Driver assistance system and driver assistance procedures for a vehicle

Abstract

The present disclosure relates to a driver assistance system (100) for a vehicle (10), comprising: an environment detection module (110) configured to detect a foreign vehicle (20) driving in front of the vehicle (10), wherein the foreign vehicle (20) is located in a first lane (B) adjacent to an initial ego lane (A) of the vehicle (10); a longitudinal control module (120) configured to set a longitudinal distance (d) to the foreign vehicle (20); and a situation analysis module (130) which is set up to determine, based on at least one situation parameter, whether an overtaking maneuver of the foreign vehicle (20) by the vehicle (10) is imminent, wherein the overtaking maneuver includes a first lane change from the initial ego lane (A) to the first lane (B), wherein the longitudinal control module (120) is configured to - to adjust the longitudinal distance (d) to the other vehicle (20) to a first longitudinal distance (d1) when the situation analysis module (130) determines that no overtaking maneuver is imminent; and - to adjust the longitudinal distance (d) to the foreign vehicle (20) before the overtaking maneuver to a second longitudinal distance (d2) if the situation analysis module (130) determines that an overtaking maneuver is imminent, where the second longitudinal distance (d2) is greater than the first longitudinal distance (d1).

Description

[0001] The present disclosure relates to a driver assistance system for a vehicle, a vehicle with such a driver assistance system, a driver assistance method for a vehicle, and a storage medium for executing the driver assistance method. The present disclosure relates in particular to active distance selection to a vehicle in a neighboring lane. State of the art

[0002] Longitudinal driver assistance systems in vehicles are used to regulate speed and distance to a vehicle ahead. One example of such a longitudinal driver assistance system is adaptive cruise control (ACC). Adaptive cruise control is a speed control system that considers the distance to a vehicle ahead as an additional feedback and control variable. With adaptive cruise control, the position and speed of the vehicle ahead are determined by a sensor, and the speed and distance are adaptively regulated using engine and brake intervention.

[0003] Some longitudinal driver assistance systems have a function that prevents overtaking on the right. The system dynamically adjusts the time gap to vehicles in the adjacent lane based on the vehicle's speed to maintain a safe distance. However, this automatically controlled distance can deviate from the driver's expectations in certain situations. This can lead to the driver perceiving the system's behavior as unfamiliar or inappropriate, especially if the driver intuitively would have preferred a different distance. This discrepancy between the system's behavior and the driver's expectations may prompt the driver to deactivate the system. Deactivating the system can negatively impact road safety, as it often provides greater safety than a manual driver. Disclosure of the invention

[0004] The purpose of this disclosure is to specify a driver assistance system for a vehicle, a vehicle with such a driver assistance system, a driver assistance procedure for a vehicle, and a storage medium for executing the driver assistance procedure, all of which maximize the service life of the driver assistance system and thus increase road safety. In particular, it is a purpose of this disclosure to prevent a user from having any reason to deactivate the driver assistance system.

[0005] This problem is solved by the subject matter of the independent claims. Advantageous embodiments are specified in the dependent claims.

[0006] According to an independent aspect of the present disclosure, a driver assistance system for a vehicle, in particular a motor vehicle, is disclosed. The driver assistance system comprises an environment detection module configured to detect a foreign vehicle traveling in front of the vehicle, wherein the foreign vehicle is located in a first lane adjacent to an initial ego lane of the vehicle; a longitudinal control module configured to maintain a longitudinal distance to the foreign vehicle; and a situation analysis module configured to determine, based on at least one situation parameter, whether the vehicle is about to overtake the foreign vehicle, wherein the overtaking maneuver includes a first lane change from the initial ego lane to the first lane. The longitudinal control module is further configured to: - to adjust the longitudinal distance to the other vehicle to an initial longitudinal distance if the situation analysis module determines that no overtaking maneuver is imminent; and - to adjust the longitudinal distance to the other vehicle before the overtaking maneuver to a second longitudinal distance if the situation analysis module determines that an overtaking maneuver is imminent, where the second longitudinal distance is greater than the first longitudinal distance.

