Computing device for an assistance system of a vehicle for performing system-initiated automated lane-change manoeuvres taking into account driver interactions, assistance system, and method

Abstract

The invention relates to a computing device (3) for an assistance system (2) for the automated lateral control of a vehicle (1), wherein the computing device (3) is designed: to recognise a traffic situation in which an automated lane-change manoeuvre is required; to output an offer signal for presenting an offer for the automated lane-change manoeuvre to a driver; to determine whether the offer is accepted; to output a steering signal for actuating a steering system (9) of the vehicle (1) for performing the automated lane-change manoeuvre; if the offer is accepted, to check, within a predefined period of time before outputting the offer signal, whether a driver lane-change manoeuvre has been initiated or manually performed by the driver; and to suppress the output of the offer signal if the planned automated lane-change manoeuvre differs from the driver lane-change manoeuvre.

Description

[0001] Computing device for a vehicle assistance system for carrying out system-initiated automated lane change maneuvers taking driver interactions into account, 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] Lane change assistance systems are also known from the prior art, which suggest an automated lane change maneuver to the driver. For example, the systems can detect that a lane change is advisable or necessary. This can be the case, for example, when overtaking a slower road user. If the lane change suggested by the lane change assistance system is confirmed by the driver, the automated lane change maneuver can be performed using the lane change assistance system. Previous lane change assistance systems do not take the driver's behavior into account and generate system-initiated lane change suggestions based solely on the traffic situation and a currently specified navigation route.

[0007] It is the object of the present invention to show a solution how a lane change assistance system of the type mentioned above can be adapted to driver interactions.

[0008] 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.

[0009] A computing device according to the invention for an assistance system for automated lateral guidance of a vehicle is configured to detect a traffic situation requiring an automated lane change maneuver. Furthermore, the computing device is configured to output an offer signal to a driver for the automated lane change maneuver. Furthermore, the computing device is configured to determine whether the offer has been accepted. Furthermore, the computing device is configured to output a steering signal to control a steering system of the vehicle to perform the automated lane change maneuver if the offer is available. Furthermore, the computing device is configured to check whether a driver lane change maneuver was initiated or manually performed by the driver within a predetermined period of time prior to the output of the offer signal.In addition, the computing device is configured to suppress the output of the offer signal if the planned automated lane change maneuver differs from the driver's lane change maneuver.

[0010] 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.

[0011] 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.

[0012] 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 offer or a suggestion for the automated lane change maneuver can be output to the driver using the output device. 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 other road users in the vicinity of the vehicle can be shown on the display. The lanes can also be shown on the display. When the offer is output, the driver can be shown a symbol which describes the planned lane change maneuver.The symbol can, for example, be a trajectory or an arrow that illustrates the vehicle's movement during the planned lane change. Alternatively or additionally, the driver can be shown a text indicating the planned lane change maneuver. Furthermore, the offer can be provided acoustically, for example, in the form of an additional warning tone or as a voice announcement. Alternatively or additionally, a haptic signal can be provided to the driver during the offer.

[0013] In addition, the computer can check whether the driver has accepted the offer for the automated lane change maneuver. For example, it can be checked whether the driver has performed a predetermined control action to accept the offer. If the driver confirms the offer, it can be assumed that the driver is situationally aware of the lane change maneuver.

[0014] 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 control the lateral guidance. Preferably, the assistance system also controls the vehicle's longitudinal guidance during the automated lane change. For example, the vehicle's speed can also be adjusted for the lane change maneuver.

[0015] It is also checked whether a lane change maneuver was previously initiated by the driver or manually performed before the offer signal or the offer for the automated lane change maneuver was issued. Such a lane change maneuver initiated or manually performed by the driver is referred to as a driver lane change maneuver. In particular, it can be checked whether a driver lane change maneuver was initiated or manually performed by the driver a predetermined period of time before the offer was issued. The predetermined period of time can preferably be less than 5 minutes, in particular less than 1 minute. In an initiated lane change maneuver, the driver can, for example, perform a defined operating action and the assistance system can subsequently perform the lane change maneuver automatically. The operating action can be the actuation of a control element, for example a turn signal lever.In a manual lane change maneuver, the lane change maneuver is carried out solely by the driver by operating the steering wheel.

