Computing device for an assistance system of a vehicle for carrying out system-initiated automated lane change manoeuvres, assistance system, and method

Abstract

The invention relates to a computing device (3) for an assistance system (2) for automatic lateral control of a vehicle (1), wherein the computing device (3) is configured to: determine a free gap (26) for an automated lane change manoeuvre; output an offer signal for outputting an offer to a driver (19) for the automated lane change manoeuvre; receive attentiveness data, the attentiveness data describing a direction of view (25) and / or a head orientation of the driver (19); determine whether situational awareness of the driver (19) for the automated lane change manoeuvre exists as acceptance of the offer, wherein the situational awareness describes turning of the direction of view (25) and / or the head orientation towards a region (30, 31, 34, 35) assigned to the free gap (26); output an activation signal for automatically activating indicators (11) of the vehicle (1); and output a steering signal for actuating a steering system (9) of the vehicle (1) in order to carry out the automated lane change manoeuvre if the situational awareness exists.

Description

[0001] Computing device for a vehicle assistance system for carrying out system-initiated automated lane change maneuvers, assistance system and method

[0002] The present invention relates to a computing device for a vehicle assistance system. Furthermore, the present invention relates to an assistance system for a vehicle. Furthermore, the present invention relates to a method for automated lateral guidance of a vehicle.

[0003] Assistance systems are known from the state of the art that enable at least partially automated lateral guidance of the vehicle. Such assistance systems with partially automated lateral guidance support the driver by taking over the steering task. Unlike lane-keeping assistance systems, this support is not limited to situational interventions, such as lane departure, but continuously supports the driver in maintaining lane guidance. During operation of the assistance system, lane markings and / or the trajectory of the vehicle in front are typically recorded and used as the basis for the planned trajectory of the ego vehicle.

[0004] Some of these well-known assistance systems for partially automated lateral guidance allow the driver to temporarily remove their hands from the steering wheel. This is also referred to as a tolerated hands-off state. However, after a relatively short period of time during the operation of the assistance system, the driver is reminded of the driving task by means of visual and / or acoustic cues and prompted to return their hands to the steering wheel.

[0005] Furthermore, lane change assistance systems that assist the driver in lane-changing maneuvers are known from the prior art. In known lane change assistance systems with automated or automatic lane-changing functions, the driver typically indicates a lane-change intention through a specific operating action. If such an operating action is detected, the lane change assistance system maneuvers the vehicle along a planned trajectory into the adjacent lane or the target lane with automatic lateral guidance and, generally, also with automatic longitudinal guidance. In such lane change assistance systems, the driver's lane-change intention is usually signaled by actuating a corresponding operating element, such as a turn signal lever, to trigger direction indicators visible outside the vehicle.

[0006] The object of the present invention is to show a solution how automated lane change maneuvers can be improved with regard to safety and comfort.

[0007] This object is achieved according to the invention by a computing device, an assistance system, and a method having the features according to the independent claims. Advantageous developments of the present invention are specified in the dependent claims.

[0008] A computing device according to the invention for an assistance system for automated lateral guidance of a vehicle is configured to determine a free gap for an automated lane-changing maneuver based on environmental data. Furthermore, the computing device is configured to output an offer signal for issuing an offer for the automated lane-changing maneuver to a driver. Furthermore, the computing device is configured to receive attention data, wherein the attention data describes a gaze direction and / or head orientation of the driver. Furthermore, the computing device is configured to determine whether the driver has situational awareness for the automated lane-changing maneuver as an acceptance for the offer, wherein the situational awareness describes a shift of the gaze direction and / or head orientation toward an area associated with the free gap.Furthermore, the computing device is configured to output an activation signal for automatically activating the vehicle's turn signals. Furthermore, the computing device is configured to output a steering signal for controlling a steering system of the vehicle to perform the automated lane change maneuver if situational awareness is present.

[0009] An automated lane change maneuver can be prepared and carried out using the computing device. In order to be able to assess the current traffic situation with regard to the necessity of a lane change, the computing device can receive environmental data that describes the other road users in the vicinity of the vehicle. The environmental data can describe the positions of the other road users. In particular, the environmental data can describe which lane the respective road users are currently in. In addition, the environmental data can describe the respective current speeds of the other road users. The environmental data can be received by the computing device from at least one environmental sensor of the vehicle or the assistance system. The at least one environmental sensor can be a camera, a radar sensor, a lidar sensor, an ultrasonic sensor or the like.

[0010] Using the assistance system's computing unit, the lane change maneuver can be planned from the lane the vehicle is currently in to the adjacent lane or the target lane. For example, a corresponding trajectory along which the vehicle is to be maneuvered can be calculated. To plan the lane change maneuver, it can first be checked whether or not there is a free gap for the vehicle between other road users in the adjacent lane. A free gap describes, in particular, a sufficiently large maneuvering space for a safe lane change. If a gap is detected, a check can be made to determine whether its dimensions are suitable for the lane change maneuver.

[0011] If a suitable gap for the lane change maneuver exists, the offer signal can be output by the computing device or transmitted to an output device. The output device can issue the offer or a suggestion for the automated lane change maneuver to the driver. The output device can comprise a display and output the offer to the driver visually or in the form of a display. The display can be used to visualize the current traffic situation in the vicinity of the vehicle to the driver. For example, an image of the vehicle and the other road users in the vicinity of the vehicle can be shown on the display. The lanes can also be shown on the display.

