METHOD FOR RELEASING AN ASSISTED LANE CHANGE FOR A MOTOR VEHICLE

Description

[0001] The invention relates to a method for releasing at least an assisted lane change for a motor vehicle. The invention also relates to a motor vehicle for carrying out such a method.

[0002] A motor vehicle may be equipped with a driver assistance system that is designed, for example, to take over at least some lateral control of the vehicle, i.e., its steering. The driver assistance system may, for instance, be designed to keep the vehicle in a lane that is bounded perpendicular to the vehicle's direction of travel by two lane markings. Furthermore, the driver assistance system may be designed to perform at least an assisted lane change between at least two lanes of a road, for example, whenever the driver activates the vehicle's turn signal and / or another enabling condition for the assisted lane change is met.The other release condition may, for example, require that lane markings are arranged between the lanes on the road and that these can be detected by a sensor device of the motor vehicle.

[0003] German patent DE 10 2011 078 685 A1 discloses a roadside detection system for a motor vehicle to detect the side of a road being traveled on. In this context, for example, the distance to an object on the roadside and / or the object's reflection intensity can be detected.

[0004] EP 3 617 937 A1 discloses an image processing device for determining the distance to an object. This device can determine the distance between the first and second reference lines of the object. The reference lines can be road markings.

[0005] CN 110570347 A discloses a method for graying a color image for lane detection in order to improve lane detection accuracy.

[0006] The generic patent DE 10 2018 114 912 A1 discloses a method for classifying the color of a road marking in the vicinity of a motor vehicle using a driver assistance system. A sensor in the driver assistance system captures an image of the surroundings, including the road marking, and evaluates this image with respect to the color of the road marking for classification by means of an electronic computing unit within the driver assistance system. Using a statistical road marking identification model, the color of the road marking is classified by evaluating a color value of the captured road marking, and a confidence value is output for the classified road marking color, depending on the road marking identification model.

[0007] The publication "A robust multi color lane marking detection approach for Indian scenario" by LNP Boggavarapu et al. (International Journal of Advanced Computer Science and Applications, Vol. 2, No. 5, 2011, pages 71 - 74) shows comparative experimental results of a proposed approach for lane detection.

[0008] The object of the invention is to provide a solution by means of which a lane marking can be reliably detected and evaluated.

[0009] The problem is solved by the subject matter of the independent patent claim and the dependent patent claim.

[0010] A first embodiment of the invention relates to a method for authorizing at least an assisted lane change for a motor vehicle according to claim 1. The invention is based on the understanding that the color of a lane marking is often a regulatory element that can be used as a condition for authorizing at least an assisted lane change, particularly if at least one predefined requirement is placed on the color of the lane marking. In other words, it may be stipulated, for example, that an assisted lane change is prohibited and therefore inadmissible if the color of the lane marking does not correspond to a preset color. Thus, it may be stipulated, for example, that a lane change—that is, driving over the white lane marking to reach the lane to which the change is to be made—is only permitted when the lane marking is white.Conversely, an assisted lane change may be prohibited if the lane markings are a different color. This could be because, for example, traffic regulations in effect at the location of the desired lane change specify the color of the lane markings at which a lane change is permitted.

[0011] It is also known that typically, when evaluating, for example, camera data describing lane markings in the vicinity of a vehicle, only one shape of lane marking is recognized and / or one lane marking type is evaluated. Thus, it can be determined, for example, that the lane marking is a clothoid line and / or a solid or dashed line. Such an evaluation of the camera data is typically based on machine learning methods, for example, an artificial neural network. Based on the shape and / or the lane marking type, at least one release condition for a possible assisted lane change can be checked.However, it is particularly useful to also or alternatively consider the color of the lane markings, as this may have an influence on whether changing lanes is permitted at all.

[0012] However, the color of the lane marking that is detected can be misinterpreted, for example, depending on the situation or ambient light. For instance, a lane marking that is actually white can appear yellow or orange when the vehicle's turn signal is activated, thus changing its color. It is therefore advisable to provide a color-coded signal for the assisted lane change.

[0013] The method according to the invention comprises the following steps: Color information is determined that describes the color of a lane marking in a lane in which the motor vehicle is traveling. This color information is determined by evaluating sensor data that describes the color of the lane marking. The sensor data can, for example, be camera data describing the vehicle's surroundings, particularly in the front area of ​​the vehicle. The camera data can be acquired using a camera on the vehicle, for example, a front camera, a side camera, and / or a 360-degree camera. Alternatively or additionally, the camera data can be acquired using a rear camera. The color information can be determined by evaluating image pixels of the camera data that have been classified and / or segmented as belonging to the lane marking.Determining color information can be based on image processing and / or machine learning methods, for example, a neural network. Lane markings, for instance, are median markings that define the boundary between two adjacent lanes.

[0014] The lane marking is designed, for example, as a road surface or floor marking, that is, as a white, orange or other colored stripe on a surface of the road surface or floor.