[0007] According to the invention, the distance automatically regulated by the driver assistance system to a vehicle traveling in the adjacent lane is adjusted situationally and variably. Based on various criteria, the system first assesses whether the driver intends to overtake, for example, on the left, or to remain behind the vehicle in the adjacent lane. If an overtaking maneuver is potentially imminent, the distance can be increased so that the driver can, for example, pass the vehicle on the left with two lane changes without reducing speed, or so that the vehicle in the adjacent lane can move into the driver's lane, allowing the driver to overtake it on the left with only one lane change. However, if no overtaking maneuver is potentially imminent, the distance can be reduced to align with the adjacent lane control and approximate natural driving behavior.

[0008] This allows the driver assistance system to react proactively to the driver's intentions, thus preventing driver dissatisfaction with its performance. As a result, the driver has no reason to deactivate the system, maximizing its usage time and increasing road safety.

[0009] The environment detection module, the longitudinal control module, and the situation analysis module may include software components / algorithms that are set up to run on at least one processor and thereby perform the functionalities of the respective module.

[0010] The environmental perception module and / or the longitudinal control module and / or the situation analysis module can be implemented in a single software and / or hardware module. Alternatively, the input module and / or the analysis module can each be implemented in separate software and / or hardware modules.

[0011] The term "longitudinal distance" between the vehicle in the primary lane and the other vehicle traveling in the adjacent lane ahead refers to the distance in the direction of travel between the two vehicles traveling in parallel lanes. In other words, the longitudinal distance is a distance or distance component parallel to the direction of travel or the lane alignment. The longitudinal distance can, for example, be defined as essentially the distance between the leading edge of the vehicle and the trailing edge of the other vehicle, essentially parallel to the direction of travel or the lane alignment. For example, a radar system and / or other environmental sensors on the vehicle can be used to measure this distance.

[0012] Preferably, the second distance is at least 10%, at least 20%, at least 30%, at least 40%, at least 50%, at least 60%, at least 70%, at least 80%, at least 90%, or at least 100% larger than the first distance. Preferably, the second distance is 1.5 to 3 times the first distance or 1.5 to 2 times the first distance.

[0013] The overtaking maneuver can be a manual or at least semi-automated overtaking maneuver.

[0014] During a manual overtaking maneuver, the driver can take over the longitudinal and lateral control of the vehicle, at least temporarily, in order to carry out the overtaking process himself or manually.

[0015] During at least partially automated overtaking maneuvers, the vehicle, and in particular the driver assistance system, can take over at least some of the longitudinal and / or lateral control of the vehicle in order to carry out the overtaking maneuver at least partially automatically. In other words, the driver assistance system may, in some embodiments, include a lane change assistant or implement the functionalities of a lane change assistant. For this purpose, the driver assistance system may, in some embodiments, include an actuating element for a turn signal, which may be configured to automatically carry out the overtaking maneuver with the associated lane changes when actuated or triggered by a driver. The actuating element may be a turn signal lever and have multiple functions, namely activating the turn signal and triggering the automatic overtaking maneuver.

[0016] The environment detection module is configured to detect a foreign vehicle traveling in front of the vehicle, where the foreign vehicle is in a secondary lane adjacent to the vehicle's initial primary lane. In other words, the foreign vehicle is traveling in a secondary lane, such as a left or right secondary lane, particularly a left secondary lane.

[0017] The environmental detection module can be configured to detect the other vehicle based on environmental data from the vehicle's environmental sensors. Preferably, the environmental sensors comprise at least one LiDAR system and / or at least one radar system and / or at least one camera and / or at least one ultrasonic system. The environmental sensors can provide the environmental data (also referred to as "surrounding data") that maps the vehicle's surroundings.

[0018] Preferably, the overtaking maneuver of the other vehicle in the initial lane is impermissible. For example, the overtaking maneuver of the other vehicle in the initial lane may be legally impermissible or violate applicable traffic regulations (e.g., prohibition of overtaking on the right or on the left). These traffic regulations can include formal traffic rules and / or informal local traffic rules. Formal traffic rules can be legal norms from (country-specific) traffic law. Informal local traffic rules can arise from typical (e.g., country-specific) behavior of road users and can, in particular, specify or be generally accepted and / or local behaviors of road users.

