Computing device for an assistance system of a vehicle for carrying out system-initiated automated lane change manoeuvres taking into account a reaction time of a driver, assistance system, and method

Abstract

The present invention relates to a computing device (3) for an assistance system (2) for automated lateral guidance of a vehicle (1), wherein the computing device (3) is configured: to recognise a traffic situation in which an automated lane change manoeuvre is required; to plan the automated lane change manoeuvre; to output an offer signal for outputting an offer for the automated lane change manoeuvre to a driver at an offer time; to determine whether an acceptance of the offer exists; to output a steering signal for actuating a steering system (9) of the vehicle (1) for carrying out the automated lane change manoeuvre; if the offer exists, to determine a reaction time of the driver between the offer time and an acceptance time at which the acceptance is made; and, to adapt the offer time for a subsequent offer of an automated lane change manoeuvre depending on the determined reaction time.

Description

[0001] Computing device for a vehicle assistance system for carrying out system-initiated automated lane change maneuvers taking into account a driver's reaction time, 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 carried out using the lane change assistance system. Such lane change assistance systems that interact with the driver depend heavily on driver interaction. This varies greatly depending on the driver. Therefore, a compromise is usually made that attempts to reasonably address different driver types.

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

[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 plan the automated lane change maneuver. Furthermore, the computing device is configured to output an offer signal for issuing an offer for the automated lane change maneuver to a driver at an offer time. 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 for controlling a steering system of the vehicle to carry out the automated lane change maneuver if the offer is available.Furthermore, the computing device is configured to determine the driver's reaction time between the offer time and the acceptance time at which the acceptance has occurred. Furthermore, the computing device is configured to determine the offer time for a subsequent offer for an automated process.

[0010] Adapt lane change maneuvers depending on the specific reaction time.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] In addition, the driver's reaction time can be determined using the computing device. The reaction time describes the period of time between the offer time at which the offer for the automated lane change maneuver is issued to the driver and the acceptance time at which the offer has been accepted by the driver. In other words, the reaction time can describe how quickly the driver reacts to the offer. It is now intended that this reaction time is determined and taken into account for subsequent offers for system-initiated lane change maneuvers. In particular, it is intended that the individual reaction time for the driver is continuously determined. This allows the driver's reaction behavior to be continuously determined or learned. This means that the output of the offer can be adapted to the driver's learned reaction time.State-of-the-art lane change assistance systems typically have a single system configuration that is generally identical for different drivers. Some configuration options are available, but these must be adjusted manually by the driver. Different drivers exhibit different reaction times and interaction behaviors. Therefore, finding a system configuration with regard to the timing of the offer that maximizes the chance of a successful lane change is very difficult and requires significant compromises.

[0017] The invention addresses this problem by observing driver behavior and reaction times over the course of past lane-changing maneuvers, thus allowing an estimate of the expected reaction time to be made. Estimating the expected reaction time helps to select the time of offer such that the driver's confirmation is highly likely to be received at the ideal time for lane changing.

[0018] Overall, the assistance system can be adapted more individually to each driver.

[0019] Preferably, the computing device is configured to predict a lane change time at which the automated lane change maneuver is to be performed and to additionally determine the offer time as a function of the predicted lane change time. The lane change time can describe the time at which the automated lane change maneuver should ideally be performed. If the time at which the lane change maneuver is to be performed is now predicted and if the driver's reaction time is known, the ideal offer time for issuing the offer to the driver can be determined.