[0016] If it is now detected that the driver performed a lane change maneuver before the offer was issued, the driver's lane change maneuver can be compared with the automated lane change maneuver planned by the assistance system or computing device. If the driver's lane change maneuver differs from or deviates from the planned automated lane change maneuver, the output of the offer signal can be suppressed. In this case, no offer for the automated lane change maneuver can be made to the driver.

[0017] The invention addresses the problem that previous assistance systems do not take driver behavior into account and generate system-initiated lane change suggestions only based on the traffic situation and / or a predefined navigation route. The current inadequate consideration of driver behavior can lead to disruptive functional decisions. For example, a system-initiated lane change performed directly after a driver-initiated lane change may result in a return to the original lane. The system may also make very frequent, and thus disruptive, lane change attempts, even though the driver consciously wishes to remain in the current lane.

[0018] The invention addresses precisely these interactions between the assistance system and the driver to avoid disruptive system decisions and thus create a more intuitive driving experience. To this end, manually initiated or executed lane change maneuvers are given special attention and considered a conscious decision by the driver. Overall, the assistance system can thus be better adapted to driver interactions.

[0019] While the offer for the automated lane change maneuver is suppressed, the vehicle can, in particular, be automatically kept in the current lane into which the driver's lane change maneuver led. It can also be provided, in particular, that a vehicle in front in this lane is followed. This vehicle in front can preferably be followed using automated longitudinal guidance in the form of adaptive cruise control. This applies in particular if a predefined set speed or target speed of the adaptive cruise control is greater than the current speed of the vehicle in front. Vehicles in the current lane are therefore preferentially tolerated as a front object, even if overtaking at the current desired speed would be possible.

[0020] Preferably, the computing device is configured to suppress the output of the offer signal if the automated lane-changing maneuver involves a lane change from a first lane to a second lane and the driver lane-changing maneuver involves a lane change from the second lane to the first lane. In particular, it should therefore be checked whether the planned automated lane-changing maneuver or the system-initiated lane-changing maneuver would lead back to the original lane or the lane in which the vehicle was prior to the driver lane-changing maneuver. In particular, it should therefore be checked whether the automated lane-changing maneuver is essentially the opposite of the driver lane-changing maneuver.For example, during the driver lane change maneuver, the driver can deliberately change from the second lane, such as a left lane, to the first lane, such as a right lane, to take an exit. If the automated lane change suggestion were to lead back to the first lane or the left lane, this would be disruptive and undesirable for the driver.

[0021] In one embodiment, the computing device is configured to suppress the output of the offer signal for a predetermined suppression period after the driver lane change maneuver has been triggered or executed. Thus, in particular, it can be provided that the comparison of the driver lane change maneuver and the automated lane change maneuver is performed only during the suppression period after the driver lane change maneuver has been executed. This suppression period can last less than 10 minutes, preferably less than 5 minutes. The suppression period can also be determined depending on the current speed of the vehicle or the set speed. Furthermore, the suppression period can be determined situationally depending on the current traffic situation and / or previously executed driving maneuvers.For example, the suppression period can be determined depending on the direction of the last driver maneuver or lane change maneuver. After the suppression period has expired, offers for automated lane change maneuvers can then be issued to the driver again. In an alternative embodiment, the computing device is configured to suppress the output of the offer signal until at least one predetermined event occurs. Thus, the system-initiated lane change suggestions can be omitted until a predetermined event or a predetermined traffic situation occurs. Such a predetermined event can be a specific change in speed of a vehicle in front or another road user merging in front of the vehicle.In particular, a reassessment of the situation only takes place - as a result of which new lane change decisions can arise - if either the object in front changes or it significantly reduces speed and thus there is a suspicion that the driver's original, conscious decision no longer applies.

[0022] It can also be provided that the country in which the vehicle is currently located is determined and that the suppression of the offer signal occurs depending on the country. In countries where certain specifications or regulations apply, the suppression of the offer can only be provided for during the predetermined suppression period. For example, countries such as Germany have a right-hand drive requirement. In this case, suppressing the offer, which is limited to the suppression period, can, if necessary, guarantee that the right-hand drive requirement is observed. In countries where there are no such regulations, the offer can be suppressed until a predetermined event occurs. This can be provided for in the USA, for example.

