Method for preparing a lane change and device for preparing a lane change and vehicle

Abstract

The invention relates to a method for preparing a lane change (LC) of a vehicle (200), comprising the steps: - Recording (S1) at least one vehicle-related parameter and / or at least one environment-related parameter, - Determine (S2) at least one reason for the lane change (LC), whereby from a plurality of possible reasons for the lane change (LC) the at least one reason is determined depending on the recorded at least one vehicle-related parameter and / or depending on the recorded at least one environment-related parameter, - Determine (S3) at least one urgency value for the lane change (LC), wherein the at least one urgency value is higher the more significant the weighting of the determined at least one reason for the lane change (LC) is, - Preparing (S4) the lane change (LC) by changing (V1, V2) a movement of the vehicle (200), wherein at least one magnitude of the change (V1, V2) depends on the determined at least one urgency value, as well as a corresponding device (100) and a vehicle (200).

Description

[0001] The invention relates to a method for preparing a lane change and a corresponding device and a vehicle.

[0002] Modern vehicles are increasingly equipped with driver assistance functions, including those for lane changes. For assisted lane changes, the coordination between the vehicle's longitudinal and lateral movements is crucial to achieving a high level of comfort and a strong sense of safety.

[0003] From DE 10 2021 121 339 A1 a method for automated maneuvering of a vehicle on a road is known.

[0004] However, the solution known from the prior art has the disadvantage that it can lead to unnecessary movement dynamics in the preparation of a lane change, which can impair comfort and safety.

[0005] The technical problem is to create a procedure for preparing a lane change, a corresponding device, and a vehicle that can particularly improve comfort in preparing for a lane change.

[0006] The solution to the technical problem is provided by the articles with the features of the independent claims. Further advantageous embodiments of the invention are described in the dependent claims.

[0007] A procedure is proposed for preparing a vehicle to change lanes, comprising the following steps: - Recording at least one vehicle-related parameter and / or at least one environment-related parameter, - Determining at least one reason for the lane change, whereby from a plurality of possible reasons for the lane change, at least one reason is determined depending on the recorded at least one vehicle-related parameter and / or depending on the recorded at least one environment-related parameter, - Determine at least one urgency value for the lane change, whereby the at least one urgency value is higher the more significant the weighting of the determined at least one reason for the lane change is, - Preparing to change lanes by altering a movement of the vehicle, the magnitude of which depends on a certain minimum urgency value.

[0008] A further proposed device for preparing a lane change is presented, wherein the device is configured to execute a method according to an embodiment described in this disclosure. The device may, for example, be configured as a microcontroller or include one to execute the method. The device may further comprise one or more of the following components: - at least one recording device for recording at least one vehicle-related parameter and / or at least one environment-related parameter, - at least one investigative facility to determine the at least one reason for the lane change, - at least one determination device for determining at least one urgency value, - at least one device for changing the movement of the vehicle.

[0009] Furthermore, a vehicle is proposed comprising at least one device according to an embodiment described in this disclosure. The vehicle can be, for example, a passenger car or a truck. In particular, the vehicle is a partially or fully autonomous vehicle.

[0010] The technical effects and advantages mentioned in this disclosure for the process naturally also extend to the device and the vehicle, or vice versa.

[0011] The procedure has the technical effect of preparing urgent lane changes with a different movement adjustment than less urgent lane changes. This reduces unnecessary vehicle movement dynamics, as not every lane change requires rapid preparation or execution. This increases comfort and safety during lane change preparation. The described effect is achieved by identifying at least one reason for the planned lane change from the at least one recorded parameter. The weighting of this identified reason is reflected in a specific urgency value, which in turn influences the magnitude of the movement adjustment.

[0012] In other words, the method establishes a causal link between an intention to change lanes and the vehicle's movement dynamics required for preparation.