[0020] A driver with an above-average reaction time can receive adapted lane change offers that alert them to impending lane changes much earlier. In contrast, a driver with a fast reaction time can be offered lane change shortly before the ideal time to change lanes. This makes it possible to achieve optimal lane changing behavior overall and also to take into account a reaction time that changes over time. For example, by continuously determining the reaction time and the resulting adjustment of the time of the offer, the aspect that the driver becomes accustomed to the function of the assistance system over time can be taken into account. In one embodiment, the computing device is configured to determine the time to change lanes based on the environmental data and / or on route data that describe a planned route.Using the surrounding data, the respective position of other road users on the road and their movement or the respective speeds of the other road users can be determined. Based on this information, it can then be estimated at what time the lane change maneuver can or should be carried out. For example, it can be predicted at what time a free gap will be available for the lane change maneuver. In addition, data on the current traffic situation, congestion situations, traffic density, etc. can be taken into account to assess the current traffic situation. Furthermore, set navigation routes can be taken into account when assessing the current traffic situation. For example, a lane change maneuver may be necessary if you want to reach an exit or change to another road.

[0021] It is also advantageous if the computing device is configured to adjust the speed of the vehicle in preparation for the automated lane change maneuver and to determine the time of the offer independently of the speed adjustment. For example, the speed or longitudinal speed of the vehicle can be adjusted such that the automated lane change maneuver can be carried out subsequently. For example, the speed can be adjusted so that the vehicle is at the same level as or next to the free gap. According to the prior art, the offer is usually issued when the speed has already been adjusted for the subsequent lane change maneuver. However, it is now particularly provided that the offer is issued independently of the speed adjustment.For example, for a driver with an above-average reaction time, the time of the offer can be selected before the speed adjustment. This gives the driver sufficient time to accept or confirm the offer.

[0022] In a further embodiment, the computing device is configured to control the steering system if acceptance by the driver occurs within an offer period, wherein the offer is output to the driver during the offer period. Furthermore, the computing device is configured in particular to adapt the offer period depending on the determined reaction time. The offer signal can be output by means of the computing device 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 duration of the offer can be chosen to give the driver sufficient time to perceive the offer and confirm it. This can take the driver's usual reaction time into account.

[0023] In a further embodiment, the computing device is configured to adapt the time of the offer depending on the current time of day. For example, it can be taken into account that the driver typically has a longer reaction time in the evening or at night than during the day, for example because the driver is tired. By continuously determining the reaction time, the driver's behavior can be learned in relation to the time of day and taken into account when issuing the offer. It can also be provided that current weather conditions, possible sources of distraction in the environment, the current traffic situation, or the like are taken into account when adjusting the time of the offer.

[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 controls the 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 controlled 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, such as 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.

[0030] 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.

[0031] 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, for example 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.

[0032] 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.

[0033] 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.

[0034] A vehicle according to the invention comprises an assistance system according to the invention. The vehicle is designed, in particular, as a passenger car.

[0035] A method according to the invention is used for the automated lateral guidance of a vehicle. The method comprises recognizing a traffic situation that requires an automated lane change maneuver. The method also comprises planning the automated lane change maneuver. The method further comprises outputting an offer signal for outputting an offer for the automated lane change maneuver to a driver at an offer time and determining whether the offer is accepted. The method also comprises outputting a steering signal for controlling a steering system of the vehicle to carry out the automated lane change maneuver if the offer is given. Furthermore, the method comprises determining a reaction time of the driver between the offer time and an acceptance time at which the acceptance has occurred.Furthermore, the method comprises adjusting the offer time for a subsequent offer for an automated lane change maneuver depending on the determined reaction time.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] The invention will now be explained in more detail using preferred embodiments and with reference to the accompanying drawings.

[0040] Fig. 1 is a schematic representation of a vehicle having an assistance system for automated lateral guidance of the vehicle; and

[0041] Fig. 2 is a schematic representation of a traffic situation in which the vehicle according to Fig. 1 is located in a middle lane of a roadway and in which an automated lane change maneuver to a right lane is planned.

[0042] 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.

[0043] 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.

[0044] 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 19, lane markings 21, or the like to be detected in the environment 5.

[0045] 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 and thus the lateral guidance can be controlled 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.

[0046] 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.

[0047] 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.

[0048] 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 is possible to determine which lane 15, 16 of a roadway 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.