[0012] When the offer is issued, the driver can be shown a symbol that describes the planned lane change maneuver. The symbol can, for example, be a trajectory or an arrow that illustrates the movement of the vehicle during the planned lane change. Alternatively or additionally, the driver can be shown text indicating the planned lane change maneuver. Furthermore, the offer can be issued acoustically, for example in the form of an additional warning tone or as a voice announcement. Alternatively or additionally, a haptic signal can be issued to the driver with the offer. In addition, the driver attention data is received from a driver monitoring device by means of the computing device. The driver attention data that describes a current line of sight and / or a current orientation of the driver's head can be provided by means of the driver monitoring device.The driver monitoring device can, for example, comprise an interior camera directed at the driver. The driver monitoring device can determine the head position or head orientation based on the detected driver's nose. Furthermore, the driver monitoring device can determine the position of the driver's pupils and thus the driver's line of sight. The driver monitoring device can also detect whether the eyes are open or closed. The driver monitoring device can have infrared light sources so that the driver's head position and / or line of sight can be determined even when wearing sunglasses and / or in dark ambient conditions. Furthermore, the driver's posture or the alignment of his upper body can be determined based on the attention data or the data from the driver monitoring device.

[0013] Based on the data from the driver monitoring device, the driver's situational awareness with regard to the following automated lane change maneuver can be detected. If the computing device or assistance system detects the driver's situational awareness, this can be interpreted as acceptance of the offer. To verify whether situational awareness is present, the attention data is used to determine whether the driver is directing their gaze and / or head orientation toward at least one area associated with the free gap. The driver's general posture can also be considered in this assessment. Preferably, it can be checked whether the driver is performing a safety check.

[0014] This means, in particular, that the driver's situational awareness of the lane change maneuver is assumed to be given if they are looking at the free gap or in the direction of the free gap and thus securing the traffic space for the automated lane change maneuver. The driver then has full responsibility, in particular for the subsequent automated lane change maneuver. This preferably also applies to checking whether the target lane is actually clear, as already detected by the vehicle or the assistance system itself. The externally visible direction indicators can be automatically activated by the computing device in preparation for the automated lane change maneuver. In particular, the direction indicators can be activated without prior operation of a control element, such as a turn signal lever.In particular, the direction indicators can be activated automatically if the offer for the automated lane change maneuver has been accepted by the driver.

[0015] By automatically activating the turn indicators, the driver's situational awareness can be further monitored with regard to the following automated lane change maneuver. The activation of the turn indicators can also be displayed to the driver inside the vehicle. By detecting the driver's situational awareness with the activated turn indicators, the driver monitoring system can confirm that the driver is actively involved in the driving task. This also ensures that the driver can still abort the automated lane change maneuver if necessary.

[0016] Previous lane change assistance systems require the driver to operate the turn signal lever to initiate an automated lane change maneuver. In order to initiate and / or execute the automated lane change maneuver, there are predetermined operating actions that may not be intuitive for the driver. For example, it may be necessary to hold the turn signal lever in the one-touch blink position for a certain period of time, but not move it into the locked position. In comparison, confirming the lane change maneuver via the line of sight or the safety glance is intuitive for the driver. Overall, this can increase safety and comfort during automated lane change maneuvers.

[0017] If a free space for the vehicle is detected and the driver has confirmed this, the vehicle can be maneuvered into the adjacent lane at least partially automatically using the assistance system. The assistance system can intervene in the vehicle's steering or take over lateral guidance. It is preferably provided that during the automated lane change, the assistance system also takes over the longitudinal guidance of the vehicle. For example, the vehicle's speed can also be adjusted for the lane change maneuver. Preferably, the computing device is configured to output the offer signal for outputting the offer during hands-off operation by the assistance system, wherein the driver's attention is checked based on the attention data during hands-off operation.In other words, the driver can be offered the automated lane change maneuver when the vehicle is in so-called hands-off mode. In hands-off mode, the assistance system assumes automated lateral guidance to keep the vehicle within the lane. In particular, the function of a steering and lane guidance assistant or an active lane keeping assistant is provided. Preferably, in hands-off mode, the longitudinal guidance of the vehicle is also assumed in the form of adaptive cruise control (ACC). Hands-off mode represents a function in accordance with Level 2 of the SAE J3016 standard.

[0018] During hands-off operation, the driver's attention can be determined based on the attention data from the driver monitoring device. In particular, the attention data can be continuously evaluated to determine whether the driver is distracted from their actual driving task. For example, it can be checked whether the driver is keeping their eyes on the road. The driver's gaze direction and / or head orientation can be evaluated based on the attention data. If it is determined that the driver is not paying attention, hands-off operation can be interrupted, and the driver can be prompted to place their hands on the steering wheel or take control of the steering wheel.

[0019] If the driver is attentive, it is generally not necessary for the driver to touch the steering wheel with their hands and / or apply any steering torque. This generally applies provided that no predefined termination criterion for hands-off operation is met. The driver can position their hands comfortably during automated lateral guidance and especially during automated longitudinal guidance. Because the direction indicators are activated automatically, particularly after the driver has confirmed their gaze, it is not necessary for the driver to move their hands to a control element, such as a turn signal lever on the steering column switch, to confirm the lane change maneuver or to activate the direction indicators. This enables the driver to drive comfortably when initiating the lane change maneuver.