[0013] The vehicle-related parameter can parameterize one or more vehicle-related variables. These variables can include, for example, the vehicle's current movement, lane position, navigation route, cruise control status, traffic sign recognition status, and / or turn signal status. The vehicle-related parameter can specify the parameterized variable using, for example, the vehicle's current position, speed, acceleration, steering angle, steering angle velocity, and / or steering angle acceleration. The vehicle-related parameter can also indicate whether a maximum vehicle speed is set, such as a cruise control maximum or a speed limit detected by the traffic sign recognition system.The maximum speed value can, of course, include a pre-known speed offset value, which in particular provides the cruise control system with leeway to regulate the speed. The vehicle-specific parameter can also indicate whether the vehicle is using its turn signals, specifically how long the signal has been in use, and furthermore, in which direction the signal is being used – i.e., whether to the right or to the left. The vehicle-specific parameter can also indicate whether a turn signal sequence has already been started and / or aborted.

[0014] The environment-related parameter can parameterize a quantity in the vehicle's surroundings. This quantity can be, for example, current movement, current lane, current navigation route, and / or the status of a turn signal of at least one other vehicle. The environment-related parameter can specify, for example, the current position, current speed, current acceleration, current steering angle, current steering angle velocity, and / or current steering angle acceleration of the at least one other vehicle. The environment-related parameter can also specify the number of lanes present in the vehicle's surroundings, in particular their arrangement. For example, the environment-related parameter can indicate that there is another lane to the right of the vehicle's lane. The environment-related parameter can also specify one or more obstacles in front of the vehicle, e.g.,to indicate a broken-down vehicle, a traffic accident, or an upcoming construction site.

[0015] The at least one reason can be determined by assigning a possible reason to the recorded at least one vehicle-related parameter and / or the recorded at least one environment-related parameter, e.g., using a previously known assignment rule. The majority of possible reasons for the lane change may be previously known. The majority may include the following possible reasons: - the lane change must be prepared because a requirement to drive on the right or left must be observed (e.g., stated as the first reason), - the lane change needs to be prepared because a vehicle ahead is to be overtaken (e.g., stated as a second reason), - the lane change must be prepared because another vehicle is approaching the vehicle from behind (e.g. referred to as a third reason), - the lane change must be prepared because there is an obstacle in the vehicle's lane (e.g., referred to as the fourth reason), - The lane change must be prepared because the vehicle's lane is ending (e.g., referred to as the fifth reason), and / or - The lane change must be prepared because a planned navigation route requires the lane change (e.g., referred to as the sixth reason).

[0016] This list of possible reasons is of course not exhaustive, so the majority of possible reasons may include other, especially further, reasons.

[0017] Each of the possible reasons can have a specific weighting. This specific weighting can, for example, be a value from "1" to "6". In particular, the first reason (e.g., specific weighting "1") can have a lighter weighting than the second reason (e.g., specific weighting "2"), the third reason (e.g., specific weighting "3"), the fourth reason (e.g., specific weighting "4"), the fifth reason (e.g., specific weighting "5"), or the sixth reason (e.g., specific weighting "6"). This is because adhering to a rule to drive on the right (i.e., the first reason with the lightest weighting) can be less critical than following a planned navigation route (i.e., the sixth reason with the heaviest weighting). For example, a rule to drive on the right only needs to be followed if doing so can be done safely. However, a navigation route must always be followed if, for example,Only one possible exit from the motorway is given to reach a navigation destination. The weighting of the reasons may be known in advance. Of course, a different weighting of the reasons is also possible.

[0018] The urgency value can be a numerical value. For example, the urgency value can be determined as the heaviest weighting of the identified reasons – that is, the urgency value can correspond to the weighting of the identified reason with the heaviest weighting. For instance, if the first reason and the sixth reason are identified, the sixth reason, with a specific weighting of "6", might have the heaviest weighting of the two identified reasons, since the specific weighting of "6" is heavier than the specific weighting of "1". The urgency value can therefore be determined as "6".

[0019] The movement of the vehicle is, for example, its longitudinal movement. The movement of the vehicle is, in particular, its movement on a highway or motorway. The movement of the vehicle that is modified in preparation for a lane change can, for example, be the vehicle's current movement.

[0020] Changing the vehicle's movement can involve increasing or decreasing its actual movement value to a desired movement value. For example, the vehicle can accelerate or brake in preparation for a lane change. The movement value can be, for example, a speed value, an acceleration value, a steering angle value, a steering angle velocity value, and / or a steering angle acceleration value. For instance, the vehicle's movement can be changed by increasing its speed from 90 km / h to 95 km / h. Conversely, the vehicle's movement can also be changed by reducing its speed from 90 km / h to 30 km / h.

