Computing device for an assistance system of a vehicle for carrying out automated lane change manoeuvres taking into account traffic behind, assistance system, and method

Abstract

The invention relates to a computing device (3) for an assistance system (2) for the automated lateral guiding of a vehicle (1), wherein the computing device (3) is configured to: detect a traffic situation which requires an automated lane change manoeuvre; plan the automated lane change manoeuvre; output an offer signal for outputting an offer for the automated lane change manoeuvre to a driver at an offer time-point and / or a steering signal for controlling a steering system (9) of the vehicle (1) for carrying out the automated lane change manoeuvre at a line change time-point; receive surroundings data which describe other road users (18, 19) in surroundings (5) of the vehicle (1); based on the surroundings data, detect a road user (19) approaching the vehicle (1) from behind; determine a collision time between the road user (19) approaching from behind and the vehicle (1); and suppress the output of the offer signal and / or the steering signal if the collision time falls below a predefined first limit value.

Description

[0001] Computing device for a vehicle assistance system for carrying out automated lane change maneuvers taking rearward traffic 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. 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] Automated lane change maneuvers or lane change suggestions with driver confirmation as part of a Level 2 assistance function require active monitoring by the driver. Particularly when vehicles are approaching from behind with high differential speeds, as occurs on highways, for example, a conservative system design helps avoid critical situations and the resulting need for driver intervention. A special situation arises when the ego vehicle is itself overtaken by another vehicle shortly before an overtaking maneuver. A road user approaching quickly from behind can approach in any lane. Furthermore, such road users approaching quickly from behind can potentially change lanes once or multiple times very close behind the ego vehicle in order to overtake the vehicle.This makes it more challenging for the driver to ensure that the lane change is carried out automatically, as different areas must be observed at the right time in order to correctly assess the situation.

[0008] 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 operated more safely.

[0009] This object is achieved according to the invention by a computing device, by an assistance system and by a method having the features according to the independent claims. Advantageous developments of the present invention are specified in the dependent claims. A computing device according to the invention for an assistance system for the automated lateral guidance of a vehicle is configured to recognize a traffic situation that requires an automated lane change maneuver. In addition, the computing device is configured to plan the automated lane change maneuver. Furthermore, the computing device is configured to output an offer signal for outputting 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 environmental data describing other road users in the vicinity of the vehicle. Furthermore, the computing device is configured to detect a road user approaching the vehicle from behind based on the environmental data. Furthermore, the computing device is configured to determine a collision time between the road user approaching from behind and the vehicle and to suppress the output of the offer signal and / or the steering signal if the collision time falls below a predetermined first limit value.

[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 it is suitable for the lane change maneuver in terms of its dimensions and the difference in speeds between the vehicle and the road users that border the potential gap.

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

[0013] When the offer is issued, the driver can be shown a symbol describing 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 issued acoustically, for example, in the form of an additional warning tone or as a voice announcement. Alternatively or additionally, a haptic signal can be issued to the driver with the offer.

[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 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. If this is not the case, a further instruction, such as a second offer, can be issued to the driver depending on the situation.

[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] Before issuing the offer for the automated lane change maneuver or before executing the automated lane change maneuver, the computer can use the surrounding data to check whether a road user is approaching from behind. The road user approaching from behind can be located behind the vehicle in the direction of travel and approaching the vehicle from behind. It can now check whether such a road user is present in a defined area behind the vehicle.

[0018] Based on the surrounding data, the position and relative speed between the vehicle and the road user approaching from behind can be continuously determined. Furthermore, it can be checked whether the relative speed or

[0019] Differential speed exceeds a threshold value. In addition, it can be determined whether the collision time between the road user approaching from behind and the vehicle exceeds a first limit value. The collision time, which is also referred to as Time To Collision (TTC), describes the quotient of the distance between the road user and the vehicle and the relative speed between the vehicle and the road user. The collision time can describe the remaining time for a possible collision between the approaching road user and the vehicle. If the collision time falls below the predetermined first limit value, the offer signal and / or the steering signal is not output. The first limit value can, for example, be between 10 s and 25 s, preferably between 15 s and 20 s. It can also be provided that the rate of change of the differential speed orThe rate of change of the collision time must be taken into account. Previous lane change assistants only check whether another road user is present in the target lane or lane. According to the invention, the space behind the vehicle is checked for the presence of road users independently of the lanes. During a system-initiated lane change or lane change suggestion, the relevance of traffic from behind with a high differential speed can be more difficult to determine. The higher the differential speed, the less time the approaching road user has to complete the lane change and reach the overtaking lane or the target lane.This means that the approaching road user's dwell time in each lane can be very short and the overtaking lane can potentially be reached very quickly before the two overtaking maneuvers in the target lane conflict between the approaching road user and the own vehicle.