[0020] In particular, it should not be necessary that when the

[0021] During a lane-changing maneuver, a hand on the steering wheel must be detected to confirm driver attention. In this case, driver attention can be detected not only by hand position, but also by the driver's gaze direction and / or head orientation. This can ensure, at a comparable level, that the driver is performing their driving task. Furthermore, the driver can be actively and intuitively reminded of their responsibility to ensure safety.

[0022] Studies have shown that drivers are often more attentive during hands-off operation than when using a lane-keeping assistant, which requires the driver to take their hands on the steering wheel at defined intervals. This may be because the driver observes the maneuvers performed by the assistance system and the surrounding traffic more closely during hands-off operation. Driving tests have also demonstrated a high level of attentiveness during the preparation and execution of the automated lane-change maneuver with gaze confirmation. This may be due to the fact that gaze confirmation draws the driver's attention to the available space and subsequently to the execution of the automated lane-change maneuver.

[0023] Once the automated lane change maneuver has been confirmed by the driver through a validation check, the vehicle can be moved toward the target lane. The lane change maneuver can begin when the first wheel of the vehicle touches the lane marking and end when the last wheel of the vehicle crosses the lane marking. Once the vehicle is in the target lane, the automated lane guidance system can maintain the vehicle in that lane by providing hands-off operation.

[0024] According to an alternative embodiment, the computing device is configured to output the offer signal for outputting the offer during hands-on operation. The lane change instruction initiated by the assistance system can therefore also be output while the driver is touching the steering wheel or has at least one hand on the steering wheel. During hands-on operation, the assistance system can provide automated lateral guidance of the vehicle in the sense of a lane keeping assistant. In principle, it can also be provided that the lateral guidance is taken over manually by the driver. Even in hands-on operation, the driver can be shown the offer for the automated lane change maneuver. After the driver has confirmed the maneuver with his gaze, the lane change maneuver can then be carried out automatically by the assistance system.In one embodiment, the area assigned to the free gap is determined in such a way that it includes the direction of view and / or the head orientation when looking in an exterior mirror facing the free gap and / or when looking over the shoulder at the free gap. Furthermore, the area assigned to the free gap can include a view in an interior mirror of the vehicle. Based on the attention data of the driver monitoring device, it can be checked whether the driver is looking in predetermined areas or areas of interest. For example, the driver's situational awareness with regard to the future automated lane change maneuver can be confirmed by looking in the side mirror, looking in the interior mirror, looking through the side window and / or looking over the shoulder. In particular, it can therefore be checked whether the driver is looking in the direction of the exterior mirror orof the vehicle's side mirror that corresponds to the free gap or the target lane. Alternatively or additionally, it can be checked whether the driver looks over his shoulder in the direction of the free gap or the target lane.

[0025] To confirm or accept the offer, it may also be required that the driver look into at least two predetermined areas or direct their head position toward at least two predetermined areas. Thus, a corresponding combination of areas can be specified for the direction of view and / or head orientation. A defined order for the areas can also be specified. For example, to accept the offer, the driver may first need to look into an area assigned to the interior mirror and then into an area assigned to the exterior mirror.

[0026] In particular, checking the exterior mirror and / or checking the shoulder are intuitive for the driver. The driver would also check the exterior mirror and / or check the shoulder during a manual lane change maneuver. This procedure, or rather, the guidance of the gaze, is also commonly taught in driving schools. Furthermore, the gaze confirmation can give the driver the impression that they are controlling the vehicle or its lateral movement with their gaze. Gaze direction detection, which monitors the driver's safety behavior, allows the driver to be integrated into the automated lane change maneuver through a natural sequence of actions.

[0027] The notification provided to the driver via the output device can alert the driver to the need to perform a visual confirmation. For example, the driver can be prompted to monitor the traffic or the available space. The driver can also be prompted to perform a mirror check or a shoulder check. Furthermore, in the case of an unconfirmed lane change maneuver, the display can indicate that the lane change maneuver was not initiated because no mirror check or shoulder check was detected. This can alert the driver to the need to perform a visual confirmation.

[0028] For the view toward the respective exterior mirror and / or for the respective shoulder glance, gaze directions, pupil positions, head orientations, body postures, or respective solid angle ranges can be specified for these variables. For this purpose, tests with different drivers and / or calculations can be conducted to define the ranges. This ensures that the proposed lane change maneuver is reliably accepted and, in particular, prevents unwanted confirmations.

[0029] In addition, it can be checked whether the driver looks into at least one predetermined area for a predetermined minimum period of time. This minimum period of time can, for example, be between 100 ms and 1000 ms, preferably between 350 ms and 800 ms. Only when the driver looks into one of the predetermined areas for the minimum period of time can this be considered an acceptance. Sufficiently long glances in the side mirror or shoulder checks should therefore be required for certain lane changes. This can ensure that the driver intends to secure the lane change maneuver and did not just glance into the area by chance. Overall, situational awareness and acceptance of the proposed lane change maneuver can be reliably recorded.