[0021] The magnitude of the change in movement can be assigned to a specific urgency value, for example, using a predefined assignment rule. For instance, the magnitude of the change could be 60 km / h if the urgency value is very high, e.g., "6". The magnitude of the change can also be, in particular, the absolute difference between the actual movement value and the target movement value. For example, the magnitude of the change could be the absolute difference between an actual speed (90 km / h) and a target speed (30 km / h). It is also possible for the magnitude of the change to be zero (e.g., 0 km / h) if the urgency value is very low, e.g., "1".

[0022] In one embodiment, the magnitude of the change in the vehicle's movement is greater the higher the defined priority value. This achieves a positive correlation between the urgency of the lane change and the vehicle's dynamics. For example, a very low priority value, e.g., "1", may be assigned a change of, e.g., 10 km / h, while a very high priority value, e.g., "6", may be assigned a change of, e.g., 60 km / h. The correlation between the priority value and the change is, in particular, non-linear. For example, a priority value of "1" may be assigned a change of 0 km / h, while a priority value of "3" may be assigned a change of 50 km / h, and a priority value of "6" may be assigned a change of 60 km / h.However, other types of positive correlation between the level of urgency and the magnitude of the change in movement are of course also possible, e.g. a linear positive correlation, in particular a proportional correlation.

[0023] In one embodiment, at least one rate of change is assigned to at least one variable of change, with the at least one defined urgency value determining the rate of change. In this way, for example, a difference in magnitude between an actual movement value and a target movement value of the vehicle can be eliminated more quickly or slowly depending on the urgency value. The rate of change can, for example, indicate the time period in which the previously described increase or decrease of the actual movement value to the target movement value occurs. The rate of change can be assigned to the urgency value by a further known assignment rule. The rate of change can also be referred to as a gradient. The higher the urgency value, the steeper the rate of change or gradient can be.

[0024] In one embodiment, the at least one urgency value is higher the more reasons for the lane change are identified. In this way, several identified reasons can influence the magnitude of the change in movement. In particular, the urgency value can be determined as the sum of the weights of the identified reasons. For example, from the majority of possible reasons, the first reason (e.g., specific weight "1") and the sixth reason (e.g., specific weight "6") can be identified as reasons for the lane change, so that the total urgency value is "7".

[0025] In one embodiment, the at least one magnitude of the change is additionally dependent on the detected at least one vehicle-related parameter and / or the detected at least one environment-related parameter. In this way, the vehicle-related and / or environment-related parameter can be taken into account when changing the motion, further reducing unnecessary motion dynamics. For example, when preparing a lane change, it can be considered that the detected vehicle-related parameter specifies a set maximum speed for the vehicle to comply with a speed limit. The detected parameter can be taken into account when changing the motion in such a way that this maximum value is not exceeded by the change in motion. In particular, the detected parameter can specify a relative magnitude of the change. In this way, the at least one magnitude of the change can be expressed as a percentage, e.g.,2% of the vehicle's recorded actual speed can be assigned to this percentage. The specified urgency value can define the percentage. The higher the urgency value, the higher the percentage can be. In particular, the magnitude of the change can be adjusted depending on at least one vehicle-related parameter and / or at least one environment-related parameter. In this way, the lane change preparation can be adapted if the circumstances for the lane change change. For example, another vehicle might cut in front of the vehicle during lane change preparation, making the lane change more difficult. By adjusting the magnitude of the change, however, even this more difficult lane change can be prepared without having to abort the procedure. The at least one vehicle-related parameter and / or the at least one environment-related parameter can be continuously recorded for this purpose.