[0023] In one 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 two or 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.However, this preferably does not apply if it later becomes apparent that an automatic lane change would not have been possible. This is the case, for example, if another road user traveling at high speed and overtaking your own vehicle is only detected later.

[0024] The computing device is preferably configured to output the offer signal for outputting the offer during hands-off operation by the assistance system, wherein a check of the driver's attention is carried out 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 operation. During hands-off operation, the assistance system takes over automated lateral guidance in order 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 thus provided. During hands-off operation, the longitudinal guidance of the vehicle is preferably also taken over in the form of an adaptive cruise control (ACC).

[0025] During hands-off operation, the driver's attention can be determined based on the attention data from the driver monitoring device. The computing device can receive the driver attention data from a driver monitoring device. The driver monitoring device can provide the driver attention data, which describes a current line of sight and / or a current orientation of the driver's head. 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. In addition, the driver monitoring device can determine the position of the driver's pupils and thus the driver's direction of sight.The driver monitoring device can also detect whether the eyes are open or closed. The driver monitoring device can incorporate infrared light sources, allowing the driver's head position and / or gaze direction to be determined even when wearing sunglasses and / or in dark ambient conditions. Furthermore, the driver's posture or upper body alignment can be determined based on the attention data or data from the driver monitoring device.

[0026] 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 attention data can be used to evaluate the driver's gaze direction and / or head orientation. If it is determined that the driver is not paying attention, the hands-off mode can be interrupted and the driver can be asked to put their hands on the steering wheel or take control.

[0027] In a further embodiment, the computing device is configured to determine whether the driver has situational awareness of the automated lane-changing maneuver as an acceptance of the offer, wherein the situational awareness describes a direction of gaze and / or head orientation directed toward an area associated with the free gap. Based on the data from the driver monitoring device, the driver's situational awareness with regard to the following automated lane-changing maneuver can be detected. If the computing device or the assistance system has detected the driver's situational awareness, this can be interpreted as an acceptance of the offer. To check whether situational awareness is present, it is determined based on the attention data whether the driver is directing their gaze and / or head orientation toward at least one area associated with the free gap.This assessment can also take into account the driver's general posture. Preferably, it can be checked whether the driver is performing a safety check.

[0028] This means, in particular, that the driver's situational awareness regarding the lane change maneuver is assumed to be given if they are looking at the free space or in the direction of the free space, thus securing the traffic area for the automated lane change maneuver. The driver then has full responsibility, particularly for the subsequent automated lane change maneuver. This preferably also applies to checking whether the target lane is truly clear, as already detected by the vehicle or the assistance system itself.

[0029] Preferably, the computing device is configured to output an activation signal for automatically activating the vehicle's turn indicators if the offer is made. The externally visible turn indicators can be automatically activated by the computing device in preparation for the automated lane change maneuver. In particular, the turn indicators can be activated without prior actuation of a control element, for example a turn signal lever. In particular, the turn indicators can be automatically activated if the offer for the automated lane change maneuver has been accepted by the driver. An assistance system according to the invention for the 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 environment sensor by means of which environment data can be provided. The assistance system can have a camera as an environment sensor by means of which image data describing the surroundings of the vehicle can be provided. The computing device can then recognize the lane markings and / or other boundaries of the roadway or lanes 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 environment sensor, which can be designed as a radar sensor and / or a lidar sensor. Based on the sensor data from these distance sensors, for example, the other road users can be detected and the speeds of the other road users can also be determined.

[0030] 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.

[0031] In addition, the assistance system can include an output device that can provide visual, acoustic, and / or haptic signals 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.

[0032] The assistance system's computing unit can control the vehicle's steering system to control the vehicle's lateral guidance. This allows the vehicle to be kept within the lane, for example. Furthermore, the steering system can be controlled to perform a lane change maneuver. Preferably, the computing unit can also control a braking system and / or a drive motor to control the vehicle's longitudinal guidance.