[0019] Preferably, the overtaking maneuver of the other vehicle on the initial ego lane is impossible. For example, the overtaking maneuver of the other vehicle on the initial ego lane may be impossible due to an obstacle on the initial ego lane. In some embodiments, the obstacle may be another vehicle, such as a (slow-moving) truck.

[0020] Preferably, the overtaking maneuver comprises the first lane change from the initial lane to the first lane and a second lane change from the first lane to a second lane adjacent to the first lane, so that the overtaking maneuver takes place in the second lane past the other vehicle traveling in the first lane. In particular, the vehicle may perform two consecutive lane changes in the same direction (e.g., left or right) to overtake the other vehicle. For example, where overtaking on the right is prohibited (e.g., in Germany), the vehicle may perform two consecutive lane changes to the left to overtake the other vehicle on the left. In another example (e.g., in Australia), where overtaking on the left is prohibited, the vehicle may perform two consecutive lane changes to the right to overtake the other vehicle on the right.

[0021] Preferably, the overtaking maneuver comprises (only) the initial lane change from the initial ego lane to the first lane, so that the overtaking maneuver takes place in the first lane after the other vehicle has changed lanes from the first lane to the vehicle's initial ego lane. This means that only a single lane change in a specific direction may be necessary for the overtaking maneuver if the other vehicle previously changes lanes in the opposite direction. For example, in a no-overtaking zone on the right (e.g., in Germany), the vehicle can change lanes to the left, and the other vehicle can change lanes to the right, allowing the vehicle to overtake the other vehicle on the left. In another example (e.g.,(in Australia) if overtaking on the left is prohibited, the vehicle can change lanes to the right and the other vehicle can change lanes to the left, so that the vehicle can overtake the other vehicle on the right.

[0022] In some embodiments, the other vehicle's lane change from the first lane to the vehicle's initial ego lane can occur before the vehicle's (only) lane change from the initial ego lane back to the first lane. For example, the vehicle can increase the longitudinal distance to the other vehicle to the second longitudinal distance and wait until the other vehicle has merged into the ego lane before the vehicle changes to the first lane or the other vehicle's former lane.

[0023] In other embodiments, the other vehicle's lane change from the first lane to the vehicle's initial ego lane can occur after the vehicle's (single) lane change from the initial ego lane to the first lane. For example, the vehicle can, in this sequence, increase the longitudinal distance to the other vehicle to the second longitudinal distance, change lanes, wait for the other vehicle to change lanes from the new ego lane (first lane) to the initial or previous ego lane, and then overtake the other vehicle in the new ego lane (first lane).

[0024] Preferably, the second longitudinal distance is adjusted before the overtaking maneuver so that at least the first lane change, and optionally the second lane change, is possible without reducing the vehicle's speed. This allows for efficient overtaking maneuvers without unnecessary braking by adjusting the longitudinal distance as needed.

[0025] The situation analysis module is designed to determine, based on at least one situation parameter, whether the vehicle is about to overtake another vehicle. Specifically, the situation analysis module can determine whether the driver intends to overtake or remain behind the other vehicle in the adjacent lane. It should be understood that, based on the available data, the situation analysis module can assess the probability of an imminent overtaking maneuver. If the probability is equal to or greater than a certain threshold, the situation analysis module, as described in this disclosure, can determine that the overtaking maneuver is imminent, whereupon the longitudinal control is adjusted to maintain the second longitudinal distance.However, if the probability is (equal to or) less than the threshold, the situation analysis module, as defined in the present disclosure, can determine that no overtaking maneuver is imminent, whereupon the longitudinal control is adjusted to the first longitudinal distance.

[0026] Preferably, at least one situation parameter includes or relates to traffic density. For example, at high traffic density, it can be assumed with at least a certain probability that no overtaking maneuver is imminent, whereupon the longitudinal control is set to the first (smaller) longitudinal distance. Similarly, at low traffic density, it can be assumed with at least a certain probability that an overtaking maneuver is imminent, whereupon the longitudinal control is set to the second (larger) longitudinal distance.