[0026] In one embodiment, at least one window for the lane change is defined, the size of which depends on a specific urgency value. In this way, for example, a spatial and / or temporal window suitable for performing the lane change can be defined, taking the urgency into account. If the urgency value is high, a small window may be considered acceptable. Conversely, if the urgency value is lower, a smaller window may be deemed unacceptable, and a larger window is defined. The window can be a spatial area, in particular a gap or distance, that must exist between two other vehicles. The vehicle can, for example, merge into the window while driving to perform the lane change. Alternatively, the window can be a period of time for performing the lane change.In this way, for example, a time limit can be set which is provided to the vehicle to perform the lane change depending on the urgency.

[0027] In one embodiment, the at least one window is additionally defined depending on the at least one vehicle-related parameter and / or the at least one environment-related parameter. This allows additional vehicle-related and / or environment-related circumstances to be considered when defining the window. For example, the detected at least one parameter can be used to define a gap actually present between two vehicles in the vicinity of the vehicle as the window. The location of the defined window can be spatially and / or temporally variable, particularly depending on the at least one vehicle-related parameter and / or the at least one environment-related parameter, for example, because the gap between the vehicles moves with the vehicles. Naturally, multiple windows can also be defined.For example, several existing gaps can be identified as suitable for changing lanes.

[0028] In one embodiment, the window requiring the least change in vehicle movement is selected from a plurality of defined windows. In this way, the window within which the lane change can be performed with the least dynamic movement can be selected from several possible windows for the lane change. For example, with several defined windows, the lane change can be performed in the window requiring the smallest change in speed or acceleration.

[0029] In particular, the movement of the vehicle can be modified in such a way that the vehicle performs the lane change within the determined window of at least one.

[0030] The allocation rules described in this disclosure may, for example, be previously known from experiments or simulations.

[0031] The invention is explained in more detail using exemplary embodiments. The figures show: Fig. 1. A schematic representation of a vehicle in a first scenario, Fig. 2 a schematic representation of an embodiment of a method, Fig. 3 a schematic representation of a vehicle in a second scenario and Fig. 4 a schematic representation of a vehicle in a third scenario.

[0032] In the following, identical reference symbols denote elements with the same technical characteristics.

[0033] Fig. Figure 1 shows a schematic representation of a vehicle 200, designed as a passenger car, in a first scenario. In this first scenario, the vehicle 200 is traveling at a speed of, for example, 80 km / h on a highway in a left lane L1. A turn signal (not shown) on the vehicle 200 indicates a planned lane change LC to a right lane L2 – i.e., the vehicle 200 is indicating a right turn. The turn signal is in Fig. 2 indicated by two flashes of light on the right side of vehicle 200.

[0034] The in Fig. 1 Vehicle 200 shown includes a device 100 which can prepare the lane change LC by changing V1 a longitudinal movement of the vehicle 200.

[0035] Fig. Figure 2 shows a schematic representation of an embodiment of a method for preparing a lane change LC. The in Fig. The device 100 shown is designed to perform the procedure described below.

[0036] In step S1 of the procedure, a vehicle-related parameter and / or an environment-related parameter is recorded. For this purpose, the following can be used: Fig. 1 Device 100 of the vehicle 200 shown shall have one or more detection devices (not shown), e.g. sensors and cameras.

[0037] Regarding the in Fig. In the first scenario shown, the captured vehicle-related parameter can, for example, indicate that vehicle 200 is indicating a right turn and is traveling at an actual speed of 80 km / h in the left lane L1 of the highway. The captured environment-related parameter can, for example, indicate that in the Fig. 1. The first scenario shown assumes that in the vicinity of vehicle 200 there are two lanes L1, L2 and that no other vehicle is driving in the vicinity of vehicle 200.

[0038] In step S2, at least one reason for the lane change LC is determined. The reason is selected from a plurality of possible causes based on the detected vehicle-related parameter and / or the detected environment-related parameter. For this purpose, the device 100 can have at least one detection unit (not shown), e.g., a microcontroller.

[0039] The at least one reason is determined from a plurality of possible reasons. Each of the possible reasons is assigned a weighting that represents its relevance. To avoid repetition, reference is made to the list already explained in this disclosure regarding the plurality of possible reasons for the lane change LC.