[0033] A vehicle according to the invention comprises an assistance system according to the invention. The vehicle is designed, in particular, as a passenger car.

[0034] A method according to the invention is used for the automated lateral guidance of a vehicle. The method comprises detecting a traffic situation requiring an automated lane change maneuver. The method also comprises outputting an offer signal to issue an offer for the automated lane change maneuver to a driver. Furthermore, the method comprises determining whether the offer has been accepted. 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 offer is given. Furthermore, the method comprises checking whether a driver lane change maneuver was initiated or manually performed by the driver within a predetermined period of time prior to the output of the offer signal.Furthermore, the method includes suppressing the output of the offer signal if the planned automated lane change maneuver differs from the driver lane change maneuver.

[0035] 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.

[0036] 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 computer program according to the invention and to the computer-readable storage medium according to the invention.

[0037] 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 specified combination, but also in other combinations or on their own, without departing from the scope of the invention.

[0038] The invention will now be explained in more detail using preferred embodiments and with reference to the accompanying drawings.

[0039] Fig. 1 is a schematic representation of a vehicle having an assistance system for automated lateral guidance of the vehicle; and

[0040] Fig. 2 is a schematic representation of a traffic situation in which the vehicle according to Fig. 1 has performed a lane change maneuver from a middle lane of a roadway to a right lane.

[0041] Fig. 1 shows a top view of a vehicle 1, which in this case is designed as a passenger car. The vehicle 1 includes an assistance system 2, by means of which automatic lane change maneuvers can be performed with the vehicle 1. The assistance system 2 includes a computing device 3, which can be formed, for example, by at least one electronic control unit of the vehicle 1.

[0042] 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.

[0043] In addition, the assistance system 2 comprises 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 environment data from the distance sensors 4 and the camera 6 can be processed by the computing device 3 and thus, for example, objects, other road users 19, road markings or the like in the environment 5 can be detected. 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 change maneuvers. By controlling the steering system 9, steerable wheels 10 of the vehicle 1 can be steered and thus the lateral guidance can be controlled during the lane change 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.

[0044] Furthermore, the assistance system 2 comprises a driver monitoring device 12, by means of which the attention of a driver of the vehicle 1 can be detected. The driver monitoring device 12 can have an interior camera, by means of which the driver's gaze direction, the driver's head position, and / or the driver's body posture 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. The output can be acoustic, visual, and / or haptic.

[0045] 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 driver's actuation of a control element, for example, a turn signal lever.

[0046] 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 19 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 can be determined which lane 15, 16 of a roadway 14 the vehicle 1 is currently in. Based on this information, the computing device 3 can determine whether a lane change is necessary or advisable for a current traffic situation. For example, changing lanes to an ending lane is not advisable.

[0047] The assistance system 2 also enables what is known as hands-off operation. This means that the driver can take their hands off the steering wheel as long as the data from the driver monitoring device 12 indicates that the driver is paying attention. The driver can be assumed to be paying attention if they keep their eyes on the road 14. If the driver is paying attention, the assistance system 2 permanently assumes automated lane guidance without the driver having to put their hands back on the steering wheel after a certain period of 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 19 traveling ahead can be maintained.

[0048] Fig. 2 shows the vehicle 1 according to Fig. 1 in an exemplary traffic situation. The vehicle 1 is currently in a first lane 16, or in a right-hand lane of a roadway 14. Previously, the driver of the vehicle 1 manually performed a lane change maneuver from a second lane 15, or a middle lane of the roadway 14, to the first lane 16. The driver wishes to maneuver the vehicle 1 from the second lane 15 to the first lane 16 and then via a deceleration lane 17 to an exit 18 of the roadway 14.

[0049] By means of the assistance system 2, it can generally be recognized that a lane change maneuver is necessary or advisable. The positions and speeds of the other road users 19 can be determined using the surrounding data. On the basis of this data and the current speed of the vehicle 1 or the set speed, the computing device 3 can then decide whether a lane change maneuver is advisable. In addition, the computing device 3 can check, based on the sensor data from the surrounding sensors 4, 6, whether a free gap for the lane change maneuver exists. If a free gap exists, the assistance system 2 then offers the driver an automated lane change maneuver. For this purpose, the driver can be offered the automated lane change maneuver via the output device 13.