[0020] According to the invention, automated lane change maneuvers are only initiated and / or executed if the speed difference between the road user approaching from behind and the vehicle is sufficiently low. Furthermore, the automated lane change maneuvers or the overtaking maneuver can be performed if the rate of change of the speed difference lies within a predetermined range. This reliably prevents a critical traffic situation from occurring during the automated lane change maneuver. Overall, this increases the safety of driver assistance systems for lateral guidance.

[0021] Preferably, the computing device is configured to output a cancellation signal to cancel an already issued offer if the collision time falls below a predetermined second threshold. If an offer for the automated lane change maneuver has already been issued and it is subsequently detected based on the surrounding data that there is a road user rapidly approaching from behind, the offer for the lane change maneuver can be canceled. In particular, the offer is canceled if the collision time falls below the second threshold. The second threshold can be, for example, between 5 s and 10 s.

[0022] The withdrawal of the offer applies in particular if the driver has not yet accepted the offer. If the driver has already accepted the offer, an output or message may be displayed indicating that the lane change maneuver cannot currently be performed. This allows the driver to be informed of the assistance system's planned steps, which can increase acceptance.

[0023] In one embodiment, the computing device is configured to plan the lane-changing maneuver into a target lane and to determine the probability that the road user approaching from behind will change into the target lane. The computing device can therefore estimate whether the road user approaching from behind will change into the target lane. This estimation can be performed based on the collision time or the differential speed. If the differential speed is high, for example, it can be assumed that the road user approaching from behind intends to overtake the vehicle. The current traffic situation, the current weather conditions, or the like can also be taken into account when estimating the probability.

[0024] Furthermore, the surrounding data can be used to determine which lane the road user approaching from behind is in. This can then be used to determine the probability that the road user approaching from behind will overtake the vehicle or move into the target lane. If, for example, the approaching road user is in the same lane as the vehicle and is traveling at a high speed compared to the vehicle, it can be assumed that the road user will overtake the vehicle. In addition, the lateral speed and / or lateral acceleration of the other road users relative to the lanes can be determined, and from this, it can be deduced which road users are relevant for the corresponding lanes.

[0025] In a further embodiment, the computing device is configured to determine the probability of overtaking based on country-specific regulations. First, the country in which the vehicle is currently located can be determined. Furthermore, it can be checked whether there are legal regulations or country-specific regulations for overtaking for this country. In doing so, the road class of the road or carriageway on which the vehicle is currently located and / or the current speed of the vehicle can also be taken into account. For example, in countries such as Germany, overtaking on the right is prohibited on motorways above a defined speed. However, there are also countries where overtaking on the right is permitted or at least common practice. Based on this information, the probability that the road user approaching from behind will change into the target lane can then be determined more precisely.

[0026] It can also be provided that the surrounding data is used to determine which lane of the road the approaching road user is in. Furthermore, the lane or target lane that the planned automated lane change maneuver will lead to is known. This allows the determination of how many lane changes the approaching road user must perform to reach the target lane. The number of lane changes required can also be taken into account when estimating the probability.

[0027] In a further embodiment, the computing device is configured to determine the course of a roadway based on the environmental data and / or digital map data and to adapt the first threshold value depending on the course of the roadway. In particular, the computing device can determine the curvature of the roadway. Depending on the curvature, the first threshold value and also the second threshold value can then be adjusted. The current speed of the vehicle and / or the range or visibility of the environmental sensors can also be taken into account.

[0028] 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 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. Preferably, during hands-off operation, the longitudinal guidance of the vehicle is also controlled in the form of an adaptive cruise control (ACC).

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] A vehicle according to the invention comprises an assistance system according to the invention. The vehicle is designed, in particular, as a passenger car.

[0038] 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 / or outputting a steering signal for controlling a steering system of the vehicle to carry out the automated lane change maneuver at a lane change time. The method further comprises receiving environmental data that describe other road users in the vicinity of the vehicle and recognizing a road user approaching the vehicle from behind based on the environmental data.Furthermore, the method comprises determining a collision time between the road user approaching from behind and the vehicle and suppressing the output of the offer signal and / or the steering signal if the collision time falls below a predetermined first limit value.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] The invention will now be explained in more detail using preferred embodiments and with reference to the accompanying drawings.

[0043] Fig. 1 is a schematic representation of a vehicle having an assistance system for automated lateral guidance of the vehicle;

[0044] Fig. 2 is a schematic representation of a traffic situation in which the vehicle according to Fig. 1 is in a middle lane of a roadway, another road user is driving in front of the vehicle and another road user is approaching from behind.

[0045] 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.

[0046] 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.

[0047] 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, 19, road markings, or the like to be detected in the environment 5.

[0048] 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, 17 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.

[0049] 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.

[0050] 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.

