side mirror of the motor vehicle, the selection of the desired direction of the lane change can take place after the hand steering wheel has been touched. In this way, too, the partially automated lane change is considerably simplified for the driver and the driving comfort during the lane change is thus significantly improved.Following the idea of the invention above, the method according to the invention serves according to a first aspect of the invention for carrying out an automated lane change of a motor vehicle from a first lane into an adjacent second lane of an at least two-lane roadway.The method according to the invention according to the first aspect can be executed by a control device provided in the motor vehicle. According to the first aspect of the invention, the first lane is traveled on in a semi-automated manner by the motor vehicle. During this travel in the first lane, a driver of the motor vehicle does not touch a manual steering wheel-or another manually operable control device-of the motor vehicle provided for setting and changing the direction of travel in the motor vehicle. According to the method, a lane change proposed by the motor vehicle in the course of the partially automated driving of the first lane is carried out automatically by the motor vehicle into the second lane when or as soon as the driver confirms the proposal for the lane change. According to the invention, the confirmation of the proposal is effected by the driver touching the hand steering wheel at least temporarily, preferably with one hand or with both hands. Expediently, the motor vehicle waits for or checks, for a predetermined period of time, preferably measured from a message of the proposal by the motor vehicle to the driver, whether the driver confirms the proposal for changing lanes. If this check reveals that no contact of the hand steering wheel by the driver has taken place over the predetermined period of time, this is interpreted by the motor vehicle or by the motor vehicle as a rejection of the proposal for lane change and accordingly no lane change is carried out. In the event of a touch, on the other hand, the motor vehicle performs the proposed lane change independently. The contact of the hand steering wheel by the driver required for this can be detected with the aid of a contact sensor present on the hand steering wheel, which transmits sensor data representing such a detection that has taken place to the control device according to the invention for further processing or evaluation there.According to an advantageous development of the method according to the invention according to the first aspect, the motor vehicle proposes the lane change if the motor vehicle, in particular with the aid of an optical sensor and with the aid of image processing, detects that the driver is looking into a side mirror of the motor vehicle facing the second lane. In this way, the driver is relieved during the control of the motor vehicle and the driving comfort is improved.According to a further advantageous development, the proposal for changing lanes is submitted to the driver by outputting a signal in the vehicle interior. This signal can be, in particular, an optical and / or acoustic and / or haptic signal. Suitable output devices for optical, acoustic and haptic signal output are generally available in series in a motor vehicle, so that these devices can be used. Said signal output is also suitable for starting the measurement of a predetermined period of time over which the motor vehicle waits for any confirmation of the proposal by touching the hand steering wheel. If no contact with the hand steering wheel takes place within this period of time, this can be interpreted as a rejection of the proposal for changing lanes by the driver. In this case, consequently, no lane change is carried out and the method is ended prematurely.In a preferred embodiment of the method according to the invention according to the first aspect, the confirmation of the suggestion by the driver is accepted by the motor vehicle as being made only if, in addition to the driver touching the hand steering wheel, the latter is adjusted-preferably likewise by the driver-along a direction of rotation which corresponds to a change in the direction of travel of the motor vehicle towards the second lane. This embodiment reduces the risk of carrying out an unintentional lane change, in particular for example due to an unintentional, i.e. unintentional, contact of the hand steering wheel by the driver.Following the inventive idea explained above, the method according to the invention also serves according to a second aspect of the invention for carrying out an automated lane change of a motor vehicle from a first lane into an adjacent second lane of an at least two-lane roadway. The method according to the invention according to the second aspect can also be carried out by a control device provided in the motor vehicle. In the method according to the second aspect of the invention, the first lane is also traveled on in a semi-automated manner by the motor vehicle. During the driving of the first lane, a driver of the motor vehicle does not touch a manual steering wheel-or another manually operable control device-of the motor vehicle for setting the direction of travel of the motor