[0030] In a further embodiment, the computing device is configured to detect a traffic situation requiring the automated lane change maneuver based on the surrounding data, speed data describing a vehicle speed, and / or route data describing a planned route. The computing device can detect the traffic situation requiring a lane change maneuver or in which a lane change maneuver is advisable. In order to assess a current traffic situation with regard to the necessity of a lane change, the computing device can receive surrounding data or an surrounding model describing the other road users in the vicinity of the vehicle.To assess the current traffic situation, the computing device can also receive data describing which lane the vehicle is currently in. For example, environmental data or image data from a vehicle camera and / or digital map data can be used for this purpose. Furthermore, speed data describing the current speed of the vehicle can also be received to assess the current traffic situation. In particular, the speed data can be determined based on a set speed or target speed during operation of an adaptive cruise control system or similar.

[0031] Furthermore, the layout of the respective lanes can be checked to assess the current or future traffic situation. The layout of the lanes can also describe whether a lane ends and / or whether a lane is added further along the road. Information on the layout of the lanes can be obtained from digital map data. Furthermore, set navigation routes can be taken into account when assessing the current traffic situation. For example, a lane change maneuver may be necessary to reach an exit or change to another road. In addition, data on the current traffic situation, congestion situations, traffic density, or similar can be taken into account to assess the current traffic situation.

[0032] Based on the speed of the vehicle, the speeds of other road users, the position of the vehicle and other road users relative to the lanes, the desired navigation route, the traffic situation, and / or the layout of the lanes, the computing device can then decide whether a lane change is required, advisable, or necessary for the vehicle in the current traffic situation. The computing device or the assistance system can detect relevant situations in which a lane change would be advisable and inform the driver accordingly. This allows the driver to be offered an automated lane change maneuver, initiated by the system and based on the situation.

[0033] Examples of traffic situations that require a lane change maneuver include overtaking slower road users, changing lanes when the current lane ends, and / or changing lanes to follow the desired route. A lane change maneuver may also be suggested to the driver, for example, to comply with a keep-right rule or other regulations.

[0034] In a further embodiment, the system-initiated lane change suggestions or offers for automated lane change maneuvers are only offered to the driver if predetermined activation criteria are met. For example, an activation criterion can be checked whether the vehicle is on a road with a predetermined road class. Such a road class can be a motorway or a motorway-like road. Another activation criterion can be the presence of the aforementioned traffic situation requiring a lane change maneuver. Another activation criterion can be checked whether the curvature of the road is below a threshold value, so that a certain degree of comfort can be guaranteed. Furthermore, an activation criterion can be checked whether predetermined weather conditions are met.Additionally, an activation criterion can be checked to ensure that the vehicle is not currently in a construction zone. Furthermore, it can be checked to ensure that the vehicle is not decelerating or braking significantly. Furthermore, the automated lane change maneuver can only be offered up to a defined maximum vehicle speed.

[0035] In a further embodiment, the computing device is configured to output a predetermined maximum number of offer signals for the detected traffic situation upon detection of a traffic situation that requires the automated lane change maneuver. If a traffic situation is detected that requires the automated lane change maneuver or in which the automated lane change maneuver is expedient, the suggestion or offer can be output to the driver in a system-initiated manner. In this case, it is preferably provided that only the maximum number of offer signals is output by means of the computing device. This means, in particular, that for a detected traffic situation, only a certain number of offers, for example three offers, are output to the driver. If the driver does not accept these offers, the further output of an offer can be omitted for this traffic situation.

[0036] For example, if the driver does not accept three consecutive system-initiated offers, it can be assumed that the driver does not want to perform a lane change maneuver. It may also be the case that the driver did not notice or understand the offers. In all of these cases, the aim is to prevent the driver from being disturbed and / or unsettled by further offers. If a subsequent traffic situation is detected that requires a lane change maneuver, further offers can be issued to the driver. For example, the predetermined maximum number of offer signals or offers can be issued again.

[0037] In a further embodiment, the computing device is configured to output the activation signal and / or the steering signal if acceptance by the driver occurs within an offer period, wherein the offer is output to the driver during the offer period. The computing device can output the offer signal in such a way that the automated lane change maneuver is offered or suggested to the driver by means of the output device for the offer period. The offer period can be a few seconds, for example. In particular, the offer period can be between 1 s and 10 s, preferably between 3 s and 7 s. Acceptance by the driver is also possible during this offer period or while the offer is being output. The offer period can be selected such that the driver is given sufficient time to perceive the offer and to confirm it.

[0038] In a further embodiment, the computing device is configured to activate the direction indicators immediately after acceptance by the driver or once the driver is aware of the situation. As soon as confirmation of the suggestion for the automated lane change maneuver has been detected on the basis of the attention data, the activation signal for activating the direction indicators can be output by means of the computing device. The direction indicators facing the free space can therefore be activated immediately after confirmation of the lane change suggestion. In particular, it is provided that there is no time delay between acceptance of the offer and activation of the direction indicators. This makes it possible to achieve direct system feedback after acceptance by the driver. Furthermore, other road users can be informed in good time of the planned orfuture lane change maneuvers.

[0039] It can further be provided that the computing device is configured to control the direction indicators for activation depending on the current traffic situation and / or the ambient conditions. In particular, the computing device can determine a time for outputting the activation signal or activating the direction indicators depending on the current traffic situation and / or the ambient conditions. The time for activation can be determined, for example, depending on traffic density, a course and / or gradient of the roadway, a road type, the presence of a construction site, a current speed of the vehicle, a current speed of other road users, weather conditions, a navigation route, or the like.In principle, the turn indicators can also be activated independently of the driver's notification of the offer. This allows the activation of the turn indicators to be adapted to the current traffic situation.