[0040] Regarding the in Fig. In the first scenario shown, at least one reason can be determined by assigning one of the possible reasons to the recorded vehicle-related parameter and / or the recorded environment-related parameter. This can be done, for example, using a previously known assignment rule stored on a data storage device (not shown) of the Fig. The device shown in 1 can be stored 100. Possible reasons for the lane change LC, such as a planned overtaking maneuver or the end of the left lane L1, are found in the Fig. The first scenario shown is obviously not applicable. Therefore, the recorded parameters are assigned the reason for the lane change LC that a requirement to drive on the right must be observed. This determined reason can, for example, be weighted with a specific weighting that has the low value "1", since observing the requirement to drive on the right does not constitute an urgent reason for the lane change LC.

[0041] In step S3, a priority value for the lane change LC is determined. The priority value is higher the more significant the weighting of the determined reason for the lane change LC. For this purpose, the device 100 can have at least one determining device (not shown), e.g., a microcontroller.

[0042] Regarding the in Fig. In the first scenario shown, the urgency value can be determined as the weighting of the identified reason. The urgency value can therefore be set to "1".

[0043] In step S4, the lane change LC is prepared by a change V1 in the movement, specifically the longitudinal movement, of vehicle 200. The magnitude of this change V1 depends on a specific priority value. In other words, the priority value can determine the magnitude of the change V1. Specifically, the higher the priority value, the greater the magnitude of the change V1. For this purpose, the device 100 can include at least one device (not shown) for changing a movement, e.g., a microcontroller for controlling a motor (not shown) and / or actuator (not shown) of vehicle 200.

[0044] Regarding the in Fig. In the first scenario shown, the lane change (LC) can be prepared by increasing the vehicle's current speed (200 km / h) by, for example, 2 km / h to a target speed of 82 km / h. The magnitude of the change (V1) in longitudinal motion is the difference between the current speed and the target speed, i.e., 2 km / h. This magnitude of change (V1) can be assigned a low priority value of "1".

[0045] Naturally, the magnitude of the change V1 can also depend on the recorded parameters. For example, the current speed of vehicle 200 can be taken into account before its movement is changed.

[0046] Alternatively, the magnitude of the change V1 of the movement can also be "zero", for example, if this magnitude of change V1 is assigned the low urgency value of "1". In this case, vehicle 200 does not change its longitudinal movement in preparation for the lane change LC.

[0047] The procedure can be triggered, for example, by initiating a turn signal. Alternatively, the procedure can also be started if the turn signal has already been in operation for a predetermined duration, e.g., 30 seconds. In this way, the procedure can, for example, assist the driver by changing V1 the longitudinal movement of vehicle 200 to facilitate the lane change LC. Alternatively, the procedure, in particular one or more steps S1, ..., S4 of the procedure, can also be executed continuously – e.g., in the background. In this way, the lane change LC can be prepared or even executed at any time while vehicle 200 is driving. In particular, steps S1 to S3 of the procedure can, for example, be executed continuously in the background. In a sub-step of step S4, for example, only the magnitude of the change V1 in movement can initially be determined, in order to actually change the movement of vehicle 200 as needed.

[0048] Fig. Figure 3 shows a schematic representation of a vehicle 200 in a second scenario.

[0049] In addition to the one in Fig. In the second scenario, as shown in the first scenario, another vehicle 301 – e.g., another car – approaches vehicle 200 from behind and signals left to signal vehicle 200 to change lanes LC into the right lane L2. The signal of the other vehicle 301 is in Fig. 2 also indicated by flashes of light.

[0050] In one step S1 (see above). Fig. 2) A vehicle-related and an environment-related parameter are recorded. The vehicle-related parameter can, for example, indicate that vehicle 200 is traveling at an actual speed of 80 km / h in the left lane L1 of a highway. The environment-related parameter can, for example, indicate that there are two lanes 1 and 2 in the vicinity of vehicle 200 and that the other vehicle 301 is traveling at an actual speed of 100 km / h in the left lane L1 behind vehicle 200 and is indicating a left turn.

[0051] In one step S2 (see above). Fig. 2) Depending on the recorded parameters, several reasons for the lane change LC are determined. In addition to complying with the requirement to drive on the right as the first reason, the lane change LC must be prepared because the other vehicle 301 is approaching vehicle 200 from behind, and therefore there is a risk of a collision. This further reason can have a higher weighting (e.g., value "3") than the first reason (e.g., value "1"), since the risk of an accident increases without the lane change LC. The lane change LC is therefore more urgent in the second scenario than in the first.