[0015] A further procedural step involves determining color percentage information. This color percentage information describes the portion of a vehicle's route where the lane marking displays a preset color. This information is determined by evaluating route information that describes the distance traveled by the vehicle. Additionally, the color percentage information is determined by evaluating the color information already gathered. Ultimately, the system checks whether, for example, the lane marking displayed the preset color within the last 500 meters of the route and, if so, what percentage of the total route was covered by this color.For example, it can be specified that the color percentage information is 98 percent, meaning that the lane markings on the considered stretch of road (e.g., 500 meters) exhibited the preset color 98 percent of the time, and thus only 2 percent were a color other than the preset. The color percentage information is given, for example, as a percentage value. Alternatively or additionally, the color percentage information can describe the stretch of road, in meters, for which the lane markings exhibited the preset color. The preset color is preferably white, but could alternatively be, for example, orange or another color. The stretch of road information can be specified, for example, for the last 500 meters or for a stretch of road of an alternative length.

[0016] Alternatively or additionally, the color percentage information describes the proportion of a vehicle's driving time during which the lane marking displays the preset color. This color percentage information is determined by evaluating driving time data that describes the vehicle's travel time and by evaluating the resulting color information. The percentage can therefore be time-dependent, indicating, for example, the percentage of the total driving time to date for which the lane marking displayed the preset color. Instead of the total driving time to date, a limited time window can be specified, such as the last 5 seconds, starting from a current time.

[0017] The system then checks the determined color percentage information. If the determined color percentage exceeds a certain threshold, a release message is generated. This message indicates that the lane change, at least with assistance, is permitted. For example, a color percentage threshold of 90 percent might be specified, so that, in the example above, with a color percentage of 98 percent, the check is successful, and the release message is generated. Alternatively, the release message can be interpreted as a signal, indicating to the vehicle, for example, that the lane change, at least with assistance, is allowed—that is, that it is currently possible in principle.

[0018] If the determined color percentage information is less than or equal to the color percentage information threshold, a prohibition message is generated. This message indicates that enabling at least an assisted lane change is prohibited. In other words, no assisted lane change can be performed when a prohibition message is generated. For example, with a color percentage of 90 percent or less, an assisted lane change may not be possible because the prohibition message is generated.

[0019] Therefore, it can be quickly and easily checked by evaluating the sensor data whether the color of the lane marking allows for an assisted lane change or not. The lane marking is thus reliably detected and evaluated.

[0020] Assisted lane changes are lane changes that are intended, for example, when a driver assistance system, such as a lane change assistant, is activated. Furthermore, the lane change authorization or prohibition information can influence at least semi-automatic and, in particular, fully automatic lane changes. Therefore, this method can also be used to determine whether at least semi-automatic and, in particular, fully automatic lane changes can be performed.

[0021] The described process steps—that is, determining the color information and the color component information, checking how the color component information relates to the color component information limit value, and providing the release or prohibition information—can be carried out by means of a vehicle control device. The control device can be a central control unit of the vehicle, which, for example, is designed to implement the driver assistance system and / or the semi-automatic, and in particular the fully automatic, driving function, meaning at least assisting with the longitudinal control of the vehicle. Furthermore, individual process steps, such as determining the color information, can be carried out by means of a control unit of a sensor device of the vehicle that provides the sensor data. The sensor device can be the vehicle's camera.

[0022] In a further procedural step, it may be provided that, if the release information has been provided, at least the assisted lane change is carried out. For this purpose, at least the lateral guidance of the vehicle can be controlled by the vehicle's control device.

[0023] It may be stipulated that the procedure is only carried out if it is determined that the vehicle is traveling on a motorway. For example, before determining the color information, it may be checked whether the vehicle is on a motorway or not, with the subsequent procedural steps only being carried out if the vehicle is indeed on a motorway. Thus, it may be stipulated that at least the assisted lane change is only intended for a specific type of road, such as a motorway.

[0024] One embodiment provides that the route for which the color proportion information is determined has a length greater than a minimum route length. It can therefore be provided that the color proportion information always refers to a section of the route that extends at least beyond the minimum route length. The minimum route length can be, for example, 10 meters, 20 meters, 50 meters, 100 meters, 200 meters, 300 meters, 400 meters, 500 meters, 700 meters, 1 kilometer, 2 kilometers, 5 kilometers, and especially 10 kilometers. The minimum route length can be any value between these specified values.If the route information is only available for a route length that is less than or equal to the minimum route length, it may be possible to prevent the determination of color percentage information, as the route to be evaluated might be considered too short to be sufficiently meaningful. This prevents short routes, such as those less than 10 meters in length, from being considered, as color percentage information can only be determined very locally for these sections. The longer the minimum route length, the less impact short-term or localized changes in the lane marking color will have if they deviate from the preset color. Therefore, specifying a minimum route length makes the process particularly robust.

