Computing device for an assistance system of a vehicle for performing automated lane-change manoeuvres taking into account a lane-change intention of the driver, 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 plan the automated lane-change manoeuvre into an available gap (19); to output an offer signal for presenting an offer for the automated lane-change manoeuvre to a driver at an offer time and / or to output a steering signal for actuating a steering system (9) of the vehicle (1) for performing the automated lane-change manoeuvre at a lane-change time; to receive attentiveness data, the attentiveness data describing a viewing direction and / or a head orientation of the driver; before the offer signal is output and / or the steering system (9) is actuated, to use the attentiveness data to detect an intention of the driver to perform the automated lane-change manoeuvre; and to adjust the offer time and / or the lane-change time depending on the detected intention of the driver.

Description

[0001] Computing device for a vehicle assistance system for carrying out automated lane change maneuvers taking into account the driver's lane change intention, 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. Furthermore, lane change assistance systems are known from the prior art that automatically plan a lane change maneuver and subsequently execute it without driver confirmation.

[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 into a free gap. 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 and / or to output a steering signal for controlling a steering system of the vehicle to carry out the automated lane change maneuver at a lane change time. Furthermore, the computing device is configured to receive attention data, wherein the attention data describes a gaze direction and / or a head orientation of the driver.In addition, the computing device is designed to detect, on the basis of the attention data, a driver's intention to carry out the automated lane change maneuver before issuing the offer signal and / or activating a steering system, and to determine the time of the offer and / or the.

[0010] To adjust the lane change time depending on the driver's detected intention.

[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] It can also be planned for the automated lane change maneuver to be performed automatically by the assistance system without confirmation from the driver. The lane change maneuver can be performed or started at a specific lane change time. It can be planned for the lane change maneuver to be performed without prior notification to the driver.

[0017] In addition, the computing device receives 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 line 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.

[0018] The computing device can use the attention data to identify the driver's intention to perform the automated lane change maneuver. This means, in particular, that the driver's gaze direction, head orientation, and / or body posture can be used to identify whether the driver wishes to perform a lane change or wishes the assistance system to perform the automated lane change maneuver. The goal is to determine whether the driver desires or intends to perform the automated lane change maneuver. Depending on the driver's intention, the time at which the automated lane change maneuver is offered to the driver and / or the time at which the lane change maneuver is performed or started can be adjusted.

[0019] Automated lane changes or lane change suggestions have so far been largely based on an evaluation of surrounding traffic to determine the appropriate time for a lane change. No time flexibility is used to align with individual driver wishes. Furthermore, it has not been technically possible to directly determine the appropriate time for the driver to change lanes before the driver explicitly activates an assisted lane change or performs it themselves. Especially with Level 2 assisted driving, the driver is actively involved. System-initiated lane change maneuvers can therefore be very consciously perceived by the driver. Whether these occur at an appropriate time is highly subjective. Therefore, the comprehensibility of the maneuver is assessed very differently by different drivers.According to the present invention, the driver's intention for the lane change maneuver can be recognized based on the attention data. For example, the driver's gaze direction can be used to track whether the driver displays gaze behavior that resembles the preparation and / or anticipatory safeguarding of a lane change. From this, an acute lane change request can be interpreted, and the offer time and / or the lane change time can be adjusted accordingly. For example, the automated lane change maneuver can be offered and / or carried out earlier than planned if it is detected that the driver is looking for a free gap. The planning of the automated lane change maneuver can therefore be adapted to the driver's intention. Overall, the operation of the assistance system can be more individually adapted to the driver.

[0020] Preferably, the computing device is configured to recognize the driver's intention based on the direction of gaze and / or head orientation toward at least one area associated with the free gap. A free gap can be detected when planning the automated lane change maneuver. In order to check whether the driver's intention with regard to the lane change maneuver is met, it can be determined on the basis of the attention data whether the driver is directing their gaze and / or head orientation toward at least one area associated with the free gap. It can also be checked whether the driver is looking in the direction of the adjacent lane to which they are to change during the lane change maneuver. In particular, a difference between gaze behavior and / or head orientation and normal straight-ahead driving can be determined.