[0027] Additionally or alternatively, at least one situation parameter includes or relates to route guidance, such as route guidance active in a navigation system. For example, the route guidance indicates an exit in the short distance (e.g., less than 1.5 km). From this, it can be deduced that no overtaking maneuver is intended, whereupon the longitudinal control is set to the first (smaller) longitudinal distance. In another example, the route guidance might indicate a longer stay on the highway. From this, it can be deduced that an overtaking maneuver is intended, whereupon the longitudinal control is set to the second (larger) longitudinal distance.

[0028] Additionally or alternatively, at least one situational parameter includes or relates to the driver's turn signal behavior. For example, if the driver has activated a turn signal in the direction of the first lane, it can be assumed that an overtaking maneuver is intended.

[0029] Additionally or alternatively, at least one situational parameter includes or relates to driver behavior. Driver behavior can be recorded and analyzed, for example, using interior sensors such as an interior camera. If the driver, for instance, performs one or more shoulder checks towards the first lane, it can be assumed that an overtaking maneuver is being intended.

[0030] Additionally or alternatively, at least one situational parameter includes or relates to the speed of the other vehicle, particularly in comparison to a set speed of the vehicle and / or a speed limit. For example, if there is a large difference between the speed of the other vehicle and the set speed of the vehicle (e.g., set in cruise control) (i.e., the vehicle is faster than the other vehicle), it can be assumed that an overtaking maneuver is being attempted.

[0031] Additionally or alternatively, at least one situational parameter includes or relates to the probability of the other vehicle changing lanes or merging into the vehicle's initial lane. The lane-change probability can be derived, for example, from the other vehicle's driving behavior detected by the vehicle's environmental sensors. This probability can serve as an indicator of whether or not an overtaking maneuver is being attempted. If the lane-change probability is high, it can be assumed with at least a certain probability that an overtaking maneuver is being attempted, especially if the speed difference is significant.

[0032] Additionally or alternatively, at least one situation parameter includes or relates to the number of lanes. For example, the probability of an overtaking maneuver can be assumed to be higher the higher the number of lanes.

[0033] According to another independent aspect of the present disclosure, a vehicle, in particular a motor vehicle, is specified. The vehicle comprises the driver assistance system according to the embodiments of the present disclosure.

[0034] The term "vehicle" includes cars, trucks, vans, buses, motorhomes, motorcycles, etc., used for the transport of people, goods, etc. In particular, the term includes motor vehicles for passenger transport.

[0035] Preferably, the driver assistance system is configured for automated driving. In particular, the driver assistance system can be configured to adjust the longitudinal distance to the other vehicle variably and automatically according to the embodiments of the present disclosure.

[0036] In this document, the term "automated driving" refers to driving with automated longitudinal and / or lateral control. Automated driving can, for example, involve extended periods of driving on the highway or time-limited driving during parking maneuvers. The term "automated driving" encompasses automated driving at any level of automation. Examples of automation levels include assisted, partially automated, conditionally automated, highly automated, and fully automated driving (each with an increasing degree of automation). The five automation levels mentioned above correspond to SAE Levels 1 to 5 of the SAE J3016 standard (SAE - Society of Automotive Engineering) as of April 30, 2021.

[0037] In assisted driving (SAE Level 1), the system performs longitudinal or lateral control in certain driving situations. In partially automated driving (SAE Level 2), the system takes over longitudinal and lateral control in certain driving situations, although the driver must continuously monitor the system, as with assisted driving. In conditionally automated driving (SAE Level 3), the system takes over longitudinal and lateral control in certain driving situations without the driver needing to continuously monitor the system; however, the driver must be able to take over vehicle control within a certain timeframe if requested by the system. In highly automated driving (SAE Level 4), the system takes over vehicle control in certain driving situations, even if the driver does not respond to a request to intervene, thus eliminating the driver as a fallback option.In fully automated driving (SAE Level 5), the system can perform all aspects of the dynamic driving task under any road and environmental conditions that can also be mastered by a human driver.

[0038] Furthermore, the term "at least partially automated driving or maneuvering" within this document is understood to encompass partially automated, conditionally automated, highly automated, and fully automated driving. In other words, the term "at least partially automated driving" refers to a level of automation from SAE Level 2 onwards.