[0025] Alternatively or additionally, the travel time for which the color proportion information is determined may be longer than a minimum travel time. In other words, the color proportion information may always refer to a portion of the travel time that extends at least beyond the minimum travel time. This minimum travel time may, for example, include the last 5 seconds, the last 10 seconds, the last 30 seconds, the last minute, the last 3 minutes, the last 5 minutes, the last 10 minutes, the last 15 minutes, the last half hour, or, in particular, the last hour, starting from the current time. The minimum travel time may be any value between these specified values.If the route information is only available for a travel time that is less than or equal to the minimum travel time duration, it may be possible to refrain from determining the color percentage, as the travel time to be evaluated might be considered too short to be sufficiently meaningful. This also results in a particularly robust method.

[0026] An additional embodiment involves checking whether a color change has occurred between the preset color and a different color, based on the determined color information. In other words, it checks whether, for example, the lane marking color has changed, at least locally, from white to orange or a different color, or between two colors other than those mentioned above. If a color change to the other color has occurred, duration information is determined. This duration information describes the length of time for which the color information represents the other color. The duration information can be specified, for example, in seconds and / or in the acquisition cycles of a sensor device, such as the vehicle's camera. An acquisition cycle could, for example, last 20 milliseconds.It can therefore be determined, for example, that for 5 seconds the determined color information indicates an orange lane marking and not, as before, a white lane marking.

[0027] If the determined duration information is less than a specified time limit, the system assumes that the lane marking displayed the preset color during that time when determining the color percentage. For example, if the time limit is set to 3 seconds, but the time information indicates only one second with an orange lane marking (a different color than the preset), this brief period of the other color is ignored, and the system continues to assume that the lane marking displayed the preset color (white in this example). This prevents the prohibition information from being generated if the lane marking color changes only briefly.Ultimately, this provides a filter that prevents the prohibition information from being issued for only brief color changes, which can be estimated using the duration threshold. Instead, the permit information is still provided. This prevents, for example, temporary changes in lighting or the detection of an orange flashing light from another road user or the vehicle itself, which results in the assisted lane change being prohibited due to an orange tint on the otherwise white lane marking. This increases the robustness of the procedure.

[0028] Another embodiment involves determining the number of color changes, which describes the number of color changes between the preset color and a different, unpreset color. For example, it can be determined how often such a color change is observed per second. The system then checks whether the determined number of color changes is less than a defined threshold. Only if this is the case is the release information provided. This allows, for example, the determination of whether there is an uncertainty regarding color detection by, for example, the sensor device (i.e., the camera), due to numerous color changes occurring in a short period. If the number of color changes is greater than or equal to the threshold, the prohibition information is provided.This could indicate at least limited functionality and / or a defect and / or a malfunction of the sensor device.

[0029] In an additional embodiment, the color change count information describes the number of color changes as a function of time and / or distance. This allows for the specification of the number of color changes per unit of time, for example, per second or minute, and / or the number of color changes per unit of distance, for example, per meter or kilometer. This enables the precise provision of a respective color change count threshold, which can also be defined as either time-dependent and / or distance-dependent. This makes the accuracy of the color change count verification relative to the color change count threshold particularly reliable.

[0030] Furthermore, one embodiment provides that the determined color information describes a hue of the color. The hue can be taken into account when determining the color fraction information. The color fraction information can be predefined depending on the hue. For example, it can be determined that the hue of the white lane marking has a yellow tint, so that, for example, white with a 10 percent yellow component can be defined as the hue. The color tint of the preset color, i.e., the yellow tint, is further taken into account, so that, for example, the color fraction information threshold can be set lower than it would be for a different hue, for example, a hue with a smaller or different color tint. If, for example, the color tint and thus the hue is changed, a lower color fraction information threshold can be selected than before.The color cast can be caused, for example, by current lighting conditions. This prevents unwanted false triggering of the prohibition information simply because the color tone deviates from the pure preset color.

[0031] Furthermore, it provides an embodiment in which turn signal activation information is determined. This information indicates that a turn signal on the vehicle has been activated. While the turn signal is activated according to this information, the determination of the color component assumes that the lane marking remains the same color it was before the turn signal was activated. The system checks whether the lane marking color changes while the vehicle's turn signal is activated, for example, from the preset color to another color. Such a case could occur, for instance, if the preset color is white and the turn signal is yellow or orange.While the flashing light is activated, the system might mistakenly identify a different color as the lane marking color, triggering the prohibition signal even though the lane marking color hasn't actually changed. In such cases, it's advisable to ignore any color information that deviates from the preset color while the flashing light is active. The system assumes the lane marking color hasn't changed, so, for example, the permit signal continues to be displayed. This makes the process particularly robust when the flashing light is activated.

[0032] Furthermore, one embodiment provides that, once the flashing light is deactivated, a check is performed to see if the detected color information for a minimum distance and / or duration differs from the preset color. If so, the prohibition information is provided. This takes into account the scenario where, for example, the vehicle enters a construction zone while the flashing light is activated, where, for instance, the lane markings have changed from white to orange. This significant change in color information should then be detected and addressed as quickly as possible by selecting a corresponding minimum distance or duration; that is, the prohibition information should be provided if necessary. The minimum distance could be, for example, 300 meters, but more specifically, 50 meters, 100 meters, or 200 meters.Alternatively, the minimum distance traveled can be 500 meters or 1 kilometer. The minimum duration can be, for example, 1 second, 2 seconds, 3 seconds, 5 seconds, or, in particular, 10 seconds. The change in lane color combined with a vehicle's turn signal can therefore be detected and taken into account particularly quickly.