vehicle. Contrary to the method according to the first aspect, however, a lane change desired by the driver from the first lane to the second lane is not confirmed here as in the first aspect by at least temporarily touching the hand steering wheel, but rather is triggered at all. Here too, the touch of the hand steering wheel can be detected with the aid of a touch sensor present on the hand steering wheel, which transmits sensor data representing such a detection that has been carried out to the control device according to the invention for further processing or evaluation there.In a preferred embodiment of the method according to the invention according to the first or second aspect, the triggering of the lane change by the driver is accepted by the motor vehicle only if, in addition to the manual steering wheel being touched by the driver, the latter is adjusted by the driver along a direction of rotation which corresponds to a change in the direction of travel of the motor vehicle toward the second lane. In this embodiment as well, the risk of carrying out an unintentional lane change, in particular for example due to an accidental, i.e. unintentional, contact of the hand steering wheel by the driver of the motor vehicle, is reduced.In a further preferred embodiment of the method according to the invention according to the first or second aspect, the triggering of the lane change by the driver is accepted by the motor vehicle only if, in addition to the driver touching the hand steering wheel, a change in the viewing direction in the direction of the target lane is detected. In this embodiment as well, the risk of carrying out an unintentional lane change, in particular for example due to an accidental, i.e. unintentional, contact of the hand steering wheel by the driver of the motor vehicle, is reduced.According to an advantageous development of the method according to the invention according to the first or second aspect, the automated lane change is interrupted if, during the lane change, the driver adjusts the hand steering wheel along a direction of rotation which corresponds to a change in the direction of travel of the motor vehicle away from the second lane. This further development increases the driving safety during the lane change, in particular in the event of the occurrence of safety-critical events during the lane change process.According to another advantageous development of the method according to the invention according to the first or second aspect, the automated lane change can be interrupted if the driver interrupts or ends the contact with the hand steering wheel during the lane change, in particular removes his hands from the hand steering wheel again. This further development also increases the driving safety during the lane change, in particular in the event of the occurrence of safety-critical events during the lane change process.The invention further relates to a control device for a motor vehicle. The control device according to the invention is set up or programmed to carry out the method according to the invention presented above according to one of the preceding claims, so that the advantages of the method according to the invention explained above are transferred to the control device according to the invention.The invention also relates to a motor vehicle. The motor vehicle according to the invention comprises a steering device for setting a current direction of travel of the motor vehicle. In addition, the motor vehicle comprises a hand steering wheel-or another manually operable control device-for controlling the steering device by a driver of the motor vehicle. In this case, the hand steering wheel has at least one contact sensor for detecting whether the driver touches the hand steering wheel, preferably with one or both of his hands. Furthermore, the motor vehicle comprises a control device which interacts with the touch sensor of the hand steering wheel and is presented above and is therefore according to the invention, with the result that the advantages of the method according to the invention explained above are transferred to the motor vehicle according to the invention. The control device can actuate the steering device of the motor vehicle-in addition to the hand steering wheel-in the course of a partially automated driving mode of the motor vehicle and consequently change the direction of travel of the motor vehicle. U+The invention also relates to a computer program product which contains instructions which, when the computer program product is executed by a computer system and / or by control device according to the invention, cause the computer program product to execute the method according to the invention. The advantages of the method according to the invention explained above are therefore transferred to the computer program product according to the invention.Finally, the invention relates to a data carrier which contains commands which, when executed by a computer system and / or by the control device according to the invention, cause the latter to execute the method according to the invention.Further important features and advantages of the invention are evident from the dependent claims, from the drawings and from the associated description of the figures with reference to the drawings.It is understood