[0040] Furthermore, in predetermined or critical traffic situations, the direction indicators can be activated before the offer is issued to the driver. If, for example, there is an urgency or necessity for the lane change maneuver, the direction indicators can be activated before the order is issued to the driver. Such a critical traffic situation could be, for example, merging in heavy traffic. Such a critical situation could also arise if a lane change must be made to reach an exit. In this case, the early activation of the direction indicators can alert other road users in good time to the planned lane change maneuver and / or the urgency or necessity of the planned lane change maneuver.

[0041] In a further embodiment, the computing device is configured to output the steering signal such that a lateral movement of the vehicle to initiate the automated lane change maneuver only starts after acceptance by the driver. As already explained, the direction indicators can be activated immediately after confirmation of the lane change offer. The lateral movement of the vehicle towards the target lane can also start after the driver has confirmed his gaze. It can be provided that the lateral movement starts simultaneously with the activation of the direction indicators. It can also be provided that the direction indicators are activated first and then the lateral movement starts. In particular, it is provided that a time period between acceptance and the start of the lateral movement is less than 1 s.

[0042] To initiate the lane change maneuver, the vehicle can be maneuvered by moving transversely in the direction of the lane marking between the lane it is currently in and the target lane. The time between starting the transverse movement and reaching the lane marking can be, for example, up to 20 seconds, preferably up to 10 seconds, in particular between 2 seconds and 5 seconds. The time for the lane change maneuver itself, which starts when the first wheel of the vehicle touches the lane marking and ends when the last wheel of the vehicle crosses it, can last less than 10 seconds, in particular less than 5 seconds.

[0043] In a further embodiment, the computing device is configured to output the steering signal such that the transverse movement for initiating the automated lane-changing maneuver stops and the vehicle moves back to a defined position in the lane if a predetermined termination criterion is met. The initiation of the lane-changing maneuver can be stopped and the vehicle can be steered back to the defined position in the lane if at least one predetermined suppression criterion or termination criterion is met. If such a criterion is met, the transverse movement of the vehicle in the direction of the lane marking can be terminated and the vehicle can be maneuvered back to the starting position with respect to the transverse movement. For example, the vehicle can be steered back to the center of the lane.In particular, the vehicle's redirection only occurs until the lane markings have not yet been crossed. For example, redirection can occur within 2 seconds after the vehicle's lateral movement has begun.

[0044] If a suppression or abort criterion is met and the vehicle is steered back, a deactivation signal can also be transmitted to the turn indicators via the computing device. Following the transmission of the deactivation signal, the activated turn indicators can then be deactivated. This allows other road users to be informed accordingly.

[0045] A suppression criterion or termination criterion can be met, for example, if the lane change maneuver is no longer assessed as required or necessary. Furthermore, such a criterion can be met if the gap is no longer present because another road user has already moved into the gap. In addition, such a criterion can be present if the specified operational design domain for the lane change maneuver is no longer met and / or a maximum time duration for initiating the lane change maneuver has been exceeded. During operation of the assistance system, the driver can confirm the offer for the automated lane change maneuver by operating a control element, in particular the turn signal lever, instead of by looking. It is preferably provided that the driver moves the turn signal lever to the one-touch flash position to confirm the offer.

[0046] An assistance system according to the invention for automated lateral guidance of a vehicle comprises a computing device according to the invention. The computing device can be formed by at least one processor or by at least one electronic control unit. In addition, the assistance system can have at least one environmental sensor, by means of which environmental data can be provided. As an environmental sensor, the assistance system can have a camera, by means of which image data describing the surroundings of the vehicle can be provided. By means of the computing device, the lane markings and / or other boundaries of the roadway or lanes can then be recognized in the image data. In addition, objects and other road users can be recognized in the image data. In addition, the assistance system can have at least one distance sensor as an environmental sensor, which can be designed as a radar sensor and / or a lidar sensor.Using the sensor data from these distance sensors, other road users can be detected and their speeds can be determined.

[0047] The assistance system can also include the driver monitoring device, by means of which the attention data can be provided. The driver monitoring device can include an interior camera and corresponding light sources, in particular light sources that emit light in the infrared wavelength range. Based on this attention data, the computing device can check during hands-off operation whether the driver is paying attention or is paying attention to the traffic situation. Furthermore, the attention data can be used to check whether the driver has situational awareness regarding the planned automated lane change maneuver or whether the gaze confirmation has been given as an assumption for the automated lane change maneuver.

[0048] In addition, the assistance system can have the output device by means of which optical, acoustic and / or haptic outputs can be provided to the driver. The output device can be controlled by the computing device following the transmission of the offer signal, so that the driver is presented with the offer or suggestion for the lane change maneuver. The computing device of the assistance system can control the vehicle's steering system in order to take over lateral guidance of the vehicle. This allows the vehicle to be kept within the lane or traffic lane, for example. In addition, the steering system can be controlled to carry out the lane change maneuver. Preferably, a braking system and / or a drive motor can also be controlled by means of the computing device in order to take over longitudinal guidance of the vehicle.

[0049] A vehicle according to the invention comprises an assistance system according to the invention. The vehicle is designed, in particular, as a passenger car.