[0033] According to an additional embodiment, the color component information limit, the duration limit, the minimum driving distance, and / or the minimum duration are selected, at least partially, depending on situational information. Situational information describes the current situation in which the vehicle finds itself. Thus, the vehicle's current environmental situation can be taken into account, and the corresponding limit, minimum driving distance, and / or minimum duration can be adjusted accordingly.This takes into account, for example, that visibility of the lane markings may be lower in rain than in sunshine. Therefore, a lower color information threshold may be set compared to good weather, as the sensor data is subject to greater inaccuracy compared to data recorded in sunshine. Similarly, the other values ​​mentioned—the time-duration threshold, the minimum distance traveled, and / or the minimum duration—can be adjusted to the current situation. This enables a situation-dependent and thus particularly flexible procedure.

[0034] Another embodiment provides that the situation information is determined by evaluating at least one of the following pieces of information: The situation information can be determined by evaluating weather information. The weather information describes weather conditions, in particular rain, in the vicinity of the vehicle. The weather information is determined, in particular, taking into account windshield wiper activation information, which describes the activation of a windshield wiper on the vehicle. Alternatively or additionally, the weather information can be determined using a rain sensor on the vehicle.The windshield wiper activation information and rain sensor data can be determined for the vehicle itself or provided by another vehicle, such as one in the vicinity, which might provide weather information via a vehicle-to-vehicle communication link. This weather information can determine whether it is currently raining, which can affect the accuracy of the sensor data and thus the resulting color information.

[0035] Alternatively or additionally, the status information can be determined by evaluating brightness information. Brightness information describes the brightness of the vehicle's surroundings. This information is typically obtained using a brightness sensor, especially one located on the vehicle. For example, the brightness information can distinguish between day and night. When driving at night, the lighting conditions differ from those during daytime driving, as the sensor data is acquired under different conditions, such as those caused by the vehicle's lights and / or street lighting. The brightness information can, for instance, indicate whether the ambient lighting around the vehicle has a specific color and / or hue, which could potentially influence the color of the determined color information.

[0036] Alternatively or additionally, the status information can be determined by evaluating a lighting status information. This lighting status information describes the lighting status of a vehicle's lighting device. The lighting device is, for example, a headlight and / or a taillight. The lighting status information can, in particular, describe whether the vehicle's high beams are activated or not. It is assumed that with the high beams activated, the lane markings can be detected with greater accuracy in terms of their color than, for example, when driving with low beams or without any lighting device activated. In such cases, more precise color information can be assumed than with a correspondingly different lighting status.

[0037] Alternatively or additionally, situational information can be determined by evaluating environmental information. Environmental information describes the vehicle's surroundings. This information is determined primarily by considering sensor data. For example, it can take into account the type of road and / or the type of area the vehicle is on. If, for instance, the environmental information indicates that the vehicle is currently in a tunnel, this can also affect the lane illumination and thus the determined color information.

[0038] Depending on the current situation, which is described by weather information, brightness information, light status information, and / or environmental information, a different color component information threshold, time duration threshold, minimum driving distance, and / or minimum duration may be appropriate. The procedure can therefore be carried out in a situation-differentiated manner.

[0039] In an additional embodiment, the color percentage information threshold, the duration threshold, the minimum distance traveled, and / or the minimum duration can be selected, at least partially, based on the color percentage information for the section of road with the minimum distance traveled. The color percentage information for the section of road with the minimum distance traveled can alternatively be designated as historical trip information, indicating, for example, that the lane markings displayed the preset color for 90 percent of the last 500 meters. This takes into account which color, i.e., which color information, was recorded for the previously traveled section, as it can be assumed that typically few local color changes are observed with regard to the lane markings.For example, in the case of a worn and therefore poorly visible lane marking, it can be ruled out that a color change has occurred based on the already recorded color proportion information for the route with the minimum distance traveled, since it is assumed that the color of the lane marking has probably not changed or does not change frequently.

[0040] An additional embodiment involves determining position information that describes the vehicle's location. This position information describes the country where the vehicle is located. In other words, it describes the country where the vehicle is situated or currently driving. The preset color can be predetermined based on the determined position information. This allows for consideration of countries like Japan or Korea where lane markings may have a different preset color than, for example, in Europe or other countries with predominantly white lane markings.This allows the appropriate preset color to be selected depending on the position and, in particular, the country, so that the release information or the prohibition information can be provided in accordance with locally applicable traffic rules.

[0041] Alternatively or additionally to determining the position information, predefined country information can be provided in the vehicle, describing, for example, the country for which the vehicle was manufactured. This country information can alternatively be referred to as coding information and can, for example, be predefined for the vehicle. If, for example, the position information cannot be determined, the locally appropriate preset color can still be selected based on the predefined country information for the vehicle.