[0021] For example, the area assigned to the free gap is determined such that it includes the direction of view and / or the head orientation when looking into 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 into the vehicle's interior mirror. Using the attention data from the driver monitoring device, it can be checked whether the driver is looking into predetermined areas or areas of interest.

[0022] In a further embodiment, the computing device is configured to recognize the driver's intention based on a specific sequence of directing the line of sight and / or head orientation toward at least two areas associated with the free gap. The driver's intention with regard to the lane change maneuver can be recognized by the driver looking into at least two predetermined areas or directing their head position toward at least two predetermined areas. A corresponding combination of areas for the line of sight and / or head orientation can therefore be specified, on the basis of which the driver's intention is assumed. A defined order for the areas can also be specified. For example, in order to assume the driver's intention, it may be necessary for the driver to first look in an area associated with the interior mirror and then in an area associated with the exterior mirror.For example, a gaze trajectory, which describes the temporal change in gaze direction, can be determined and compared with predetermined reference trajectories. This makes it possible to distinguish, for example, the driver's behavior when searching for a free space from another driver action. Such an action might occur, for example, when the driver directs his gaze toward a passenger.

[0023] In a further embodiment, the computing device is configured to recognize the driver's intention based on a respective duration of the direction of gaze and / or head orientation towards at least two areas assigned to the free gap. In other words, it is possible to check how long the driver looks into the respective areas or regions of interest. In this case, a distinction can be made as to whether the driver looked into one of the areas for a very short period of time and thus randomly, or whether the driver deliberately looked into an area. In particular, it is assumed that the driver deliberately looked into an area if the driver directed his gaze or head orientation towards the area for a predetermined minimum period of time.

[0024] In addition, the computing device can be configured to recognize the driver's intention based on the number of times the direction of gaze and / or head orientation is directed toward at least one area associated with the free gap. It is therefore possible to check how often the driver has looked into at least one of the areas. If, for example, the driver has looked into at least one of the areas for a defined minimum number of times within a defined period of time, it can be assumed that the driver is searching for a free gap or is looking toward the free gap. If the driver looks into an area several times in succession, it is unlikely that they looked into this area by chance.

[0025] In a further embodiment, the computing device is configured to determine the current distraction and / or overload of the driver and to further adjust the time of offer and / or lane change based on the distraction and / or overload. Using the computing device, the attention data can be used to determine whether the driver is currently distracted and, for example, not paying attention to the traffic situation. Certain behavioral patterns indicating that the driver is currently overwhelmed can also be derived from the attention data. In these cases, the time of offer and / or lane change can be delayed until the driver's attention is restored or has been re-established by a warning.When determining whether the driver is distracted and / or overwhelmed, it can also be taken into account whether the driver is currently performing operating actions, operating controls, having a telephone conversation and / or talking to other occupants of the vehicle.

[0026] In principle, the determination of driver intention, which is determined individually for each driver based on attention data, can be continuously improved. In particular, an individual driver model can be determined. Furthermore, individual driver gaze patterns that indicate a driver's intention to change lanes can be learned. Alternatively or additionally, it can be planned to collect data from different drivers over time in order to more reliably determine driver intention.

[0027] In one embodiment, the computing device is configured to output the offer signal for outputting the offer during hands-off operation by the assistance system and / or to carry out the automated lane change maneuver during hands-off operation, wherein a check of the driver's attention is carried out during hands-off operation. In other words, the automated lane change maneuver can be offered to the driver when the vehicle is in so-called hands-off operation. During hands-off operation, the automated lateral guidance is controlled by means of the assistance system 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 therefore provided. During hands-off operation, the longitudinal guidance of the vehicle is preferably also controlled in the form of an adaptive cruise control (ACC).

[0028] 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 the 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.