[0039] Preferably, the driver assistance system is equipped with adaptive cruise control (ACC). Adaptive cruise control is a speed control system that takes the distance to a vehicle ahead into account as an additional feedback and control variable. With adaptive cruise control, the position and speed of the vehicle ahead are determined by a sensor, and the speed and distance are adaptively regulated by means of engine and brake intervention.

[0040] According to a further independent aspect of the present disclosure, a driver assistance method for a vehicle, in particular a motor vehicle, is disclosed. The driver assistance method comprises detecting, by means of an environment detection module, a foreign vehicle traveling in front of the vehicle, wherein the foreign vehicle is located in a first lane adjacent to an initial ego lane of the vehicle; determining, by means of a situation analysis module and based on at least one situation parameter, whether an overtaking maneuver of the foreign vehicle by the vehicle is imminent, wherein the overtaking maneuver includes a first lane change from the initial ego lane to the first lane; and setting, by means of a longitudinal control module, a longitudinal distance to the foreign vehicle, wherein the longitudinal control module is configured to - to adjust the longitudinal distance to the other vehicle to an initial longitudinal distance if the situation analysis module determines that no overtaking maneuver is imminent; and - to adjust the longitudinal distance to the other vehicle before the overtaking maneuver to a second longitudinal distance if the situation analysis module determines that an overtaking maneuver is imminent, where the second longitudinal distance is greater than the first longitudinal distance.

[0041] The driver assistance procedure can implement the aspects of the driver assistance system described in this document.

[0042] According to another independent aspect of the present disclosure, a software (SW) program is specified. The SW program can be configured to run on one or more processors and thereby execute the driver assistance procedure described in this document.

[0043] According to another independent aspect of the present disclosure, a storage medium is specified. The storage medium may include a software program configured to run on one or more processors and thereby execute the driver assistance procedure described in this document.

[0044] According to another independent aspect of the present disclosure, software with program code is specified. The software is designed to carry out the driver assistance procedure when the software runs on one or more software-controlled devices.

[0045] According to another independent aspect of the present disclosure, a driver assistance system for a vehicle is specified. The driver assistance system comprises one or more processors; and at least one memory connected to the one or more processors and containing instructions that can be executed by the one or more processors to perform the driver assistance procedure described in this document.

[0046] A processor or processor module is a programmable computing unit, i.e., a machine or an electronic circuit that controls other elements according to given instructions and thereby advances an algorithm (process). Brief description of the drawings

[0047] Examples of the manifestation of the revelation are shown in the figures and are described in more detail below. They show: Fig. 1 schematically a vehicle with a driver assistance system according to embodiments of the present disclosure, Fig. 2 schematically a traffic situation according to embodiments of the present disclosure, Fig. 3 schematically a distance control according to embodiments of the present disclosure, Fig. 4 schematically a distance regulation according to further embodiments of the present disclosure, and Fig. 5 a flowchart of a driver assistance procedure according to embodiments of the present disclosure. Implementations of the revelation

[0048] Unless otherwise noted, the same reference symbols are used for identical and equivalent elements in the following.

[0049] Fig. Figure 1 schematically shows a vehicle 10 with a driver assistance system 100 according to embodiments of the present disclosure. Fig. Figure 2 schematically shows a traffic situation according to embodiments of the present disclosure. Fig. Figure 3 schematically shows a distance control according to embodiments of the present disclosure. Fig. Figure 4 schematically shows a distance control according to further embodiments of the present disclosure.

[0050] The driver assistance system 100 includes an environment detection module 110, which is configured to detect a foreign vehicle 20 driving in front of the vehicle 10, wherein the foreign vehicle 20 is located on a first lane B adjacent to an initial ego lane A of the vehicle 10.

[0051] The environmental detection module 110 can be configured to detect the foreign vehicle 20 based on environmental data from the vehicle's environmental sensors 10. Preferably, the environmental sensors comprise at least one LiDAR system and / or at least one radar system and / or at least one camera and / or at least one ultrasonic system.

[0052] The driver assistance system 100 further comprises a longitudinal control module 120, which is configured to set a longitudinal distance d to the other vehicle 20. For example, the driver assistance system 100 can be configured for adaptive cruise control (ACC), but the present disclosure is not limited to this.