[0042] Furthermore, it can be provided that several preset colors are specified depending on the determined position information. For example, for a position in Canada, the release information could be specified for the preset color white, as well as for the preset colors orange or yellow. Thus, depending on local traffic regulations, it is possible to differentiate not only which preset color is specified, but also how many preset colors are specified. It is therefore possible to differentiate in detail under which colors or color changes the described process steps can or cannot be triggered.

[0043] According to a further embodiment, the sensor data in the motor vehicle is acquired by means of a sensor device. The sensor device is, in particular, the camera, for example, the front camera of the motor vehicle. Alternatively, the camera can be the rear camera, the side camera, and / or the 360° camera of the motor vehicle. Alternatively or additionally, the sensor data can be received as swarm data provided by another vehicle, which may also be a motor vehicle. In this case, the swarm data includes at least information about the color of the lane marking. The swarm data can be transmitted to the motor vehicle, for example, via vehicle-to-vehicle communication. The swarm data can be provided directly to the motor vehicle by the other vehicle or via an external computing device, such as a server.This ensures that the maximum possible and optimal sensor data is always available. For example, the color of the lane markings can be determined solely by other vehicles in the vicinity, which might have a higher-quality camera than the vehicle itself. The vehicle can still perform the process because the colors needed to determine the color information are provided to it. It is also possible for the color information to be transmitted directly.

[0044] The information can be provided in the form of data. For example, color information can be provided using color data, route information using route data, color proportion information using color proportion data, enable information using enable data, prohibition information using prohibition data, duration information using duration data, number of color changes using color change number data, flashing light activation information using flashing light activation data, situation information using situation information data, weather information using weather data, brightness information using brightness data, light status information using light status data, and / or environmental information using environmental data.

[0045] Another embodiment of the invention relates to a motor vehicle. The motor vehicle is designed to carry out the method described above, a single embodiment, or a combination of possible embodiments. The motor vehicle can be, for example, a passenger car, a truck, a bus, and / or a motorcycle.

[0046] The motor vehicle may include a control device. The control device includes a processor unit configured to carry out the method according to the invention or an embodiment thereof, individually or in combination, as applicable. For this purpose, the processor unit may include at least one microprocessor and / or at least one microcontroller and / or at least one FPGA (Field Programmable Gate Array) and / or at least one DSP (Digital Signal Processor). Furthermore, the processor unit may include program code configured to carry out the method according to the invention or an embodiment thereof, individually or in combination with at least one other embodiment, when executed by the processor unit. The program code may be stored in a data memory of the processor unit.

[0047] Another embodiment, which, however, is not part of the present invention, relates to a computer program product, which can, for example, be a computer program. The computer program product comprises instructions which, when the program is executed by a computer, for example by the control unit of the motor vehicle, cause it to carry out the method described above as well as one or more embodiments of the method according to the invention.

[0048] The invention also includes combinations of the features of the described embodiments, that is, the exemplary embodiments.

[0049] The following describes exemplary embodiments of the invention. This is illustrated by: Fig. 1 a schematic representation of a motor vehicle traveling on a road; Fig. 2 a schematic representation of a signal flow graph of a method for enabling at least an assisted lane change for a motor vehicle; and Fig. 3 a schematic representation of various possibilities for providing situation information.

[0050] In the figures, functionally identical elements are each provided with the same reference symbols. Fig. 1Figure 1 shows a motor vehicle 1 traveling on a road 2 in lane 3 in a direction 4. Another vehicle 5 is also traveling on the same road 2, its direction 4 corresponding to that of motor vehicle 1. The depicted road 2 is, for example, a highway with two parallel lanes 3 for the shared direction 4. The two lanes 3 are separated by a lane marking 6, which is shown here as a dashed line, i.e., a broken lane marking 6. At the outer edges of the road 2, this may be delimited by solid lines as the lane marking 6. It is also shown that motor vehicle 1 has already traveled a distance 7 in lane 3. This distance 7 may, for example, be 500 meters long.

[0051] The motor vehicle 1 has a sensor device 8, which here is configured as a camera, in particular as a front camera. Furthermore, the motor vehicle 1 has a control device 9, which is configured at least to provide a driver assistance system 10 that can, for example, perform an assisted lane change for the motor vehicle 1. The control device 9 can therefore be configured to control at least one lateral control mechanism of the motor vehicle 1.

[0052] The vehicle 1 can have a communication interface 11. The communication interface 11 of the vehicle 1 can be connected to a communication interface 11 of another vehicle 5, for example, via a communication link 12, so that swarm data 13 can be sent from the other vehicle 5 and received by the vehicle 1 via the communication link 12. Alternatively or additionally, the swarm data 13 can be provided by an external computing device, such as a server, and made available to the vehicle 1, for example, via a communication link 12 between the external computing device and the communication interface 11 of the vehicle 1.The communication link 12 can be wireless, in particular wireless, for example via a wireless local area network (WLAN), a Bluetooth connection and / or a mobile data network, for example based on the mobile communication standard Long Term Evolution (LTE), Long Term Evolution Advanced (LTE-A), Fifth Generation (5G) or Sixth Generation (6G).