[0052] In one step S3 (see above). Fig. 2) The urgency level is determined. The more reasons for the lane change LC are identified, the higher the urgency level can be. In this way, all identified reasons can be taken into account when preparing for the lane change LC. In the second scenario, two reasons were identified. The urgency level can therefore be determined, for example, as the sum of the weightings of the identified reasons. The urgency level for the second scenario is thus "1 + 3 = 4".

[0053] In step S4, the lane change LC is prepared by increasing the actual speed of vehicle 200, for example, by 20 km / h to a target speed of 100 km / h. The magnitude of the change V1 in longitudinal motion is the difference between the actual speed and the target speed, i.e., 20 km / h. This magnitude of change V1 can be assigned a priority value of "4". In this way, any relative speed difference between vehicle 200 and the approaching vehicle 301 can be eliminated before the lane change LC is performed. This increases safety during the lane change LC.

[0054] Fig. Figure 4 shows a schematic representation of a vehicle 200 in a third scenario.

[0055] In this third scenario, the vehicle travels at 200 km / h, in contrast to the scenarios in Fig. 1 and Fig. The two scenarios shown depict a right-hand lane L2 of a two-lane highway. Vehicle 200 signals left to indicate a lane change LC to the left-hand lane L1. The signal is indicated by flashing lights. Due to roadworks ahead (not shown), the right-hand lane L1 will end in, for example, 500 meters. Therefore, a traffic jam has formed, consisting of several other vehicles 301, ..., 304, which are traveling at a constant speed in the left-hand lane L1 parallel to vehicle 200. There are gaps of varying sizes between the other vehicles 301, ..., 304, which may or may not be suitable for the lane change LC. Potentially suitable gaps are shown in Fig. 4 are marked by a circled checkmark and potentially unsuitable gaps are marked by a circled lightning bolt.

[0056] In one step S1 (see above). Fig. 2) A vehicle-related and an environment-related parameter are recorded. The vehicle-related parameter can, for example, indicate that vehicle 200 is traveling at an actual speed of 30 km / h in the right lane L1 of the highway. The environment-related parameter can, for example, indicate that there are two lanes 1 and 2 in the vicinity of vehicle 200 and that the other vehicles 301, ..., 304 are each traveling at an actual speed of 30 km / h in the left lane L1, one behind the other. The distances between the other vehicles 301, ..., 304 along the left lane L1 can also be recorded. Based on, for example, Car2X communication, the environment-related parameter can further indicate that the right lane L2 ends in 500 meters due to the roadworks ahead.

[0057] In one step S2 (see above). Fig. 2) The reasons for the lane change LC are determined based on the recorded parameters. In this case, the lane change LC must be prepared because the lane L2 of vehicle 200 ends due to the roadworks ahead. This determined reason can be assigned a specific weighting of, for example, "5", since if the lane change LC were aborted, vehicle 200 would have to stop in the right-hand lane L2, which would significantly increase the risk of an accident in the flow of traffic on the highway.

[0058] In one step S3 (see above). Fig. 2) The urgency value for the third scenario is determined to be "5", as this corresponds to the weighting of the identified reason.

[0059] In step S4, the lane change LC is prepared by performing several sub-steps.

[0060] In a first step, for the in Fig.In the third scenario shown, the two suitable gaps (indicated by circled checkmarks) between the other vehicles 301, ..., 304 are defined as possible windows F1, F2 for the lane change LC. Here, windows F1, F2 are defined depending on the specified priority value and additionally depending on the detected parameters. For example, a detected distance between vehicle 303 and vehicle 304 might be just acceptable, while a detected distance between vehicle 302 and vehicle 303 might no longer be acceptable. Windows F1, F2 can be defined, for example, because the detected distances in these gaps correspond to or exceed a minimum distance assigned to the specified priority value. Windows F1, F2 are particularly variable in terms of space and time and can move and change with the traffic flow of the other vehicles 301, ..., 304.The procedure can, of course, take this into account when preparing the LC lane change.

