Computer-implemented method for determining a control signal to perform an automatic lane change for a vehicle

Abstract

A computer-implemented method for determining a control signal for performing an automatic lane change for a vehicle (10) in the area of ​​a roadway bend (11) with at least two lanes (12, 13), comprising the steps of: receiving position data for the vehicle (10) (S10), receiving road map data (S20), detecting the roadway bend (11) with at least two lanes (12, 13) based on the road map data and the position data (S30), determining at least a near range (14) and at least a far range (15) to the roadway bend (11) (S40), receiving a direction change signal (S50), determining a control signal depending on the position data, the determined near range (14) and the determined far range (14) and the received direction change signal (S60), and providing the determined control signal to perform the automatic lane change for the vehicle (10). (S70).

Description

[0001] The invention relates to a computer-implemented method for determining a control signal for carrying out an automatic lane change for a vehicle in the area of ​​a road bend with at least two lanes, a device for data processing, a computer program product, a computer-readable storage medium, a lane change assistance system and a vehicle.

[0002] Lane change assistance systems are generally known from the state of the art. These systems focus on automatic lane changes for use on highways. However, urban areas have different requirements for lane change assistance systems. In specific situations before two-lane turns, it is not always clear whether the driver intends to perform a lane change and a turn, or just a turn.

[0003] A lane change assistance system for a vehicle is known from DE 10 2015 203 208 A1. A lane change assistance system for a vehicle is known from DE 10 2022 116 267 A1.

[0004] In this context, it has now become apparent that there is a need to provide a computer-implemented method for determining a control signal to perform an automatic lane change for a vehicle in the area of ​​a road bend with at least two lanes. In particular, there is a need to provide an improved computer-implemented method for determining a control signal to perform an automatic lane change for a vehicle in the area of ​​a road bend with at least two lanes.

[0005] The object of the present invention is to eliminate, or at least partially eliminate, the disadvantages of automatic lane changing described above. In particular, the object of the present invention is to provide a computer-implemented method for determining a control signal for performing an automatic lane change for a vehicle in the area of ​​a road bend with at least two lanes.

[0006] The foregoing problem is solved by the claims. In particular, the problem is solved by a computer-implemented method for determining a control signal for carrying out an automatic lane change for a vehicle in the area of ​​a road bend with at least two lanes, comprising the features of independent claim 1. Furthermore, the problem is solved by a device comprising the features of independent claim 10, by a computer program product comprising the features of claim 11, by a computer-readable storage medium comprising the features of claim 12, by a lane change assistance system comprising the features of claim 13, and by a vehicle comprising the features of claim 14.

[0007] Features described in connection with the inventive method also apply in connection with the inventive device, the inventive computer program product, the inventive computer-readable storage medium, the inventive lane change assistance system, the inventive vehicle and vice versa, so that with regard to the disclosure of the individual aspects of the invention, mutual reference is always made or can be made.

[0008] According to a first aspect of the present invention, a computer-implemented method for determining a control signal for performing an automatic lane change for a vehicle in the area of ​​a road bend with at least two turning lanes in the same direction is provided, comprising steps: receiving position data for the vehicle, receiving road map data, recognizing the road bend with at least two lanes based on the road map data and the position data, determining at least a near range and at least a far range to the road bend, receiving a direction change signal, determining a control signal depending on the position data, the determined near range and the determined far range and the received direction change signal, and providing the determined control signal to perform the automatic lane change for the vehicle.

[0009] In this context, the term "automatic lane change" refers specifically to a vehicle changing lanes from one lane to an adjacent lane, which is carried out automatically by a lane change assistance system. The automatic lane change can be to the left or to the right.

[0010] The term "vehicle" refers specifically to a vehicle equipped with a lane change assist system. The vehicle can be a passenger car or a commercial vehicle. The vehicle preferably has an automation level of L1 or higher. Preferably, the vehicle has an automation level of at least L2.

[0011] Within the scope of the invention, a roadway turn is understood to mean a change in the direction of a roadway from one direction to another. For example, a vehicle can turn from a multi-lane road heading north onto a multi-lane road heading west. A roadway turn can also involve a left or right turn. The roadway turn preferably comprises two turning lanes arranged side by side and running in the same direction. The roadway turn preferably begins with the change of direction and ends with the change of direction being completed. The roadway turn preferably refers to a junction.