[0053] The motor vehicle 1 may have a position detection device 14, which is configured to detect the position of the motor vehicle 1, in particular the country in which the motor vehicle 1 is currently traveling. Furthermore, the motor vehicle 1 may have a lighting device 15, such as headlights, which can illuminate the area around the motor vehicle 1. The lighting device 15 may also provide a flashing light for the motor vehicle 1, which can be manually activated, for example, by the driver of the motor vehicle 1. The motor vehicle 1 may also have a brightness sensor that can detect the brightness of the area around the motor vehicle 1. In addition, the motor vehicle 1 may, for example, have a windshield wiper control device 17 for a windshield wiper of the motor vehicle 1 and / or a rain sensor 18 for detecting rain.Both the windscreen wiper control unit 17 and the rain sensor 18 can, in principle, detect whether it is currently raining or not.

[0054] In Fig. 2 A procedure for authorizing at least an assisted lane change for a motor vehicle 1 is outlined. In a preliminary step S0, sensor data 20 is provided, for example. The sensor data 20 can be acquired in the motor vehicle 1 using the sensor device 8, i.e., for example, using the camera. Alternatively or additionally, the sensor data 20 can be received as swarm data 13 provided by the other vehicle 5. The sensor data 20 is characterized by describing at least one color of the lane marking 6, where the lane marking 6 defines the lane 3 in which the motor vehicle 1 is traveling.

[0055] In process step S1, color information 21 is determined, describing the color of the lane marking 6 of lane 3, in which the vehicle 1 is traveling. Color information 21 is determined by evaluating sensor data 20. Subsequently, in process step S2, color fraction information 23 is determined. This is done by evaluating the determined color information 21 and by evaluating distance information 22, which describes the distance 7 traveled by the vehicle 1 in lane 3. The determined color fraction information 23 describes a portion of the vehicle 1's distance 7 in which the lane marking 6 exhibits a preset color. Alternatively or additionally, the determined color fraction information 23 describes a portion of the vehicle 1's travel time during which the lane marking 6 exhibits the preset color.This is done by evaluating the determined color information 21 and by evaluating travel time information that describes the travel time of the motor vehicle 1. The preset color can be, for example, white.

[0056] In a further process step S3, it is checked whether the determined color component information 23 is greater than a color component information limit value 24. If it is determined that the determined color component information 23 is greater than the color component information limit value 24, a release information 25 is provided in a process step S4. The release information 25 indicates that the at least assisted lane change is authorized. This allows, for example, the driver assistance system 10 to receive the message that it can perform the at least assisted lane change if this is situationally appropriate. However, if it is determined in process step S3 that the determined color component information 23 is less than or equal to the color component information limit value 24, a prohibition information 26 is provided in a process step S5.Prohibition Information 26 describes that releasing the lane change, even with assistance, is prohibited. Consequently, for example, the lateral guidance of the vehicle 1 cannot be controlled by the driver assistance system 10 in such a way as to initiate a lane change.

[0057] Furthermore, in process step S6, it may be provided that, after the release information 25 has been provided, at least the assisted lane change is carried out. The control device 9 can then, for example, be used to control the lateral guidance of the motor vehicle 1 to carry out the assisted lane change, in particular a semi-automatic or even fully automatic lane change.

[0058] It may be provided that the color proportion information 23 is determined based on the fact that the route 7, according to route information 22, has a route length greater than a minimum route length 27. The minimum route length 27 is, for example, 500 meters. Alternatively or additionally, it may be provided that the color proportion information 23 is determined based on the fact that the travel time for which the color proportion information 23 is determined has a travel time duration greater than a minimum travel time duration. The minimum travel time duration is, for example, 5 seconds, starting from a current time.

[0059] In process step S7, it can be checked whether, according to the determined color information 21, a color change has occurred between the preset color, i.e., for example, between the color white, and a different color, such as orange or yellow. If the color change to the other color has occurred, a duration information 28 is determined in process step S8. The duration information 28 describes the duration for which the color information 21 describes the other color. In process step S9, it is checked whether the duration information 28 is less than a duration limit value 29. If the determined duration information 28 is less than the duration limit value 29, it is assumed, when determining the color proportion information 23 in process step S2, that the lane marking 6 displayed the preset color for that duration.Therefore, any color changes are ignored, as these were only detected within a time period shorter than the time duration limit 29. If, for example, it is determined in process step S7 that no color change has occurred, process step S0 or process step S1 can be repeated. If the check in process step S9 is unsuccessful, that is, if the time duration information 28 is greater than or equal to the time duration limit 29, this is taken into account, and, for example, a corresponding color change to the other color is detected. This may result in a negative check in process step S3, meaning that ultimately the prohibition information 26 is provided.

[0060] In process step S10, a color change count information 30 can be determined. This information describes the number of color changes between the preset color and a different, undefined color. In process step S11, it can then be checked whether the determined color change count information 30 is less than a color change count limit 31. If this is the case, and only if this is the case, the release information 25 is provided, meaning, for example, process step S4 is carried out. If the check is negative, meaning if the determined color change count information 30 is greater than or equal to the color change count limit 31, the prohibition information 26 can be provided in process step S5. The color change count information 30 indicates the number of color changes, preferably as a function of time and / or distance.