[0051] 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, 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, 17 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.

[0052] 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.

[0053] Fig. 2 shows a schematic representation of a traffic situation in which the vehicle 1 according to Fig. 1 is located in a middle lane 16 of a roadway 14.

[0054] In addition, there is a road user 18 traveling ahead in the middle lane 16 in the direction of travel in front of the vehicle 1. It is assumed that the current speed of the road user 18 traveling ahead is lower than the set speed of the vehicle 1. Therefore, a lane change maneuver to overtake the road user 18 traveling ahead is necessary or sensible.

[0055] The required lane change from the center lane 16 to a left lane 15 of the roadway 14 is automatically detected by the assistance system 2. In addition, the assistance system 2 checks whether a lane change maneuver from the center lane 16 to the left lane 15 is possible. For this purpose, the sensor data from the environmental sensors 4, 6 can be used to check whether there is a free gap in the lane 15 for the lane change maneuver. If there is a free gap, the assistance system 2 then offers the driver an automated lane change maneuver from the center lane 15 to the right lane 16. For this purpose, the driver can be offered the automated lane change maneuver via the output device 13.

[0056] 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 left lane 15. Acceptance of the offer for the automated lane change maneuver can therefore be confirmed by a visual confirmation.

[0057] In addition, an area 20 behind the vehicle 1, or a rear traffic area, is monitored by the computing device 3 based on the environmental data. This area 20, which is schematically indicated in Fig. 2, is monitored for the presence of a road user 19 approaching from behind. The area 20 is monitored independently of the lanes 15, 16, 17 of the roadway 14. The area 20 can be defined depending on the curvature of the roadway 14, the current traffic situation, and / or the visibility of the environmental sensors 4.

[0058] In the example of Fig. 2, a road user 19 approaching from behind is located in the space 20 in the right lane 17. Based on the surrounding data, a collision time (TTC - Time To Collision) between the road user 19 approaching from behind and the vehicle 1 is determined. If the collision time falls below a first threshold value, the offer for the automated lane change maneuver is not issued.

[0059] In a first example, it is assumed that vehicle 1, in the traffic situation shown in Fig. 2, is located in a country where overtaking on the right is prohibited. Road user 19, who is approaching quickly from behind, is approaching from the rear right. This road user 19 is relevant for the planned lane change of the host vehicle 1 from the center lane 16 to the left lane 15. It can be assumed that, in order to comply with legal regulations, e.g. the road traffic regulations, road user 19 will make two lane changes from the right lane 17 to the left lane 15 in order to overtake vehicle 1 on the left. The system-initiated lane change is suppressed as long as road user 19 is approaching quickly from behind.

[0060] In a second example, it is assumed that vehicle 1, in the traffic situation shown in Fig. 2, is located in a country where overtaking on the right is permitted or where overtaking on the right is common. Here, the rear right area is not relevant for the planned automated lane change maneuver to the left, since it cannot be assumed that road user 19 approaching from behind will make two unnecessary lane changes to overtake the vehicle 1 on the left. However, road user 19 would be relevant for a planned lane change to the right.

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 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 environmental data describing other road users (18, 19) in an environment (5) of the vehicle (1), and - to detect a road user (19) approaching the vehicle (1) from behind on the basis of the surroundings data, characterized in that the computing device (3) is further configured to - to determine a collision time between the road user (19) approaching from behind and the vehicle (1) and - to suppress the output of the offer signal and / or the steering signal if the collision time falls below a predetermined first limit value.

2. Computing device (3) according to claim 1, characterized in that the computing device (3) is configured to output a withdrawal signal for withdrawing an offer already issued if the collision time falls below a predetermined second limit value.

3. Computing device (3) according to claim 1 or 2, characterized in that the computing device (3) is designed to plan the lane change maneuver to a target lane and to determine a probability that the approaching road users (19) from behind change into the destination lane.

4. Computing device (3) according to claim 3, characterized in that the computing device (3) is designed to determine the probability based on a country-specific regulation for overtaking.

5. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is configured to determine a course of a roadway (14) on the basis of the environmental data and / or on the basis of digital map data and to adapt the first limit value as a function of the course of the roadway (14).

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 gaze and / or head orientation towards an area assigned to a free gap.

8. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is configured to output an activation signal for automatically activating direction indicators (11) of the vehicle (1) 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, - issuing an offer signal for issuing an offer for the automated lane change maneuver to a driver at an offer time and / or issuing 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, - receiving environmental data describing other road users (18, 19) in an environment (5) of the vehicle (1), and - Detection of a road user (19) approaching the vehicle (1) from behind based on the surrounding data, characterized by - determining a collision time between the road user (19) approaching from behind and the vehicle (1) and - Suppressing the output of the offer signal and / or the steering signal if the collision time falls below a predetermined first limit value.

Images