[0061] In a further step, the window F1, F2 that requires the movement of vehicle 200 with the smallest change V1, V2 is selected from the majority of defined windows F1, F2. Each window F1, F2 can be assigned a change V1, V2 depending on a specific urgency value. For example, change V1 of vehicle 200's longitudinal movement might require an increase in speed from 30 km / h to 32 km / h to bring vehicle 200 closer to window F1 relative to the traffic flow in the left lane L1. The change V1 is therefore a speed increase of 2 km / h. Similarly, change V2 of vehicle 200's longitudinal movement might require a reduction in speed from 30 km / h to 25 km / h to bring vehicle 200 closer to window F2 relative to the traffic flow in the left lane L1. The change V2 is therefore a speed reduction of 5 km / h.Since the magnitude (2 km / h) of the change V1 is therefore less than the magnitude (5 km / h) of the change V2, window F1 is selected to prepare the lane change LC.

[0062] Each of the magnitudes of change V1 and V2 can be assigned a rate of change. The specified urgency value can dictate the rates of change, for example, using an assignment rule. The rate of change for the magnitude of change V1 could be, for example, 0.5 m / s², while the rate of change for the magnitude of change V2 could be, for example, 3 m / s². Alternatively, from the majority of the defined windows F1 and F2, the window F1 or F2 that requires the movement of vehicle 200 with the lowest rate of change can be selected. In this way, unnecessary acceleration or deceleration during the preparation of the lane change LC can be avoided.

[0063] In a further step, the lane change LC into window F1 can be prepared by changing V1 the longitudinal movement of the vehicle 200. Reference symbol list 100 Device 200 vehicles 301, ..., 304 other vehicle LC Lane Change L1 left lane L2 right lane F1, ..., F2 Window S1, ..., S4 step V1, V2 Change of movement 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] DE 10 2021 121 339 A1

[0003]

Claims

[1] Method for preparing a lane change (LC) of a vehicle (200), comprising the steps: - Recording (S1) at least one vehicle-related parameter and / or at least one environment-related parameter, - Determine (S2) at least one reason for the lane change (LC), whereby from a plurality of possible reasons for the lane change (LC) the at least one reason is determined depending on the recorded at least one vehicle-related parameter and / or depending on the recorded at least one environment-related parameter, - Determine (S3) at least one urgency value for the lane change (LC), wherein the at least one urgency value is higher the more significant the weighting of the determined at least one reason for the lane change (LC) is, - Preparing (S4) the lane change (LC) by modifying (V1, V2) a movement of the vehicle (200), wherein at least one magnitude of the modification (V1, V2) depends on the determined at least one urgency value. [2] Method according to claim 1, characterized by , that the at least one magnitude of the change (V1, V2) of the movement of the vehicle (200) is greater the higher the determined at least one urgency value is. [3] Method according to claim 1 or 2, characterized by , that at least one magnitude of change (V1, V2) is assigned at least one rate of change, where the specified at least one urgency value specifies the at least one rate of change. [4] Method according to any of the preceding claims, characterized by , that the minimum urgency value is higher the more reasons for the lane change (LC) are identified. [5] Method according to any of the preceding claims, characterized by, that at least one magnitude of the change (V1, V2) is additionally dependent on the recorded at least one vehicle-related parameter and / or the recorded at least one environment-related parameter. [6] Method according to any of the preceding claims, characterized by , that at least one window (F1, F2) is set for lane change (LC), wherein the at least one window (F1, F2) depends on the specified at least one urgency value. [7] Method according to claim 6, characterized by , that at least one window (F1, F2) is additionally determined depending on at least one vehicle-related parameter and / or depending on at least one environment-related parameter. [8] Method according to claim 6 or 7, characterized by, that from the majority of the specified windows (F1, F2) the window (F1, F2) is selected which requires the movement of the vehicle (200) with the smallest size of change (V1, V2). [9] Device (100) for preparing a lane change (LC), wherein the device (100) is configured to perform a method according to any one of claims 1 to 8. [10] Vehicle (200) comprising at least one device (100) according to claim 9.

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