[0012] For the purposes of this document, a turning lane is understood to be an area within a roadway in which a vehicle can travel. The turning lane preferably follows the roadway bend. The turning lane preferably includes an area before the roadway bend and at least part of the bend itself. Preferably, the turning lane encompasses the entire roadway bend.

[0013] The term "position data" preferably refers to the vehicle's coordinates. These coordinates can include, for example, GPS data. Position data can be determined, for example, by radar and lidar sensors in the vehicle by measuring distances to objects. Position data can also be determined, for example, through V2X communication, also known as vehicle-to-everything (V2X). In this case, communication between vehicles and / or infrastructure elements, such as traffic lights, allows the position to be determined in real time with high accuracy. Position data can be provided, for example, via the vehicle's control system.

[0014] Road map data preferably refers to a digital map that includes roads along with information on carriageways, lanes, turning lanes, and road turns. The road map data can, for example, include a high-definition map or a swarm map. The road map data can, for example, be made available offline or received online via a wireless interface. Within a look-ahead range of preferably 150 m, and more preferably 300 m, the road map data can be analyzed for relevant junctions to identify road turns.

[0015] The term "immediate area" refers in particular to an area extending from the roadway bend towards the vehicle and preferably beginning at the start of the bend. The immediate area may preferably be limited to the lane in which the vehicle is located. The immediate area may, for example, have a fixed length, such as from 0 m to 100 m from the roadway bend. The immediate area may preferably comprise a turning lane with at least one adjacent lane or turning lane in the same direction.

[0016] The term "distant area" refers in particular to an area extending from the near area towards the vehicle and preferably beginning at the end of the near area. The distant area may preferably be limited to a lane in which the vehicle is located. The distant area may, for example, have a fixed length, such as 100 m to 300 m. The distant area may preferably include a turning lane with at least one adjacent lane or turning lane in the same direction.

[0017] In this context, a direction change signal is understood to be a signal that announces a driver's intention to change direction. The direction change signal could, for example, be the activation of a turn signal. This signal can be provided, for instance, by the vehicle's control system.

[0018] The term "control signal" here refers specifically to a signal to initiate or refrain from an automatic lane change. This control signal can preferably be provided to the lane change assist system to initiate the automatic lane change. A signal to refrain from an automatic lane change can also mean the absence of a control signal.

[0019] The invention is based on the understanding that existing automatic lane-change systems are primarily designed for use on highways. To provide the driver with the most consistent support possible, adapting these systems to urban environments is desirable. While urban areas also have multi-lane roads, these present new challenges that are not relevant in highway settings. Automatic lane changes are typically initiated by the driver activating the turn signal. In urban environments, this necessitates evaluating the driver's intention when the turn signal is activated before an automatic lane change can be performed. For example, a roadway might have two turning lanes. These two lanes could be turning right, and a vehicle might be in the left-hand turning lane.For a lane change assist system, this is an unclear situation when the driver activates the right turn signal. There are two possibilities: the driver is indicating right because they are in a turning lane and intend to turn right, or the driver is indicating right because they want to change lanes before turning. The automatic lane change should only be performed in the latter case. The invention proposes, in such a situation, to divide the area before the lane change into a near zone and a far zone, and to determine a corresponding control signal for the lane change assist system based on the vehicle's position and the direction change signal. By distinguishing between the near and far zones, it is advantageous to infer the driver's actual intention when a direction change signal is present.For example, if a direction change signal is detected in the distance, it can be assumed that the driver intends to change lanes in addition to turning. Conversely, if a direction change signal is detected in the short range, it can be assumed that the driver does not necessarily intend to change lanes in addition to turning. Further analysis may be required to determine the driver's true intention. The method can thus reliably recognize the driver's intention and initiate an automatic lane change maneuver if such an intention exists. Overall, the method according to the invention offers the possibility of increasing the level of automation in urban traffic, improving the quality of the lane change assistance system, and enhancing safety.

[0020] According to a preferred embodiment, the direction change signal may include one or more of the following signals: - Flashing signal, - Comfort turn signal and / or - Driver's viewing angle signal.

[0021] A latching turn signal is a type of turn signal where the driver engages the turn signal lever and the signal remains active until the lever is returned to the neutral position. This latching signal can be controlled by the vehicle's electronic system.

[0022] A comfort turn signal is a turn signal where a turn signal lever only needs to be tapped once to cause the indicator to flash, for example, three times. This can be referred to as comfort turn signaling or one-touch turn signaling. The comfort turn signal can be provided by the vehicle's control unit.