[0053] The driver assistance system 100 further includes a situation analysis module 130, which is configured to determine, based on at least one situation parameter, whether an overtaking maneuver of the other vehicle 20 by the vehicle 10 is imminent, wherein the overtaking maneuver includes an initial lane change from the initial self-driving lane A to the first driving lane B. The lane change to overtake the other vehicle 20 may be necessary, for example, if overtaking the other vehicle 20 in the initial self-driving lane A is legally impermissible and / or impossible due to a slow-moving truck in the self-driving lane A.

[0054] The longitudinal control module 120 is further configured to set the longitudinal distance d to the foreign vehicle 20 to a first longitudinal distance d1 ( Fig. 3) if the situation analysis module 130 determines that no overtaking maneuver is imminent; and to adjust the longitudinal distance d to the other vehicle 20 to a second longitudinal distance d2 before the overtaking maneuver ( Fig. 4) if the situation analysis module 130 determines that an overtaking maneuver is imminent, where the second longitudinal distance d2 is greater than the first longitudinal distance d1. The first longitudinal distance d1 and / or the second longitudinal distance d2 can optionally depend further on a speed of vehicle 10 and / or a speed of the other vehicle 20.

[0055] Based on the available data, the situation analysis module 130 can assess the probability of an imminent overtaking maneuver. If the probability is equal to or greater than a threshold, the situation analysis module 130 can determine, as described in this disclosure, that an overtaking maneuver is imminent, whereupon the longitudinal control is adjusted to the second longitudinal distance d2. However, if the probability is equal to or less than the threshold, the situation analysis module 130 can determine, as described in this disclosure, that no overtaking maneuver is imminent, whereupon the longitudinal control is adjusted to the first longitudinal distance d1.

[0056] The situation analysis module 130 performs this assessment based on at least one situation parameter. This at least one situation parameter can include, for example, traffic density and / or route guidance and / or the driver's turn signal behavior and / or driver behavior and / or the speed of the other vehicle (e.g., compared to the vehicle's set speed and / or a speed limit) and / or the probability of the other vehicle changing lanes or merging into the initial ego lane A of vehicle 10 and / or the number of lanes; however, the present disclosure is not limited to these.

[0057] In some embodiments, the overtaking maneuver comprises the first lane change from the initial ego lane A to the first lane B and a second lane change from the first lane B to a second lane C adjacent to the first lane B, so that the overtaking maneuver takes place on the second lane C past the other vehicle 20 traveling in the first lane B. In particular, the vehicle 10 can perform two consecutive lane changes in the same direction (e.g., left or right) to overtake the other vehicle 20. For example, in a situation where overtaking on the right is prohibited (e.g., in Germany), the vehicle 10 can perform two consecutive lane changes to the left to overtake the other vehicle 20 on the left. In another example (e.g., in Australia), in a situation where overtaking on the left is prohibited, the vehicle 10 can perform two consecutive lane changes to the right to overtake the other vehicle 20 on the right.

[0058] In other embodiments, the overtaking maneuver comprises (only) the first lane change from the initial ego lane A to the first lane B, so that the overtaking maneuver takes place in the first lane B after the other vehicle 20 has performed a lane change from the first lane B to the initial ego lane A of vehicle 10. Thus, only a single lane change in a specific direction may be necessary for the overtaking maneuver if the other vehicle 20 previously performs a lane change in the opposite direction. For example, in a no-overtaking zone on the right (e.g., in Germany), vehicle 10 can perform a lane change to the left, and the other vehicle 20 can perform a lane change to the right, so that vehicle 10 can overtake the other vehicle 20 on the left. In another example (e.g.,(in Australia) if there is a prohibition on overtaking on the left, vehicle 10 can change lanes to the right and the other vehicle 20 can change lanes to the left, so that vehicle 10 can overtake the other vehicle 20 on the right.

[0059] The overtaking maneuver can be a manual or at least semi-automated overtaking maneuver.

[0060] During a manual overtaking maneuver, the driver can at least temporarily take over the longitudinal and lateral control of the vehicle 10 in order to carry out the overtaking process himself or manually.