that the features mentioned above and those still to be explained below can be used not only in the respectively specified combination, but also in other combinations or alone, without departing from the scope of the present invention.Preferred exemplary embodiments of the invention are illustrated in the drawings and are explained in more detail in the following description, wherein the same reference numerals refer to the same or similar or functionally the same components.They show, in each case schematically: FIG. 1 shows, by way of example and in a greatly simplified form, a two-lane roadway traveled by the motor vehicle according to the invention during the execution of the method according to the invention. FIG. 2 shows a flow chart illustrating the method according to the invention according to the first aspect, FIG. 3 shows a flow chart illustrating the method according to the invention according to the second aspect.FIG. 1 shows, for the purpose of illustrating the method according to the invention in a highly simplified form, a two-lane roadway 2 in a plan view from above onto the roadway 2, the roadway 2 comprising a first lane 3 athat can be traveled along a direction R of vehicles and a second lane 3 bthat is arranged on the left next to the first roadway 3 aand can likewise be traveled along the direction of travel R. The two lanes 3 a, 3 bare separated from one another by a dashed lane 8 in the example of FIG. 1.The method according to the invention is used to carry out an automated lane change of a motor vehicle 1 designated as ego vehicle 1 ain FIG. 1 and according to the invention from the first lane 3 ainto the adjacent second lane 3 b. Such a lane change which is to be carried out only-indicated and marked in FIG. 1 by an arrow denoted by the reference symbol 9-may be required in the example of FIG. 1 because of a road user 13 driving ahead at a lower speed-this may likewise be a motor vehicle 14 if braking of the motor vehicle 1 or driving the motor vehicle 1 onto the motor vehicle 14 driving ahead is to be avoided.In order to be able to carry out the method according to the invention, the motor vehicle 1 must travel in a semi-automated manner on the first lane 3 abefore the lane change SW is pending, as shown in FIG. 1. The motor vehicle 1 according to the invention comprises a steering device 11 for setting a current direction of travel FR of the motor vehicle 1, which is identical to the direction R of the roadway 2 in the snapshot shown in FIG. 1.Furthermore, the motor vehicle 1 has a hand steering wheel 4 for controlling the steering device 11 by a driver F of the motor vehicle 1. The hand steering wheel 4 in turn comprises a touch sensor 12 by means of which it can be detected whether the driver F touches the hand steering wheel 4, in particular with one or both of his hands.Furthermore, the motor vehicle 1 comprises a control device 10 interacting with the touch sensor 12 of the hand steering wheel 4 and connected to the touch sensor 12 in a data-transmitting manner for this purpose. the touch sensor 12 can transmit information to the control device 10, from which it can be seen whether or not the hand steering wheel 4 is currently touched by the driver F. Furthermore, the control device 10 can actuate the steering device 11 of the motor vehicle 1-in addition to the hand steering wheel 4-in the course of a partially automated driving operation of the motor vehicle 1 and consequently change the direction of travel FR of the motor vehicle 1. The control device 10 according to the invention is also set up and programmed for carrying out the method according to the invention.In the following, the method according to the invention according to the first aspect of the present invention is therefore explained by way of example on the basis of the illustration of FIG. 1 in conjunction with the flow diagram of FIG. 2.In order to be able to begin carrying out the method, it is necessary for the driver F of the motor vehicle 1 not to touch the manual steering wheel 4 of the motor vehicle 1 in order to set the direction of travel FR of the motor vehicle 1, while the motor vehicle 1, that is to say the ego vehicle 1 a, drives in a partially automated manner along the first lane 3 a.In a first measure a) of the method according to the first aspect of the invention according to FIG. 2, the driver of the motor vehicle 1 or of the control device 10 is proposed to change from the first lane 3 ato the second lane 3 b. A trigger for this proposal can be, for example, the motor vehicle 14 which is driving ahead at a lower speed than the ego vehicle 1 ain the first lane 3 aand which is detected by a vehicle assistance system of the motor vehicle 1, not shown in more detail in FIG. 1. Alternatively, however, it is also conceivable for the driver F to be provided with said proposal for changing the first lane 3 abeing traveled on when the motor vehicle 1, for example by means of an optical sensor 5 installed in the motor vehicle 1, which is connected to the control device 10 in a data-transmitting manner in an analogous manner to the touch sensor 12, recognizes that the driver F is looking into a side mirror 6 of the motor vehicle 1 facing the second lane 3 b-in the example of FIG. 2 this is the left side mirror. In this case, the optical sensor 5 may