[0029] 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.

[0030] 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 the direction of gaze and / or head orientation 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.The driver's general posture can also be taken into account in this assessment. Preferably, it can be checked whether the driver is performing a safety check. 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] A vehicle according to the invention comprises an assistance system according to the invention. The vehicle is designed, in particular, as a passenger car.

[0037] 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. Furthermore, the method comprises planning the automated lane change maneuver into a free space. Furthermore, the method comprises outputting an offer signal for outputting an offer for the automated lane change maneuver to a driver at an offer time and / or executing the automated lane change maneuver at a lane change time. Furthermore, the method comprises receiving attention data, wherein the attention data describes a gaze direction and / or a head orientation of the driver.The method also includes detecting a driver's intention to perform the automated lane change maneuver before issuing the offer signal and / or performing the automated lane change maneuver based on the attention data, and adjusting the offer time and / or the lane change time depending on the detected driver intention. 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 carry out 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 carry out a method according to the invention and the advantageous embodiments thereof.

[0038] 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.

[0039] 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.

[0040] The invention will now be explained in more detail using preferred embodiments and with reference to the accompanying drawings.

[0041] Fig. 1 is a schematic representation of a vehicle having an assistance system for automated lateral guidance of the vehicle;

[0042] Fig. 2 is a schematic representation of a traffic situation in which the vehicle according to Fig. 1 is located in a right-hand lane of a roadway and in which a lorry is driving in front of the vehicle; and

[0043] Fig. 3 is a schematic representation of possible areas which are evaluated with regard to the driver’s line of sight to detect an intention for a lane change maneuver.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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 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.

[0051] 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 automated lane guidance is continuously controlled by the assistance system 2 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 18 traveling ahead can be maintained.

[0052] In the traffic situation shown in Fig. 2, vehicle 1 is in a right-hand lane 15 of a roadway 14. Another road user 18, a truck, is located in front of vehicle 1 in the direction of travel. 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. Therefore, a lane change from the right lane 15 to the left lane 16 is necessary to maintain speed.

[0053] 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 19 exists in the lane 16 for the lane change maneuver. If a free gap 19 exists, the assistance system 2 then offers the driver an automated lane change maneuver from the right lane 15 to the left lane 16. For this purpose, the driver can be offered the automated lane change maneuver via the output device 13.

[0054] By means of the computing device 3, a lane change time can be determined at which the automated lane change maneuver from the right lane 15 to the left lane 16 should ideally be carried out. In addition, by means of the computing device 3, an offer time can be determined at which the offer for the automated lane change maneuver is to be issued to the driver. An embodiment of the assistance system 2 is also possible in which the automated lane change maneuver is carried out directly by the assistance system 2 without prior confirmation from the driver. The present embodiment of the assistance system 2 is described in which the driver is first given an offer and, after the offer has been accepted, the lane change maneuver is carried out automatically by the assistance system 2.

[0055] To confirm the lane change maneuver, the driver must look in the exterior mirror 21 and / or perform a shoulder check. This is illustrated by Fig. 3, which shows the interior 20 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 must direct their gaze to the left exterior mirror 21. The area 22 schematically indicates this area, which is assigned to the left exterior mirror 21. Alternatively or additionally, to confirm the lane change maneuver, the driver can look to the lane to the left of the vehicle 1 in area 23, which describes a shoulder check through the left vehicle window 24. If a lane change maneuver to a lane to the right of the vehicle 1 is to be confirmed, the driver must direct their gaze to the right exterior mirror 25.Area 26 schematically indicates this area, which is assigned to the right exterior mirror 25. To confirm the lane change maneuver into 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 27, which corresponds to a shoulder glance through the right vehicle window 28.

[0056] Based on the attention data, the computing device 3 can determine, even before the offer is issued, whether the driver intends to perform a lane change maneuver or the automated lane change maneuver. For this purpose, it can be checked whether the driver is looking into the defined areas 22, 26 assigned to the exterior mirrors 21, 25, and / or whether the driver is looking into the areas 23, 27 assigned to a shoulder check. Furthermore, it can be checked whether the driver is looking into an area 29 assigned to an interior mirror 30 of the vehicle 1.