[0049] 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.

[0050] Fig. 2 shows the vehicle 1 according to Fig. 1 in an example traffic situation. The vehicle 1 is on a roadway 14. The vehicle 1 is currently in a center lane 15 of the roadway 14. The vehicle 1 is to be maneuvered from the center lane 15 to a right-hand lane 16 and then via a deceleration lane 17 to an exit 18 of the roadway 14. The vehicle 1 can thus, for example, follow a predetermined navigation route. The required lane change from the center lane 15 to the right-hand lane 16 is automatically detected by the assistance system 2. In addition, the assistance system 2 checks whether a lane change maneuver from the center lane 15 to the right-hand lane 16 is possible.For this purpose, based on the sensor data from the environment sensors 4, 6, it can be checked whether a free gap 20 exists in the lane 16 for the lane change maneuver. If a free gap 20 exists, the driver is then offered an automated lane change maneuver from the center lane 15 to the right lane 16 by means of the assistance system 2. For this purpose, the driver can be offered the automated lane change maneuver via the output device 13.

[0051] 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.

[0052] The computing device 3 also determines the driver's reaction time. This reaction time describes the time between an offer time, at which the offer is issued, and an acceptance time, at which the driver has accepted the offer. Based on the reaction time, the offer time can then be adjusted for subsequent offers for automated lane change maneuvers.

[0053] Using the environmental data, the respective positions and speeds of the other road users 19 on the roadway 14 can be determined. Based on this data, a lane change time can then be predicted at which the lane change maneuver from the center lane 15 to the right lane 16 should ideally be carried out. In the traffic situation shown in Fig. 2, the road users 19 and also the vehicle 1 in the center lane 15 are moving faster than the road users 19 in the right lane 16. While the vehicle 1 is traveling, the opportunity to change into the free gap 20 arises at a later point in time. In addition, the lane change time for the lane change into the free gap 20 can be estimated. It is assumed that in previously performed lane change maneuvers it was detected that the driver of vehicle 1 has a below-average reaction time.Therefore, the time of the offer can be selected so that the driver is offered the automated lane change maneuver into gap 20 before vehicle 1 is at the same level as gap 20. This gives the driver sufficient time to accept the offer. A driver with a fast reaction time can be offered the offer at a later time, for example, when vehicle 1 is at the same level as gap 20.

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 plan the automated lane change maneuver, - to issue an offer signal to issue an offer for the automated lane change maneuver to a driver at an offer time, - to determine whether there is acceptance of the offer, - to output 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, - to determine a reaction time of the driver between the time of the offer and an acceptance time at which the acceptance has taken place, and - to adapt the time of offer for a subsequent offer for an automated lane change maneuver depending on the determined reaction time.

2. Computing device (3) according to claim 1, characterized in that the computing device (3) is configured to predict a lane change time at which the automated lane change maneuver is to be carried out and to additionally determine the offer time as a function of the predicted lane change time.

3. Computing device (3) according to claim 2, characterized in that the computing device (3) is configured to determine the lane change time based on the environmental data and / or on route data describing a planned route.

4. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is configured to adapt a speed of the vehicle (1) for preparation of the automated lane change maneuver and to determine the offer time independently of the speed adjustment.

5. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is configured to control the steering system (9) if the acceptance by the driver occurs within an offer period, wherein the offer is output to the driver during the offer period, and the computing device (3) is configured to adapt the offer period depending on the determined reaction time.

6. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is configured to adapt the offer time depending on a current time of day.

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, - Planning the automated lane change maneuver, - issuing an offer signal to issue an offer for the automated lane change maneuver to a driver at an offer time, - Determine whether there is acceptance of the offer, - 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, - Determining a reaction time of the driver between the offer time and an acceptance time at which the acceptance has taken place, and - Adjusting the timing of a subsequent offer for an automated lane change maneuver depending on the determined reaction time.

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