[0023] Within the scope of the invention, a driver's gaze angle signal is understood to be a specific direction of the driver's gaze that can signal a turn. The driver's gaze angle can be determined, for example, using special eye-tracking units that measure where the driver is looking. The eye-tracking units can have interfaces for providing the driver's gaze angle signal.

[0024] By evaluating one or more of the above-mentioned signals, it is advantageous to infer the driver's wish and, according to the logic described above, to enable automatic turning when necessary.

[0025] Particularly preferable, if a comfort turn signal and / or a viewing angle signal is present in the long range, is that the control signal may include initiating an automatic lane change of the vehicle.

[0026] A comfort turn signal and / or a viewing angle signal are identified as a clear indication of a lane change in the long range. Applying this logic allows for an automatic lane change to be implemented correctly with a high probability, contrary to the driver's intentions.

[0027] Preferably, if a stop-flashing signal is present in the remote area, the determination of the control signal can be further carried out depending on at least one first lane-change probability criterion, and if at least one lane-change probability criterion is met, the control signal can include initiating an automatic lane change.

[0028] The lane change probability criterion in the long-range area refers in this case specifically to an additional test criterion supplementing the direction change signal, which is checked to make the most accurate decision possible regarding the driver's intention. In the present case, when a flashing indicator is present, it is not unequivocally clear whether the driver intends to change lanes, turn, or simply change lanes in the long-range area.

[0029] The additional test criterion allows for a reliable conclusion to be drawn about the driver's true intention.

[0030] According to a preferred embodiment, at least one first lane change probability criterion may include one or more of the following criteria: steering angle change, presence of a branch in a route guidance system after a turn, driver's viewing angle signal, specific driver response after HMI prompt.

[0031] The steering angle change can be detected, for example, by a sensor and made available via the engine control unit. The branching of a route guidance system can be provided, for example, by the navigation system or by evaluating position and road map data. For instance, a Human Machine Interface (HMI) can display a message that the driver can confirm, for example, with an input button or by making a slight steering movement. Overall, these lane change probability criteria can advantageously increase the reliability of the procedure over long distances.

[0032] Preferably, if a stop-flashing signal and / or a comfort flashing signal and / or a viewing angle signal is present in the immediate vicinity, the determination of the control signal can be further carried out depending on at least a second lane change probability criterion, and if the at least second lane change probability criterion is met, the control signal can include initiating an automatic lane change.

[0033] In close proximity, the driver's intention is very difficult to assess. The second lane-change probability criterion advantageously allows for a more precise determination of the driver's intention. This second lane-change probability criterion in close proximity also advantageously increases the reliability of the procedure in close proximity.

[0034] According to a preferred embodiment, at least one second lane change probability criterion may include one or more of the following criteria: approaching the lane marking and changing the steering angle, and / or crossing the lane marking and changing the steering angle.

[0035] The approach to the lane markings can be detected, for example, by a camera and provided to the system. Crossing the lane markings can also be detected, for example, by a camera and provided to the system. Changes in steering angle can be provided, for example, by a steering angle sensor.

[0036] The criteria of approaching the lane marking and changing the steering angle, as well as the criteria of crossing the lane marking and changing the steering angle, can, in combination with the direction change signal, very likely indicate the correct intention of the driver.

[0037] According to a preferred embodiment, the method may further include: determining a following area, wherein the following area follows the near area, wherein, when the vehicle is in the following area, the control signal does not include initiating an automatic lane change or no control signal is issued to initiate an automatic lane change.

[0038] The following area, in this context, refers in particular to the area adjacent to the immediate area and encompassing the actual turning area. The following area preferably extends to 50 m, and more preferably to 20 m. The following area preferably takes curve radii into account. Once the vehicle is in the following area, the automatic lane change will no longer be initiated. This can be achieved either by not issuing a control signal or, alternatively, by issuing a control signal that prevents an automatic lane change.

[0039] This can advantageously increase safety, as automatic lane changes when turning can pose a hazard.

[0040] Preferably, the procedure may include the following: The determination of at least one near range is based on a predetermined first value, and the determination of at least one far range is based on a predetermined second value.

[0041] The predetermined value for the near range can preferably range from 0 m to 100 m. The predetermined value for the far range can preferably range from 100 m to 300 m. Preferably, the following range can be determined based on a predetermined value. The predetermined value for the following range can preferably range from 0 m to 50 m, and more preferably from 0 m to 20 m. The following range can take curve radii into account.