[0050] The driver is also required to accept or confirm the offer for the lane change maneuver. To do so, the driver may press a control button or use the turn signal. However, it is preferred that the driver secure the lane change maneuver or the traffic area for the planned lane change maneuver. To do so, the driver is required to direct their gaze toward the free space in the right lane 16. Acceptance of the offer for the automated lane change maneuver can therefore be confirmed by a visual confirmation.

[0051] In the traffic situation according to Fig. 2, it is assumed that the set speed of the vehicle 1 is greater than a current speed of the vehicle in front 20 or of the road user 19 in the direction of travel in front of the vehicle 1. In this case, the assistance system 2 or the computing device 3 would recognize that a lane change from the first lane 16 back to the second lane 15 is advisable in order to maintain the set speed.

[0052] However, before issuing an offer for the automated lane change maneuver, the assistance system 2 or the computing device 3 checks whether a driver lane change maneuver has previously taken place. In a driver lane change maneuver, the driver of vehicle 1 initiates or performs a lane change maneuver. If this driver lane change maneuver differs from the planned automated lane change maneuver, the offer for the automated lane change maneuver is omitted.

[0053] In the example of Fig. 2, a driver performed a lane change maneuver from the second lane 15 to the first lane 16. The automated lane change maneuver planned by the computing device 3 would lead from the first lane 16 back to the second lane 15. Thus, the automated lane change maneuver would differ from the planned automated lane change maneuver and thus contradict the driver's intention. Therefore, in this case, the automated lane change maneuver is not offered. The offer can be omitted for a specific suppression period or until a specific event occurs.

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 detect a traffic situation that requires an automated lane change maneuver, - to issue an offer signal to a driver to offer the automated lane change maneuver, - to determine whether there is acceptance of the offer, 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 the offer is given, characterized in that the computing device (3) is further configured to - to check whether a driver lane change manoeuvre has been initiated or manually carried out by the driver within a predetermined period of time before the offer signal is issued, and - to suppress the output of the offer signal if the planned automated lane change maneuver differs from the driver's lane change maneuver.

2. Computing device (3) according to claim 1, characterized in that the computing device (3) is configured to suppress the output of the offer signal if the planned automated lane change maneuver comprises a lane change from a first lane (16) to a second lane (15) and the driver lane change maneuver comprises a lane change from the second lane (15) to the first lane (16).

3. Computing device (3) according to claim 1 or 2, characterized in that the computing device (3) is configured to suppress the output of the offer signal for a predetermined suppression period after the triggering or execution of the driver lane change maneuver.

4. Computing device (3) according to claim 1 or 2, characterized in that the computing device (3) is configured to suppress the output of the offer signal until at least one predetermined event occurs.

5. Computing device (3) according to claim 4, characterized in that the predetermined event is a predetermined change in speed of a vehicle in front (20) or a further road user (19) merging in front of the vehicle (1).

6. Computing device (3) according to one of the preceding claims, 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.

7. Computing device (3) according to one of the preceding claims, 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 a check of the driver's attention is carried out during the hands-off operation.

8. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is configured to determine whether a situation awareness of the driver for the automated lane change maneuver is given as the acceptance for the offer, wherein the situation awareness describes a direction of gaze and / or a head orientation towards an area assigned to the free gap.

9. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is designed to generate an activation signal for automatically activating direction indicators (11) of the vehicle (1) to spend if the offer is given.

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: - Detection of a traffic situation requiring an automated lane change maneuver, - issuing an offer signal to issue an offer for the automated lane change maneuver to a driver, - Determine whether there is acceptance of the offer, and - Outputting a steering signal to control a steering system (9) of the vehicle (1) to carry out the automated lane change maneuver, if the offer is given, characterized by - Check whether a driver lane change maneuver has been initiated or manually performed by the driver within a predetermined period of time before the offer signal is issued, and - Suppressing the output of the offer signal if the planned automated lane change maneuver differs from the driver lane change maneuver.

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