[0050] A method according to the invention is used for the automated lateral guidance of a vehicle. The method comprises determining a free gap for an automated lane-changing maneuver based on environmental data. The method also comprises outputting an offer signal for outputting an offer for the automated lane-changing maneuver to a driver. The method also comprises receiving attention data, wherein the attention data describes a gaze direction and / or head orientation of the driver. Furthermore, the method comprises determining whether the driver has situational awareness for the automated lane-changing maneuver as an acceptance for the offer, wherein the situational awareness describes a direction of gaze and / or head orientation toward an area associated with the free gap. Furthermore, the method comprises outputting an activation signal for activating direction indicators of the vehicle.Furthermore, the method comprises outputting a steering signal to control a steering system of the vehicle to carry out the automated lane change maneuver if the situation awareness is met.

[0051] A further aspect of the invention relates to a computer program comprising instructions which, when executed by the computing device, cause the computing device to execute a method according to the invention and the advantageous embodiments thereof. Furthermore, the invention relates to a computer-readable storage medium comprising instructions which, when executed by the computing device, cause the computing device to execute a method according to the invention and the advantageous embodiments thereof.

[0052] The preferred embodiments presented with reference to the computing device according to the invention and their advantages apply accordingly to the assistance system according to the invention, to the vehicle according to the invention, to the

[0053] Computer program and for the computer-readable storage medium according to the invention.

[0054] Further features of the invention emerge from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective combinations specified, but also in other combinations or on their own, without departing from the scope of the invention.

[0055] The invention will now be explained in more detail using preferred embodiments and with reference to the accompanying drawings.

[0056] Fig. 1 is a schematic representation of a vehicle having an assistance system for automated lateral guidance of the vehicle;

[0057] Fig. 2 is a schematic representation of a traffic situation in which the vehicle according to Fig. 1 is in a right-hand lane of a road and in which a truck is driving in front of the vehicle;

[0058] Fig.3 is a schematic representation of a display shown to the driver, the display showing an image of the vehicle, the truck and the lanes, and the display including an offer for an automated lane change maneuver;

[0059] Fig. 4 is a schematic representation of a driver in an interior of the vehicle, wherein the driver looks into an exterior mirror of the vehicle to confirm the offer for the automated lane change maneuver;

[0060] Fig. 5 is a schematic representation of possible areas into which the driver can look to confirm automated lane change maneuvers; and

[0061] Fig. 6 shows the traffic situation according to Fig. 2 at a later time, in which the automated lane change maneuver is initiated from the right lane to the left lane. Fig. 1 shows a plan view of a vehicle 1, which in this case is designed as a passenger car. The vehicle 1 comprises an assistance system 2, by means of which automatic lane change maneuvers can be performed with the vehicle 1. The assistance system 2 comprises a computing device 3, which can be formed, for example, by at least one electronic control unit of the vehicle 1.

[0062] In addition, the assistance system 2 comprises at least one distance sensor 4 as an environment sensor. In the present example, the assistance system 2 comprises four distance sensors 4, of which two distance sensors 4 are assigned to a front area 7 and two distance sensors 4 to a rear area 8. The distance sensors 4 are arranged in the respective corners in the rear area 8 of the vehicle 1 and the front area 7 of the vehicle 1. The distance sensors 4 can be designed as radar sensors, for example. The distance sensors 4 can be used to perform corresponding measurements in order to detect objects in an environment 5 of the vehicle 1. Corresponding data lines between the distance sensors 4 and the computing device 3 are not shown here for the sake of clarity.

[0063] In addition, the assistance system 2 includes a camera 6 as an environment sensor, by means of which image data or environment data describing the environment 5 of the vehicle 1 can be provided. The computing device 3 can process the environment data from the distance sensors 4 and the camera 6, thus allowing, for example, objects, other road users 18, lane markings 17, or the like to be detected in the environment 5.

[0064] Furthermore, the computing device 3 is configured to control a steering system 9 of the vehicle 1, shown only schematically here. By controlling the steering system 9, lateral guidance of the vehicle 1 can be carried out to keep the vehicle 1 in a lane 15, 16 and / or during lane-changing maneuvers. By controlling the steering system 9, steerable wheels 10 of the vehicle 1 can be steered, thus assuming lateral guidance during the lane-changing maneuver. By means of the computing device 3, the drive motor and a braking system of the vehicle 1 can also preferably be controlled in order to control the longitudinal guidance of the vehicle 1, in particular in the sense of an adaptive cruise control system. Furthermore, the assistance system 2 comprises a driver monitoring device 12, by means of which the attention of a driver 19 of the vehicle 1 can be detected.The driver monitoring device 12 can have an interior camera, by means of which a viewing direction of the driver 19, a head position of the driver 19, and / or a body posture of the driver 19 can be detected. Furthermore, the assistance system 2 comprises an output device 13, by means of which an output can be output to the driver 19. The output can be output acoustically, visually, and / or haptically.

[0065] The computing device 3 is also configured to control the direction indicators 11 of the vehicle 1. For this purpose, the computing device 3 can transmit an activation signal to the direction indicators 11. As a result of the control, the direction indicators 11 can be activated, so that a flashing signal is emitted with the direction indicators 11. The direction indicators 11 can also be deactivated again by a further control. The direction indicators 11 can be controlled independently of the actuation of a control element, for example, a turn signal lever, by the driver 19.