[0042] This allows the road situation to be easily divided into zones. This can enable an efficient process.

[0043] The procedure may particularly preferably include the following: Receiving historical vehicle data of the vehicle, wherein the determination of at least one near range and at least one far range is based on the received historical vehicle data of the vehicle.

[0044] In this context, historical data refers to data about the specific vehicle from past journeys. This can advantageously increase the accuracy of the procedure, as it takes the driver's preferences into greater account and can thus more accurately classify their behavior.

[0045] According to a preferred embodiment, the method may further comprise: Receiving swarm data, whereby the determination of at least one near range and at least one far range is based on the received swarm data.

[0046] In this context, swarm data refers to historical data from a large number of vehicles regarding this specific lane change. This data can be provided in advance or continuously transmitted via radio. Based on the swarm data, the system can optimally adjust the short-range and long-range settings, as it can identify, based on the swarm's driving behavior, where lane changes predominantly occur and where they do not. This can vary from lane change to lane change, which is why a predetermined or static determination can be disadvantageous. The swarm data can enable an evaluation of the probability of a lane change occurring, thus allowing for a more precise classification of short-range and long-range settings. In this respect, the swarm data can advantageously deliver better results.

[0047] Preferably, the procedure may further include: Receiving user input, whereby the determination of at least one near range and / or at least one far range can be based on the received user input.

[0048] User input can be made via a human-machine interface (HMI). This allows the driver to precisely specify their preferred lane change location. User input also allows the driver to save their personal preferences. This input can be set for specific routes, such as the commute to work. For example, the driver can indicate that they always use the right-turn lane. The system can then take this into account when the turn signal is activated, which can significantly improve the system's accuracy.

[0049] Preferably the procedure may further include: Receiving traffic density data, whereby the control signal can be determined depending on the received traffic density data.

[0050] Traffic density data can be provided, for example, via an external service provider. Alternatively, it can be provided via environmental sensors. For instance, automatic lane changes can be prevented in high traffic density. This can significantly improve the safety of the process.

[0051] Another aspect of the present invention relates to a device for data processing, comprising means for carrying out a method described in more detail above.

[0052] Another aspect of the present invention relates to a computer program product comprising instructions which, when the program is executed by a computer, cause it to perform the method described above.

[0053] Another aspect of the present invention relates to a computer-readable storage medium comprising instructions which, when executed by a computer, cause it to perform the method described above.

[0054] Units and / or devices according to one or more embodiments can be implemented using hardware, software, and / or a combination thereof. Hardware devices can be implemented, for example, by processing circuits such as a processor, central processing unit (CPU), controller, arithmetic logic unit (ALU), digital signal processor, microcomputer, field-programmable gate array (FPGA), system-on-chip (SoC), programmable logic unit, microprocessor, or any other device capable of responding to instructions and executing them in a defined manner.

[0055] The units or devices may include one or more interface circuits. In some examples, the interface circuits may include wired or wireless interfaces connected to a local area network (LAN), the internet, a wide area network (WAN), or combinations thereof. The functionality of a particular unit or device of this disclosure may be distributed among several units or devices connected via interface circuits.

[0056] Units and / or devices according to one or more embodiments may also include one or more storage devices. The one or more storage devices may be physical or non-transient computer-readable storage media, such as random-access memory (RAM), read-only memory (ROM), a permanent mass storage device (e.g., a hard disk drive), a solid-state device (e.g., NAND flash), and / or any other data storage mechanism capable of storing and recording data. The one or more storage devices may be configured to store computer programs, program code, instructions, or a combination thereof.

[0057] Another aspect of the present invention relates to a lane change assistance system with a data processing device described in more detail above.

[0058] Another aspect of the present invention relates to a vehicle with a lane change assistance system described in more detail above.

[0059] All disclosures and embodiments described herein relate to the above-described method, device, computer program product, computer-readable storage medium, lane-change assist system, and vehicle, and vice versa. Advantageously, the advantages offered by one embodiment and example also apply to all other embodiments and examples, and vice versa.

[0060] Further advantages, features, and details of the invention will become apparent from the following description, in which several exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can each be essential to the invention individually or in any combination.

[0061] They each show schematically: Fig. 1. An exemplary driving situation, Fig. 2 a classification into near range, far range and following range, Fig. 3 a method according to the invention, Fig. 4 another exemplary driving situation, Fig. 5. A further classification into near range, far range and following range, Fig. 6 another exemplary driving situation, Fig. 7 a further division into near range, far range and following range and Fig. 8 a vehicle according to the invention.