[0061] It may be stipulated that the determined color information 21 describes a hue 32 of the color. The hue 32 can be taken into account when determining the color component information 23. In addition, the color component information limit value 24 can be specified depending on the hue 32.

[0062] In process step S12, flasher activation information 33 can be determined. Flasher activation information 33 describes that the flasher of the motor vehicle 1 has been activated, meaning that the lighting device 15 has been activated to provide the flashing light. While the flasher is activated according to the determined flasher activation information 33, when determining the color component information 23, it is assumed that the lane marking 6 retains the color it had before the flasher was activated according to flasher activation information 33. The duration for which the flasher was activated can then be ignored, as any color change during the activated flasher is assumed to be an unregistered color change.

[0063] Once the flashing light is deactivated, procedure step S13 can be used to check whether the determined color information 21 for a minimum distance 34 and / or minimum duration 35 has a different color than the preset color. If this is the case, i.e., if this check is successful, the prohibition information 26 can be provided directly according to procedure step S5. If the determined color information 21 does not have the different color for the minimum distance 34 and / or minimum duration 35, but, for example, still has the preset color, procedure step S3 can then be carried out.

[0064] In Fig. 3Situation information 36 is schematically represented, depending on which, for example, the color component information limit value 24, the duration limit value 29, the minimum driving distance 34, and / or the minimum duration 35 can be selected. Situation information 36 describes a current situation in which the motor vehicle 1 finds itself. Situation information 36 can be determined, for example, based on one of four pieces of information, namely by evaluating weather information 37, brightness information 38, light status information 39, and / or environmental information 40. Weather information 37 describes weather conditions, in particular rain, in the vicinity of the motor vehicle 1. Weather information 37 can be provided taking into account data from the windshield wiper control unit 17.Therefore, windshield wiper activation information, which describes the activation of the windshield wipers, can be taken into account for this purpose, whereby the windshield wiper activation information can be acquired and provided by the windshield wiper control unit 17. Alternatively or additionally, the weather information 37 can be provided and / or evaluated by means of the rain sensor 18. It is also possible that the weather information 37 is provided by the external computing unit and / or the other vehicle 5. The brightness information 38 describes a brightness level in the vicinity of the vehicle 1 and can be provided or determined by means of the brightness sensor 16. The light status information 39 describes a light status of the lighting device 15 of the vehicle 1 and is therefore provided, for example, by the lighting device 15.The light status information 39 can, in particular, describe whether the high beam of vehicle 1 is activated or not. The environmental information 40 describes the environment of vehicle 1 and is determined taking into account the sensor data 20. The environmental information 40 can, for example, describe that vehicle 1 is currently driving through a tunnel.

[0065] The color proportion information limit value 24, the duration limit value 29, the minimum travel distance 34, and / or the minimum duration 35 can also be selected depending on the color proportion information 23 for the travel distance 7, whose travel distance is greater than or equal to the minimum travel distance 27. Thus, historical data can ultimately be taken into account, describing the proportion of, for example, lane markings 6 in the preset color over the last 500 meters, so that, for example, it can be assumed that a sudden color change is rather unlikely, and therefore this historical information is relevant to the current or future color of the lane marking 6.

[0066] Furthermore, position information describing the position of the vehicle 1, in particular the country in which the vehicle 1 is located, can be determined using the position detection device 14 of the vehicle 1. The preset color can be specified depending on the determined position information. Alternatively or additionally, the vehicle 1 can contain preset country information describing the country for which the vehicle 1 was manufactured. Depending on the determined position information, several preset colors can be specified, for example, white and orange / yellow for the country Canada as position information. It can also be taken into account that there are countries where lane changes are not only possible with white lane markings 6, but also, for example, with lane markings of other colors 6.

[0067] Overall, the examples demonstrate a method for controlling the robustness of an assisted lane change. Reference symbol list

[0068] 1 Motor vehicle 2 Road 3 Lane 4 Direction of travel 5 Vehicle 6 Lane marking 7 Distance traveled 8 Sensor device 9 Control device 10 Driver assistance system 11 Communication interface 12 Communication connection 13 Swarm data 14 Position determination device 15 Lighting device 16 Brightness sensor 17 Windscreen wiper control device 18 Rain sensor 20 Sensor data 21 Color information 22 Distance travel information 23 Color proportion information 24 Color proportion information limit value 25 Approval information 26 Prohibition information 27 Minimum distance traveled 28 Duration information 29 Duration limit value 30 Number of color changes information 31 Number of color changes limit value 32 Hue 33 Flashing light activation information 34 Minimum distance traveled 35 Minimum duration 36 Situation information 37 Weather information 38 Brightness information 39 Light status information 40 Environmental information S0 to S13 Procedure steps