[0066] The computing device 3 also has data describing the current speed of the vehicle 1 and / or a set speed for an adaptive cruise control system. Based on the measurements from the environmental sensors, i.e., the distance sensors 4 and the camera 6, the speeds of other road users 18 can be determined. Furthermore, based on the data from the environmental sensors 4, 6 and / or digital map data together with a satellite-based positioning system, it is possible to determine which lane 15, 16 of a road 14 the vehicle 1 is currently in. Based on this information, the computing device 3 can determine, for a current traffic situation, whether a lane change is necessary or advisable.

[0067] Fig. 2 shows the vehicle 1 according to Fig. 1 in an exemplary traffic situation. The vehicle 1 is on a road 14 with a right lane 15 and a left lane 16. It is assumed that automated lane guidance is being carried out by the assistance system 2 while the vehicle 1 is traveling. The lane markings 17 of the road 14 can be recognized based on the data from the environmental sensors and in particular from the camera 6. The steering system 9 can then be controlled such that the vehicle 1 is kept within the lane 15. The assistance system 2 also enables what is known as hands-off operation. This means that the driver 19 can take his hands 20 off the steering wheel 21 as long as the data from the driver monitoring device 12 detects that the driver 19 is paying attention. The driver 19 can be assumed to be paying attention if he is looking at the road 14.If the driver's 19 attention is maintained, the automated lane guidance is permanently taken over by the assistance system 2 without the driver 19 having to return their hands 20 to the steering wheel 21 after a certain time. Furthermore, the assistance system 2 can be used to regulate the speed of the vehicle 1 to the set speed, and the distance to the other road user 18 traveling ahead can be maintained.

[0068] In the traffic situation shown in Fig. 2, vehicle 1 is in the right-hand lane 15. In front of vehicle 1 in the direction of travel is another road user 18 in the form of a truck. It is assumed that a set speed or target speed of vehicle 1 is set to 120 km / h. The speed of the other road user 18 or the relative speed between vehicle 1 and the other road user 18 can be determined using the data from the environment sensors 4, 6. It is assumed that the other road user 18 is traveling at a significantly lower speed than vehicle 1, for example a speed of 80 km / h. Thus, a lane change from the right-hand lane 15 to the left-hand lane 16 is necessary to maintain the speed.

[0069] The required lane change is automatically detected by the assistance system 2. In addition, the assistance system 2 checks whether a lane change maneuver from the right lane 15 to the left lane 16 is possible. For this purpose, the sensor data from the environmental sensors 4, 6 can be used to check whether a free gap 26 exists in the lane 16 for the lane change maneuver. If a free gap 26 exists, the driver 19 is then offered an automated lane change maneuver from the right lane 15 to the left lane 16 by the assistance system 2. For this purpose, the driver 19 can be offered the automated lane change maneuver by the output device 13.

[0070] Fig. 3 shows a schematic representation of a display 23 that can be displayed to the driver 19 during the automated lane change maneuver. For example, the display 23 can be displayed on an instrument cluster 22, which is part of the output device 13. The display 23 shows a speed indicator and a power indicator in a known manner. Furthermore, the display 23 represents the surroundings 5 ​​of the vehicle 1 and shows an image T of the vehicle 1 as well as an image 18' of the other road user 18 or the truck. Furthermore, the display 23 shows an image 15' of the right lane 15 and an image 16' of the right lane 16.

[0071] In the example shown, the driver 19 is alerted to the offer regarding the automated lane change maneuver from the right lane 15 to the left lane 16 by the symbol 24. This symbol 24 describes the movement of the vehicle 1 during the future lane change or the trajectory that the vehicle 1 will travel during the lane change maneuver. Thus, the symbol 24 intuitively alerts the driver 19 to the possible automated lane change maneuver. Together with the display of the symbol 24, an acoustic signal or an advisory tone can also be emitted. Furthermore, it can be provided that, in addition to or alternatively to the symbol 24, a text is displayed which alerts the driver 19 to the possible automated lane change maneuver and / or to the operating action to be performed to confirm the lane change maneuver.

[0072] Fig. 4 shows the driver 19, who is located in an interior 27 of the vehicle 1. The vehicle 1 is currently being maneuvered in hands-off mode by means of the assistance system 2, so that the driver 19 can comfortably position his hands 20 and does not have to place his hands 20 on the steering wheel 21. The display 23 according to Fig. 3 was shown to the driver 19 as an offer for the automated lane change maneuver. In order for the automated lane change maneuver to be carried out by the assistance system 2, the driver 19 must confirm the offer for the lane change maneuver.

[0073] For confirmation, the driver 19 is required to secure the lane change maneuver or the traffic area for the planned lane change maneuver. For this purpose, the driver 19 is required to direct his line of sight 25 toward the free gap 26 on the left lane 16. To alert the driver 19 to this behavior for confirmation, a corresponding text can be shown on the display 23 according to Fig. 3. The driver 19 can be advised to monitor the traffic or the free gap 26. The driver 19 can also be advised to check his shoulder or mirror. For example, in the current traffic situation, the display can read "To change to the faster lane, check traffic."

[0074] In addition, Fig. 4 indicates the area in which the driver monitoring device 12 is arranged for monitoring the viewing direction 25, the orientation of the head 33, and / or the posture of the driver 19. The driver monitoring device 12 can be arranged in the area of ​​the instrument cluster 22 or the instrument cluster.