[0062] Fig. Figure 1 shows an exemplary driving situation. Among other things, it depicts a road turn (11) with two turning lanes (12 and 13). A vehicle (10) is located in turning lane 12. For a conventional lane change assist system, such a situation would be unclear if the driver activates the right turn signal. There are then two possibilities: The driver is indicating right because they are in the turning lane and intend to turn right, or the driver is indicating right because they want to change lanes before turning. The automatic lane change should only be performed in the latter case.

[0063] Fig. 2 corresponds to Fig. Figure 1 shows a division of the turning lane according to the procedure described above into a far area 15, a near area 14 and a following area 16. Depending on where the vehicle is located, i.e. in the far area, near area or following area, the lane change is initiated or prevented differently depending on the signals detected.

[0064] Fig. Figure 3 shows a flowchart for a method according to the invention for determining a control signal for carrying out an automatic lane change for a vehicle 10 in the area of ​​a road turning 11 with at least two turning lanes 12 and 13 in the same direction.

[0065] Step S10 involves receiving position data for vehicle 10.

[0066] Step S20 involves receiving road map data.

[0067] Step S30 includes the detection of the road turn 11 with at least two turning lanes 12, 13 based on the road map data and the position data.

[0068] Step S40 includes determining at least one near area 14 and at least one far area 15 to the roadway turn 11. The determination of the near area 14, the far area 15 and the subsequent area 16 is carried out in this case each via a predetermined value.

[0069] Step S50 involves receiving a direction change signal. The direction change signal can be one of the following: a stop turn signal, a comfort turn signal, or a driver's viewing angle signal. In this example, the direction change signal is a comfort turn signal.

[0070] Step S60 involves determining a control signal based on the position data, the defined near range 14, the defined far range 15, and the received direction change signal. In this case, the comfort turn signal is present in the far range. The control signal now initiates an automatic lane change of the vehicle 10.

[0071] Step S70 involves providing the specific control signal to perform the automatic lane change for vehicle 10. The control signal is made available to the lane change assist system 40, which can perform the automatic lane change for vehicle 50.

[0072] Preferably, if a comfort flashing signal and / or a viewing angle signal is present in the remote area 15, the control signal can include initiating an automatic lane change of the vehicle 10.

[0073] Preferably, if a stop flash signal is present in the remote area 15, the determination of the control signal can be further carried out depending on at least one first lane change probability criterion, and if at least one lane change probability criterion is met, the control signal can include initiating an automatic lane change.

[0074] Preferably, at least one initial lane change probability criterion may include one or more of the following criteria: steering angle change, presence of a branch in a route guidance system after a turn, driver's viewing angle signal and / or specific driver reaction after HMI prompt.

[0075] Preferably, if a stop flash signal and / or comfort flash signal and / or viewing angle signal is present in the near area 14, the determination of the control signal can be further carried out depending on at least a second lane change probability criterion, and if the at least second lane change probability criterion is met, the control signal can include initiating an automatic lane change.

[0076] Preferably, this can include at least one second lane change probability criterion of one or more of the following criteria: approaching the lane marking and changing the steering angle and / or crossing the lane marking and changing the steering angle.

[0077] Preferably, the method can further include determining a follow-up area 16. Preferably, if the vehicle 10 is located in the follow-up area 16, the control signal does not include initiating an automatic lane change or no control signal to initiate an automatic lane change is output.

[0078] Fig. Figure 4 shows another exemplary driving situation. In contrast to Fig. There are now three turning lanes: 12, 13, and 17. Vehicle 10 is in the middle turning lane, 13, which allows for left or right turns. Turning lane 12 allows for left turns, and turning lane 13 allows for right turns. The driver will almost certainly use the turn signal to indicate their intended direction of travel. For a conventional lane change assist system, this would be an unclear situation if the driver uses the left or right turn signal, as there are two possibilities: The driver is signaling left or right because they are in turning lane 13 and intend to turn left or right, or the driver is signaling left or right because they want to change lanes before turning.

[0079] Fig. 5 shows one to Fig. 4. Corresponding division of the turning lane 13 into near area 14, far area 15 and following area 16. The method is therefore also suitable for such a situation.