be formed by a camera 15 whose field of view in the vehicle interior 7 is directed toward the face of the driver F.The proposal for changing lanes can be made known to the driver F by means of a signal generated by the motor vehicle 1 in the vehicle interior 7 thereof. For this purpose, an output unit 16 that can be controlled by the control unit 10 can be provided in the vehicle interior 7. Said signal can be, for example, an optical, acoustic or also haptic signal, which means that the output unit 16 is configured to output an optical, acoustic or haptic signal.In a second measure b), the motor vehicle 1 or the control unit 10 waits for a confirmation B of the proposal. For this purpose, the control unit 10 checks, with the aid of the touch sensor 12, whether the driver F touches the hand steering wheel 4 in response to the signal output by the output unit 16 having taken place. This check can be carried out for a predetermined period of time, for example measured from the signal output explained above. If it follows that no contact of the hand steering wheel 4 for confirming B the proposal by the driver F takes place over the predetermined period of time, this is interpreted by the motor vehicle 1 or by the control unit 10 as rejecting the proposal for lane change SW. In this case, no lane change SW is carried out and the method is ended in a terminating measure x). In the course of the completion measure x), a suitable output signal indicating the completion of the method can be output via the output unit 16.If, on the other hand, a contact of the hand steering wheel 4 is detected by the touch sensor 12 during the predetermined period of time and transmitted to the control device 10, then a lane change SW from the first lane 3 ainto the second lane 3 bis carried out independently by the motor vehicle 1 in the course of the partially automated operation in a third measure c). For the lane change SW, therefore, no actuation of the hand steering wheel 4 in the form of a rotation thereof by the driver F is required.In a further variant of the method according to the first aspect, the confirmation of the suggestion by the driver F of the motor vehicle 1 is accepted as being made only if, in addition to the hand steering wheel 4 being touched by the driver F, the latter is adjusted-preferably likewise by the driver F-along a direction of rotation which corresponds to a change in the direction of travel FR of the motor vehicle 1 toward the second lane 3 b.After the motor vehicle 1 has been changed from the first lane 3 ato the second lane 3 b, the method according to the invention is ended.FIG. 3 likewise shows, based on the representation of FIG. 2, a flow diagram, on the basis of which the method according to the invention according to the second aspect of the invention is explained in the following by way of example.Analogously to FIG. 2, for example, it is also necessary for a start of carrying out the method according to the second aspect that the driver F of the motor vehicle 1 does not touch the manual steering wheel 4 of the motor vehicle 1 in order to set the direction of travel FR of the motor vehicle 1, while the motor vehicle 1 drives in a partially automated manner along the first lane 3 aaccording to a first measure a') of the method.In contrast to FIG. 2, in the example of FIG. 3, during the travel of the first lane 3 ain a second measure b'), a lane change SW desired by the driver F from the first lane 3 ainto the second lane 3 bis not confirmed as in the example of FIG. 2 by touching the hand steering wheel 4, but rather is triggered first at all. The touch of the hand steering wheel 4, preferably with one hand or with both hands of the driver F, is detected by the touch sensor 12 in an analogous manner, for example in FIG. 2, and transmitted to the control device 10. In a third measure c'), the control device 10 carries out a lane change SW automatically from the first lane 3a into the second lane 3b in response to the lane change request initiated by the driver F in a similar manner to, for example, FIG. 2. For the lane change SW, therefore, here too no actuation of the hand steering wheel 4 in the form of a rotation thereof by the driver F is necessary.In a respective development of both the example of FIG. 2 and FIG. 3, provision can be made for the automated lane change SW to be interrupted by the motor vehicle 1 or by the control unit 10 if the driver F interrupts or ends the contact with the hand steering wheel 4 during the lane change SW and in particular removes his hands from the hand steering wheel 4 again.In another respective development of both the example of FIG. 2 and FIG. 3, it can be provided that the motor vehicle 1 or the control device 10 prematurely breaks off the automated lane change SW if, during the lane change, the F driver adjusts the hand steering wheel 4 along a direction of rotation which corresponds to a change in the direction of travel FR of the motor vehicle 1 away from the second lane 3 b. It is understood that for this purpose a data-transmitting connection must be present between a sensor (not shown in the figures) detecting a rotational movement of the hand steering wheel and the control device 10, so that such a rotational movement of the hand steering wheel 4 can be made known to the control device 10.