[0075] To confirm the lane change maneuver, the driver 19 must look in the exterior mirror 28 and / or perform a shoulder check. This is illustrated by Fig. 5, which shows the interior 27 of the vehicle 1. If a lane change maneuver to a lane to the left of the vehicle 1 is to be confirmed, the driver 19 must direct his gaze towards the left exterior mirror 28. The area 30 schematically indicates this area, which is assigned to the left exterior mirror 28. Alternatively or additionally, to confirm the lane change maneuver, the driver 19 can look into the lane to the left of the vehicle 1 in area 31, which describes a shoulder check through the left vehicle window 32. Respective angular ranges for the viewing direction and / or the rotation of the head 33 can be specified for the areas 30 and 31.For example, the area 31 can be assigned a minimum rotation of the head 33 by an angle of 42° to the left.

[0076] If a lane change maneuver to a lane to the right of vehicle 1 is to be confirmed, the driver 19 must look towards the right-hand exterior mirror 29. The area 34 schematically indicates this area, which is assigned to the right-hand exterior mirror 29. To confirm the lane change maneuver to a lane to the right of vehicle 1, the driver can alternatively or additionally look into the lane to the right of vehicle 1 in area 31, which describes a shoulder glance through the right-hand vehicle window 36. Corresponding viewing directions and / or head positions can also be specified for areas 34 and 35. Areas 30, 31, 34, and 35 are to be understood as examples. Other areas can also be specified.

[0077] Fig. 6 shows the traffic situation according to Fig. 2 at a later point in time, or after confirmation of the automated lane change maneuver by the driver 19. After confirmation of the lane change maneuver, the direction indicators 11 assigned to the left lane 16 are automatically activated by the assistance system 2 or by the computing device 3. Thus, it is not necessary for the driver 19 to operate a control element, such as a turn signal lever, to activate the direction indicators 11. After activation of the direction indicators 11, the vehicle 1 is then automatically maneuvered along a trajectory 37 from the right lane 14 to the left lane 15 by means of the assistance system 2.

Claims

Claims 1. A computing device (3) for an assistance system (2) for the automated lateral guidance of a vehicle (1), wherein the computing device (3) is configured to: - to determine a free gap (26) for an automated lane change manoeuvre based on environmental data, - to issue an offer signal to a driver (19) for issuing an offer for the automated lane change manoeuvre, - to receive attention data, wherein the attention data describe a viewing direction (25) and / or a head orientation of the driver (19), - to determine whether a situation awareness of the driver (19) for the automated lane change maneuver is given as an acceptance for the offer, wherein the situation awareness describes a turning of the line of sight (25) and / or the head orientation to an area (30, 31, 34, 35) assigned to the free gap (26), - to output an activation signal for automatically activating direction indicators (11) of the vehicle (1), and - to output a steering signal for controlling a steering system (9) of the vehicle (1) to carry out the automated lane change maneuver if situation awareness is present.

2. Computing device (3) according to claim 1, characterized in that the computing device (3) is configured to output the offer signal for outputting the offer during a hands-off operation by the assistance system (2), wherein during the hands-off operation a check of the attention of the driver (19) is carried out on the basis of the attention data.

3. Computing device (3) according to claim 1 or 2, characterized in that the area (30, 31, 34, 35) assigned to the free gap (26) is determined in such a way that it determines the viewing direction (25) and / or the head orientation when looking into an outside mirror (28, 29) facing the free gap (26) and / or when looking at a Shoulder glance to the free gap (26).

4. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is configured to recognize a traffic situation requiring the automated lane change maneuver on the basis of the environmental data, on the basis of speed data describing a speed of the vehicle (1), and / or on the basis of route data describing a planned route.

5. Computing device (3) according to claim 4, characterized in that the computing device (3) is configured to output a predetermined maximum number of offer signals for the detected traffic situation upon detection of a traffic situation which requires the automated lane change maneuver.

6. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is configured to output the activation signal and / or the steering signal if the acceptance by the driver (19) occurs within an offer period, wherein the offer is output to the driver (19) during the offer period.

7. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is designed to output the activation signal for activating the direction indicators (11) immediately after the driver (19) has accepted the offer.

8. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is designed to output the steering signal in such a way that a transverse movement of the vehicle (1) for initiating the automated lane change maneuver only starts after acceptance by the driver (19).

9. Computing device (3) according to claim 8, characterized in that the computing device (3) is configured to output the steering signal in such a way that the transverse movement for initiating the automated lane change maneuver stops and the vehicle (1) moves back to a defined position in a lane (15) if a predetermined termination criterion is met.

10. Assistance system (2) for automated lateral guidance of a vehicle (1), comprising a computing device (3) according to one of the preceding claims.

11. Method for automated lateral guidance of a vehicle (1), comprising the steps: - determining a free gap (26) for an automated lane change maneuver based on environmental data, - issuing an offer signal to issue an offer for the automated lane change maneuver to a driver (19), - receiving attention data, wherein the attention data describe a viewing direction (25) and / or a head orientation of the driver (19), - determining whether a situation awareness of the driver (19) for the automated lane change maneuver is given as an acceptance for the offer, wherein the situation awareness describes a turning of the line of sight (25) and / or the head orientation to an area (30, 31, 34, 35) assigned to the free gap (26), - outputting an activation signal for automatically activating direction indicators (11) of the vehicle (1), and - Outputting a steering signal to control a steering system (9) of the vehicle (1) to carry out the automated lane change maneuver if situation awareness is present.

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