[0057] In particular, the driver's intention to carry out the lane change maneuver can be recognized by the driver looking in the direction of the free gap 19 or by the driver himself searching for a free gap. In the example of Fig. 2, this would mean that the driver looks into the areas 22, 23 and / or 29. To recognize the driver's intention, it can be checked whether the driver looks into at least one of these areas 22, 23, 29 for a predetermined minimum period of time. It can also be checked whether the driver looks into at least two of these areas 22, 23, 29. To determine the driver's intention, it may also be necessary for the driver to look into the areas 22, 23, 29 in a defined order and / or for a defined minimum number of times in at least one of the areas 22, 23, 29.To detect the driver's intention, the areas 22, 23, 26, 27, 29 can be evaluated with regard to the direction of view, which are also evaluated for the acceptance of the offer for the lane change maneuver.

[0058] If the driver's intention regarding the lane change maneuver is then recognized, the offer time and / or the lane change time can be adjusted. If the driver is already looking for a free space well before the initially planned offer time and is looking at areas 22, 23, 29, the offer time can be made earlier than previously planned by the assistance system 2. The offer for the automated lane change maneuver can therefore be given to the driver earlier than planned. 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 to operate a control element, such as a turn signal lever, to activate the direction indicators 11.After the direction indicators 11 are activated, the vehicle 1 is then automatically maneuvered 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 detect a traffic situation that requires an automated lane change maneuver, - to plan the automated lane change maneuver into a free gap (19), - to output an offer signal for issuing an offer for the automated lane change maneuver to a driver at an offer time and / or to output a steering signal for controlling a steering system (9) of the vehicle (1) to carry out the automated lane change maneuver at a lane change time, - to receive attention data, wherein the attention data describe a direction of view and / or a head orientation of the driver, characterized in that the computing device (3) is further configured to - to detect the driver's intention to carry out the automated lane change manoeuvre on the basis of the attention data before issuing the offer signal and / or controlling the steering system (9) and - to adapt the offer time and / or the lane change time depending on the detected intention of the driver.

2. Computing device (3) according to claim 1, characterized in that the computing device (3) is designed to recognize the driver's intention based on a direction of view and / or head orientation towards at least one area (22, 23, 26, 27, 29) assigned to the free gap (19).

3. Computing device (3) according to claim 2, characterized in that the computing device (3) is designed to calculate the driver's intention based on a specific sequence of the direction of view and / or the head orientation to at least two areas (22, 23, 26, 27, 29).

4. Computing device (3) according to claim 2 or 3, characterized in that the computing device (3) is configured to recognize the driver's intention based on a respective duration of the direction of view and / or the head orientation towards at least two areas (22, 23, 26, 27, 29) assigned to the free gap (19).

5. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is configured to determine a current distraction and / or excessive demands on the driver and to adapt the offer time and / or the lane change time based on the distraction and / or excessive demands.

6. 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) and / or to carry out the automated lane change maneuver during the hands-off operation, wherein a check of the driver's attention is carried out during the hands-off operation.

7. 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 the direction of view and / or head orientation towards the area (22, 23, 26, 27, 29) assigned to the free gap (19).

8. 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.

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

10. 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 into a free gap (19), - outputting an offer signal to output an offer for the automated lane change maneuver to a driver at an offer time and / or outputting a steering signal to control a steering system (9) of the vehicle (1) to carry out the automated lane change maneuver at a lane change time, and - Receiving attention data, wherein the attention data describe a direction of gaze and / or a head orientation of the driver, characterized by - Detecting a driver’s intention to carry out the automated lane change maneuver before issuing the offer signal and / or activating the steering system (9) based on the attention data and - Adjusting the offer time and / or the lane change time depending on the detected driver intention.

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