[0061] During at least partially automated overtaking maneuvers, the vehicle 10, in particular the driver assistance system 100, can at least partially take over the longitudinal and / or lateral control of the vehicle 1β in order to carry out the overtaking maneuver at least partially automatically. In other words, the driver assistance system 100 can, in some embodiments, include a lane change assistant or implement the functionalities of a lane change assistant. For this purpose, the driver assistance system 100 can, in some embodiments, include an actuating element for a turn signal, wherein the actuating element can be configured to automatically carry out the overtaking maneuver with the associated lane changes when actuated or triggered by a driver. The actuating element can be a turn signal lever and have multiple functions, namely activating the turn signal and triggering the automatic overtaking maneuver.

[0062] Fig. Figure 5 schematically shows a flowchart of a driver assistance system 500 for a vehicle according to embodiments of the present disclosure. The driver assistance system 500 can be implemented by corresponding software that can be executed by one or more processors (e.g., a CPU).

[0063] The driver assistance procedure 500 comprises, in block 510, the detection, by means of an environment detection module, of a foreign vehicle driving in front of the vehicle, wherein the foreign vehicle is located in a first lane adjacent to an initial ego lane of the vehicle; in block 520, the determination, by means of a situation analysis module and based on at least one situation parameter, of whether an overtaking maneuver of the foreign vehicle by the vehicle is imminent, wherein the overtaking maneuver includes a first lane change from the initial ego lane to the first lane; and in block 530, the setting, by means of a longitudinal control module, of a longitudinal distance to the foreign vehicle, wherein the longitudinal control module is configured to - to adjust the longitudinal distance to the other vehicle to an initial longitudinal distance if the situation analysis module determines that no overtaking maneuver is imminent; and - to adjust the longitudinal distance to the other vehicle before the overtaking maneuver to a second longitudinal distance if the situation analysis module determines that an overtaking maneuver is imminent, where the second longitudinal distance is greater than the first longitudinal distance.

[0064] According to the invention, the distance automatically regulated by the driver assistance system to a vehicle traveling in the adjacent lane is adjusted situationally and variably. Based on various criteria, the system first assesses whether the driver intends to overtake, for example, on the left, or to remain behind the vehicle in the adjacent lane. If an overtaking maneuver is potentially imminent, the distance can be increased so that the driver can, for example, pass the vehicle on the left with two lane changes without reducing speed, or so that the vehicle in the adjacent lane can move into the driver's lane, allowing the driver to overtake it on the left with only one lane change. However, if no overtaking maneuver is potentially imminent, the distance can be reduced to align with the adjacent lane control and approximate natural driving behavior.This allows the driver assistance system to react proactively to the driver's intentions, thus preventing driver dissatisfaction with its performance. As a result, the driver has no reason to deactivate the system, maximizing its usage time and increasing road safety.

[0065] Although the invention has been further illustrated and explained in detail by means of preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived from them by a person skilled in the art without departing from the scope of protection of the invention. It is therefore clear that a multitude of possible variations exist. It is also clear that the embodiments mentioned as examples are truly only examples and are not to be understood in any way as limiting, for example, the scope of protection, the possible applications, or the configuration of the invention.Rather, the preceding description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete terms, whereby the person skilled in the art, with knowledge of the disclosed inventive concept, can make various changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without leaving the scope of protection defined by the claims and their legal equivalents, such as further explanations in the description. 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 non-patent literature

[0000] SAE Level 1 to 5 of the standard SAE J3016 (SAE - Society of Automotive Engineering) as of April 30, 2021

[0036]