Claims

1. Method for enabling an at least assisted lane change for a motor vehicle (1), the method comprising the following steps: - determining (S1) color information (21) which indicates a color of a lane marking (6) of a lane (3) on which the motor vehicle (1) is traveling, by evaluating sensor data (20) which indicate the color of the lane marking (6); characterized by - determining (S2) color proportion information (23) which indicates a proportion of a route (7) of the motor vehicle (1) in which the lane marking (6) has a preset color, and / or a proportion of a travel time of the motor vehicle (1) in which the lane marking (6) has the preset color, the color proportion information (23) which indicates the proportion of the route (7) being determined by evaluating route information (22) which indicates the route (7) traveled by the motor vehicle (1) and by evaluating the determined color information (21), and the color proportion information (23) which indicates the proportion of the travel time being determined by evaluating travel time information which indicates the travel time of the motor vehicle, and by evaluating the determined color information (21); - providing (S4) enabling information (25) which indicates that the at least assisted lane change is enabled, if the determined color proportion information (23) is greater than a color proportion information limit value (24), and - providing (S5) prohibition information (26) which indicates that the enabling of the at least assisted lane change is prohibited, if the determined color proportion information (23) is less than or equal to the color proportion information limit value (24).

2. Method according to claim 1, wherein the route (7) for which the color proportion information (23) is determined has a route length which is greater than a minimum route length (27), and / or the travel time for which the color proportion information (23) is determined has a travel duration which is greater than a minimum travel duration.

3. Method according to either of the preceding claims, wherein a check is carried out (S7) as to whether a color change between the preset color and another color deviating therefrom has occurred according to the determined color information (21), and, if the color change to the other color has occurred, duration information (28) is determined (S8) which indicates a duration for which the color information (21) indicates the other color, wherein, if the duration information (28) is (S9) less than a duration limit value (29), it is assumed when determining the color proportion information (23) that the lane marking (6) had the preset color during the duration.

4. Method according to any of the preceding claims, wherein color change number information (30) is determined (S10) which indicates a number of color changes between the preset color and another color deviating therefrom, and a check is carried out (S11) as to whether the determined color change number information (30) is less than a color change number limit value (31), wherein the enabling information (25) is provided only if this is the case.

5. Method according to claim 4, wherein the color change number information (30) indicates the number of color changes in a time-dependent and / or distance-dependent manner.

6. Method according to any of the preceding claims, wherein the determined color information (21) indicates a hue (32) of the color, the hue (32) is taken into account when determining the color proportion information (23), and the color proportion information limit value (24) is predetermined depending on the hue (32).

7. Method according to any of the preceding claims, wherein flashing light activation information (33) is determined (S12) which indicates that a flashing light of the motor vehicle (1) has been activated, wherein, while the flashing light is activated according to the determined flashing light activation information (33), it is assumed when determining the color proportion information (23) that the lane marking (6) has the same color as it had before the flashing light was activated according to the flashing light activation information (33).

8. Method according to claim 7, wherein, when the flashing light is deactivated again, a check is carried out (S13) as to whether the determined color information (21) for a minimum route (34) and / or minimum duration (35) has a different color than the preset color, wherein if this is the case, the prohibition information (26) is provided.

9. Method according to claim 8 in its references to claim 3, wherein the color proportion information limit value (24), the duration limit value (29), the minimum route (34) and / or the minimum duration (35) is selected at least partially depending on situation information (36) which indicates a current situation the motor vehicle (1) is in.

10. Method according to claim 9, wherein the situation information (36) is determined by evaluating at least one of the following pieces of information: - weather information (37) which indicates weather, in particular rain, in an environment of the motor vehicle (1), wherein the weather information (37) is determined in particular taking into account windshield wiper activation information which indicates an activation of a windshield wiper, and / or by means of a rain sensor (18); - brightness information (38) which indicates a brightness of the environment of the motor vehicle (1) and is determined in particular by means of a brightness sensor (16); - light status information (39) which indicates a light status of a lighting device (15) of the motor vehicle (1), in particular whether a high beam of the motor vehicle (1) is activated; and / or - environmental information (40) which indicates the environment of the motor vehicle (1) and is determined in particular taking into account the sensor data (20).

11. Method according to any of claims 8 to 10, in their references to claim 2, wherein the color proportion information limit value (24), the duration limit value (29), the minimum route (34) and / or the minimum duration (35) are selected at least partially depending on the color proportion information (23) for the route (7) having the minimum route length (27), so that the color that was detected for the route (7) already traveled is taken into account, since it can be assumed that typically few local color changes are to be observed with regard to the lane marking (6).

12. Method according to any of the preceding claims, wherein position information which indicates a country in which the motor vehicle (1) is positioned is determined and the preset color is specified depending on the determined position information.

13. Method according to claim 12, wherein a plurality of preset colors are specified depending on the determined position information.

14. Method according to any of the preceding claims, wherein the sensor data (20) in the motor vehicle (1) are determined by means of a sensor device (8), in particular by means of a camera, and / or are received as swarm data (13) provided by another vehicle (5).

15. Motor vehicle (1) which is designed to carry out a method according to any of the preceding claims.