[0080] Fig. Figure 6 shows another exemplary driving situation. Here, three left-turn lanes, 12, 13, and 18, are visible. Turn lane 18 branches off from turn lane 13 only shortly before. A very high probability of lane changes will occur in area 22. This probability can be determined, for example, from the lane profile and map data, or extracted from swarm data.

[0081] Fig. 7 shows one to Fig. 6. Corresponding division of turning lane 12 and turning lane 13 into near areas 14, 19, far areas 15, 20 and following areas 16 and 21. Here you can see different or individual divisions of the areas for turning lanes 12 and 13.

[0082] Fig.Figure 8 shows a vehicle 50 with a lane change assist system 40 and a device 30 for carrying out the procedure described above. Reference symbol list 10 vehicles 11. Roadway turn 12, 13, 17, 18 Turning lane 14, 19 Close range 15, 20 long range 16, 21 Subsequent area Area 22 S10 Receiving position data S20 Receiving route map data S30 Detecting the road turn S40 Determine at least one near range and at least one far range S50 Receiving a direction change signal S60 Determining a control signal S70 Providing the specified control signal

Claims

[1] Computer-implemented method for determining a control signal to perform an automatic lane change for a vehicle (10) in the area of ​​a roadway turning (11) with at least two turning lanes (12, 13) in the same direction, comprising the steps: Receiving position data for the vehicle (10) (S10), Receiving road map data (S20), Detecting the road turn (11) with at least two turning lanes (12, 13) using the road map data and the position data (S30), Determine at least one near area (14) and at least one far area (15) to the roadway turn (11) (S40), Receiving a direction change signal (S50), Determining a control signal depending on the position data, the specified near range (14) and the specified far range (15) and the received direction change signal (S60) and Providing the specified control signal to perform the automatic lane change for the vehicle (10) (S70). [2] Method according to claim 1, wherein the direction change signal comprises one or more of the following signals: - Flashing signal, - Comfort turn signal and / or - Driver's viewing angle signal [3] Method according to claim 2, wherein, if a comfort flashing signal and / or a viewing angle signal is present in the remote area (15), the control signal includes initiating an automatic lane change of the vehicle (10). [4] Method according to claim 2 or 3, wherein, if a stop flash signal is present in the far range (15), the determination of the control signal is further carried out depending on at least one first lane change probability criterion, and if at least one lane change probability criterion is met, the control signal includes initiating an automatic lane change, in particular where the at least one first lane change probability criterion includes one or more of the following criteria: steering angle change, presence of a branch in a route guidance system after a turn, driver's viewing angle signal, special driver reaction after HMI prompt, gesture and / or voice control. [5] Method according to any one of the preceding claims, wherein, if a stop-flash signal and / or comfort flashing signal and / or viewing angle signal is present in the near area (14), the determination of the control signal is further dependent on at least one second lane-change probability criterion, and if the at least second lane-change probability criterion is met, the control signal includes initiating an automatic lane change, in particular, wherein the at least one The second lane change probability criterion includes one or more of the following criteria: approaching the lane marking and changing the steering angle, crossing the lane marking and changing the steering angle. [6] Method according to any of the preceding claims, further comprising: Determining a successor area (16), where the subsequent area follows the immediate area, wherein, if the vehicle (10) is in the following area (16), the control signal does not include initiating an automatic lane change or no control signal is issued to initiate an automatic lane change. [7] Method according to one of the preceding claims, wherein the determination of the at least one near range (14) is based on a predetermined first value and the determination of the at least one far range (15) is based on a predetermined second value. [8] Method according to any one of the preceding claims, Receiving historical vehicle data of the vehicle (10), wherein the determination of at least one near range (14) and at least one far range (15) is based on the received historical vehicle data of the vehicle (10), and / or Receiving swarm data, wherein the determination of at least one near area (14) and at least one far area (15) to the roadway turn is based on the received swarm data, and / or wherein the determination of at least one near range (14) and / or at least one far range (15) is based on the received user input. [9] Method according to any of the preceding claims, further comprising: Receiving traffic density data, the control signal is determined depending on the received traffic density data. [10] Device (30) for data processing, comprising means for carrying out a method according to any one of claims 1 to 9. [11] Computer program product comprising instructions which, when the program is executed by a computer, cause it to execute the method according to any one of claims 1 to 9. [12] Computer-readable storage medium comprising instructions which, when executed by a computer, cause it to execute the method according to any one of claims 1 to 9. [13] Lane change assist system (40), comprising a data processing device according to claim 10. [14] Vehicle (50) with a lane change assist system (40) according to claim 13.

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