Claims

Method for carrying out an automated lane change (SW) of a motor vehicle (1) from a first lane (3a) into an adjacent second lane (3b) of an at least two-lane roadway (2), - according to which the first lane (3a) is traveled on in a semi-automated manner by the motor vehicle (1), such that a driver (F) of the motor vehicle (1) does not touch a hand-held steering wheel (4) of the motor vehicle (1) for setting the direction of travel (FR) of the motor vehicle (1) while traveling in the first lane (3a) by the motor vehicle (1), - according to which a lane change (SW) proposed by the motor vehicle (1) during the semi-automated traveling of the first lane (3a) into the second lane (3b) is carried out in an automated manner by the motor vehicle (1) after the driver has confirmed this proposal, wherein the confirmation of the proposal is effected by the driver (F) touching the hand steering wheel (3) at least temporarily.Method according to Claim 1, characterized in that the motor vehicle (1) proposes the lane change (SW) if the motor vehicle (1), in particular by means of an optical sensor (5), detects that the driver (F) is looking into a side mirror (6) of the motor vehicle (1) facing the second lane (3b).Method according to Claim 1 or 2, characterized in that the proposal for changing lanes (SW) is made by means of a signal, in particular optical and / or acoustic and / or haptic signals, generated by the motor vehicle (1) in its vehicle interior (7).Method according to one of Claims 1 to 3, characterized in that the confirmation of the suggestion by the driver (F) is accepted as being made by the motor vehicle (1) only if, in addition to the hand-held steering wheel (4) being touched by the driver (F), the latter is adjusted along a direction of rotation which corresponds to a change in the direction of travel (FR) of the motor vehicle (1) towards the second lane (3b).Method according to one of Claims 1 to 3, characterized in that the confirmation of the suggestion by the driver (F) is accepted as being made by the motor vehicle (1) only if, in addition to the driver (F) touching the hand steering wheel (4), a change in the viewing direction of the driver in the direction of the desired lane, IB, is detected by means of an optical sensor (5).Method for the automated lane change (SW) of a motor vehicle (1) from a first lane (3a) into an adjacent second lane (3b) of an at least two-lane roadway (2), - according to which the first lane (3a) is traveled on in a partially automated manner by the motor vehicle (1), such that a driver (F) of the motor vehicle (1) does not touch a hand steering wheel (4) of the motor vehicle (1) during the travel of the first lane (3a) for setting the direction of travel (FR) of the motor vehicle (1), in particular with his hands, - according to which a lane change (SW) desired by the driver (F) from the first lane (3a) into the second lane (3b) during the at least partially automated travel of the first lane (3a) by the latter by at least temporarily touching the hand steering wheel (4), in particular, it is triggered with at least one hand and executed automatically after triggering by the motor vehicle ( 1).Method according to one of the preceding claims, characterized in that the triggering of the lane change (SW) by the driver (F) by the motor vehicle (1) is accepted only if, in addition to the driver touching the hand-held steering wheel (3), the driver adjusts the latter along a direction of rotation by the driver (F) which corresponds to a change in the current direction of travel (FR) of the motor vehicle (1) towards the second lane (3b).Method according to one of the preceding claims, characterized in that the automated lane change (SW) is interrupted if, during the lane change, the driver (F) adjusts the manual steering wheel (3) along a direction of rotation which corresponds to a change in the direction of travel (FR) of the motor vehicle (1) away from the second lane (3b).Method according to one of the preceding claims, characterized in that the automated lane change (SW) is interrupted if the driver (F) interrupts or terminates the contact with the hand steering wheel (3) during the lane change, in particular removes his hands from the hand steering wheel (3) again.Control device for a motor vehicle, characterized in that the control device (10) is set up / programmed to carry out the method according to one of the preceding claims.Motor vehicle (1), - having a steering device (11) for setting a current direction of travel (FR) of the motor vehicle (1), - having a hand steering wheel (3) for controlling the steering device (11) by a driver (F) of the motor vehicle, wherein the hand steering wheel (3) touches a touch sensor (12) for detecting whether the driver (F) touches the hand steering wheel (3), preferably by means of a hand, - having a control unit (10) according to Claim 10 which interacts with the touch sensor (12) of the hand steering wheel (3) and by means of which the steering device (11) can be controlled in addition to the hand steering wheel (3) in the course of an at least partially automated driving mode of the motor vehicle (1) and the direction of travel (FR) of the motor vehicle (1) is therefore adjustable, - wherein the control device (10) is configured / programmed to carry out the method according to one of the preceding claims.A computer program product comprising instructions which, when the computer program product is executed by the controller (10) of claim 10, cause the controller to perform the method of any one of claims 1 to 9.A data carrier containing instructions which, when executed by a computer system and / or by the control device (10) according to claim 10, cause the latter to carry out the method according to any one of claims 1 to 9.

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