Claims

[1] Driver assistance system (100) for a vehicle (10), comprising: an environment detection module (110) configured to detect a foreign vehicle (20) driving in front of the vehicle (10), wherein the foreign vehicle (20) is located in a first lane (B) adjacent to an initial ego lane (A) of the vehicle (10); a longitudinal control module (120) configured to set a longitudinal distance (d) to the foreign vehicle (20); and a situation analysis module (130) which is set up to determine, based on at least one situation parameter, whether an overtaking maneuver of the foreign vehicle (20) by the vehicle (10) is imminent, wherein the overtaking maneuver includes a first lane change from the initial ego lane (A) to the first lane (B), wherein the longitudinal control module (120) is configured to - to adjust the longitudinal distance (d) to the other vehicle (20) to a first longitudinal distance (d1) when the situation analysis module (130) determines that no overtaking maneuver is imminent; and - to adjust the longitudinal distance (d) to the foreign vehicle (20) before the overtaking maneuver to a second longitudinal distance (d2) if the situation analysis module (130) determines that an overtaking maneuver is imminent, where the second longitudinal distance (d2) is greater than the first longitudinal distance (d1). [2] Driver assistance system (100) according to claim 1, wherein an overtaking maneuver of the other vehicle (20) on the initial ego lane (A) is inadmissible and / or impossible, in particular wherein the overtaking maneuver of the other vehicle (20) on the initial ego lane (A) is legally inadmissible and / or impossible due to an obstacle on the initial ego lane (A). [3] Driver assistance system (100) according to claim 1 or 2, wherein the overtaking maneuver comprises the first lane change from the initial ego lane (A) to the first lane (B) and a second lane change from the first lane (B) to a second lane (C) adjacent to the first lane (B), so that the overtaking maneuver takes place on the second lane (C) past the foreign vehicle (20) traveling on the first lane (B). [4] Driver assistance system (100) according to claim 1 or 2, wherein the overtaking maneuver comprises only the first lane change from the initial ego lane (A) to the first lane (B), so that the overtaking maneuver takes place on the first lane (B) after the other vehicle (20) has performed a lane change from the first lane (B) to the initial ego lane (A) of the vehicle (10). [5] Driver assistance system (100) according to claim 4, wherein: - the lane change of the foreign vehicle (20) from the first lane (B) to the initial ego lane (A) of the vehicle (10) occurs before the lane change of the vehicle (10) from the initial ego lane (A) to the first lane (B), or - the lane change of the foreign vehicle (20) from the first lane (B) to the initial ego lane (A) of the vehicle (10) after the lane change of the vehicle (10) from the initial ego lane (A) to the first lane (B) takes place. [6] Driver assistance system (100) according to one of claims 1 to 5, wherein the second longitudinal distance (d2) is set before the overtaking maneuver such that at least the first lane change is possible without reducing the speed of the vehicle (10). [7] Driver assistance system (100) according to one of claims 1 to 6, wherein the at least one situation parameter comprises or relates to: - traffic density; and / or - route guidance; and / or - the driver's turn signal behavior; and / or - driver behavior; and / or - the speed of the other vehicle (20), in particular in comparison to the vehicle's set speed (10) and / or a speed limit; and / or - a lane change probability of the other vehicle (20) onto the initial ego lane (A) of the vehicle (10); and / or - a number of tracks. [8] Vehicle (10), in particular motor vehicle, comprising the driver assistance system (100) according to any one of claims 1 to 7. [9] Driver assistance procedures (500) for a vehicle (10), comprising: Detection (510) by an environment detection module (110) of a foreign vehicle (20) traveling in front of the vehicle (10), wherein the foreign vehicle (20) is located on a first lane (B) adjacent to an initial ego lane (A) of the vehicle (10); Determine (520), using a situation analysis module (130) and based on at least one situation parameter, whether an overtaking maneuver of the other vehicle (20) by the vehicle (10) is imminent, wherein the overtaking maneuver includes a first lane change from the initial ego lane (A) to the first lane (B); and Setting (530), by means of a longitudinal control module (120), a longitudinal distance (d) to the foreign vehicle (20), wherein the longitudinal control module (120) is configured to - to adjust the longitudinal distance (d) to the other vehicle (20) to a first longitudinal distance (d1) when the situation analysis module (130) determines that no overtaking maneuver is imminent; and - to adjust the longitudinal distance (d) to the foreign vehicle (20) before the overtaking maneuver to a second longitudinal distance (d2) if the situation analysis module (130) determines that an overtaking maneuver is imminent, where the second longitudinal distance (d2) is greater than the first longitudinal distance (d1). [10] Storage medium comprising a software program configured to run on one or more processors and thereby to execute the driver assistance method (500) according to claim 9.

Images