Computing device, support system, and method for a vehicle support system that performs system-led automatic lane change operations that take into account the driver's response time.

Abstract

The present invention relates to a computing device (3) for a support system (2) that performs lateral automatic steering of a vehicle (1), wherein the computing device (3) detects a traffic situation requiring an automatic lane change operation, plans an automatic lane change operation, outputs a proposal signal at the time of proposal to suggest the automatic lane change operation to the driver, identifies whether the proposal has been approved, outputs a steering signal to control the steering system (9) of the vehicle (1) to execute the automatic lane change operation if the proposal is approved, identifies the driver's response time from the time of proposal to the time of approval, and adjusts the proposal time for suggesting a subsequent automatic lane change operation according to the identified response time.

Description

Technical Field

[0001] The present invention relates to a computing device for a vehicle assistance system. In addition, the present invention relates to a vehicle assistance system. The present invention also relates to a method for lateral automatic steering of a vehicle.

Background Art

[0002] From the prior art, assistance systems are known that are used to enable at least semi-automatic lateral steering of a vehicle. This type of assistance system that performs semi-automatic lateral steering assists the driver by taking over the steering work. Different from an assistance system that performs lane keeping, this assistance not only intervenes to handle situations such as lane departure, but also continuously assists the driver while maintaining the lane. During the operation of the assistance system, usually, lane boundaries and / or the driving trajectory of the preceding vehicle are detected and used as a basis for the planned trajectory of the host vehicle.

[0003] Some of these known assistance systems for semi-automatic lateral steering allow the driver to temporarily take their hands off the steering wheel. This is also called an allowed hands-off state. However, during the operation of the assistance system, the driver is reminded of the driving work by visual and / or auditory instructions in a relatively short time and is urged to put their hands back on the steering wheel.

[0004] Furthermore, lane change assistance systems that assist the driver during lane change operations are known from the prior art. In known lane change systems equipped with automated or automatic lane change functions, the driver usually indicates their intention to change lanes through a specific driving action. When such a driving action is detected, the lane change assistance system operates the vehicle along the planned trajectory to the adjacent lane or target lane through lateral automatic steering, and generally accompanied by longitudinal automatic steering as well. In this type of lane change assistance system, the driver's desire to change lanes is usually signaled by operating a corresponding control element, such as a turn signal lever, which activates the turn signal visible from outside the vehicle.

[0005] Furthermore, lane change assistance systems that suggest automatic lane change operations to the driver are known from conventional technology. This system can, for example, detect when a lane change is reasonable or necessary. This might apply, for instance, when it is necessary to overtake a relatively slow vehicle. Once the driver confirms the lane change proposed by the lane change assistance system, the system can execute the automatic lane change operation. This type of lane change assistance system, which interacts with the driver, relies heavily on the driver's interaction. As a result, there can be considerable differences depending on the driver. Therefore, a compromise is usually taken to broadly accommodate various types of drivers. [Overview of the project] [Problems that the invention aims to solve]

[0006] The objective of this invention is to provide a solution for how to adapt the lane change assistance system of the type described at the beginning to suit multiple drivers and to provide a more individualized solution. [Means for solving the problem]

[0007] This problem is solved by the present invention through a computing device, support system, and method having the features of the independent claim. Advantageous embodiments of the present invention are described in the dependent claims.

[0008] The computing device according to the present invention for a support system that performs lateral automatic steering of a vehicle is configured to detect traffic conditions that require an automatic lane change operation. In addition, the computing device is configured to plan the automatic lane change operation. Furthermore, the computing device is configured to output a suggestion signal at the time of the suggestion to propose an automatic lane change operation to the driver. Moreover, the computing device is configured to determine whether the suggestion has been approved. Furthermore, if the suggestion is accepted, the computing device is configured to output a steering signal that controls the vehicle's steering system to execute the automatic lane change operation. In addition, the computing device is configured to determine the driver's response time from the time of the suggestion to the time of approval. Furthermore, the computing device is configured to adjust the suggestion time for subsequent automatic lane change operations according to the determined response time.

[0009] This computing device can prepare and execute automatic lane change operations. To assess the current traffic conditions regarding the need for lane changes, the computing device can receive ambient data describing other vehicles around the vehicle. This ambient data can describe the positions of other vehicles. In particular, the ambient data can describe which lane each vehicle is currently in. In addition, the ambient data can describe the actual speed of each of the other vehicles. The computing device can receive this ambient data from at least one ambient sensor of the vehicle or a support system. This at least one ambient sensor may be a camera, radar sensor, lidar sensor, ultrasonic sensor, etc.

[0010] The support system's computing device can plan a lane change operation from the vehicle's current lane to an adjacent lane or a target lane. To this end, for example, it can calculate an appropriate trajectory and ensure the vehicle is steered along that trajectory. To plan a lane change operation, it can first check whether there is sufficient space for the vehicle between other vehicles in the adjacent lane. This space specifically refers to a maneuverable area large enough to ensure a successful lane change. Once space is detected, it can be checked whether that space is suitable for a lane change operation in terms of its size.

[0011] If there is space suitable for lane change operation, the computing unit can output a suggestion signal or send it to an output unit. Through this output unit, suggestions or opinions regarding automatic lane change operation can be made to the driver. This output unit may have a display unit or screen and can make suggestions to the driver in a visual or display format. Through the display unit, the actual traffic conditions around the vehicle can be visually displayed to the driver. For example, the display unit can display images of the vehicle and other vehicles around it. In addition, the display unit can display lanes.

[0012] When making a suggestion, the driver may be shown a symbol representing the planned lane change operation. This symbol may be, for example, a track or arrow that shows the vehicle's movement in the planned lane change. Alternatively, the driver may be shown text indicating the planned lane change operation when the suggestion is made. The suggestion may also be made audible, for example, in the form of an additional warning sound or as an audio announcement. Alternatively, the driver may be given a tactile signal when the suggestion is made.

[0013] In addition, the computing device can verify whether the driver has approved the suggestion for an automatic lane change operation. To do this, for example, it may be verified whether the driver has performed a prescribed driving action for approval. If the driver has confirmed the suggestion, it can be presumed that the driver is aware of the situation regarding the lane change operation (i.e., the driver is aware of the situation regarding the lane change operation).

[0014] Once an available space for the vehicle is detected and confirmed by the driver, the assistance system can, at least semi-automatically, steer the vehicle into the adjacent lane. At this time, the assistance system can intervene in the vehicle's steering or control its lateral movement. Preferably, the assistance system also controls the vehicle's longitudinal movement during automatic lane changes. For example, the vehicle's speed can be further adjusted in conjunction with the lane change operation.

[0015] In addition, the system can determine the driver's response time. This response time represents the period from the time the driver is presented with a suggestion for an automatic lane change to the time the driver approves the suggestion. In other words, the response time represents how quickly the driver reacts to the suggestion. This response time is determined and referenced in subsequent lane change suggestions led by the system. In particular, the system is designed to continuously determine the response time of each individual driver. This allows the system to continuously identify or learn how drivers react. As a result, the way suggestions are presented can be adjusted to match the learned driver response times.

[0016] Conventional lane change assist systems typically have virtually identical system configurations for different drivers. While some settings can be adjusted, this must be done manually by the driver. Different drivers have different response times and communication styles. Therefore, finding a system configuration that maximizes the chances of a successful lane change, while considering the timing of the proposed change, is extremely difficult, or if possible, involves considerable compromise.

[0017] This invention addresses this problem by observing the driver's behavior or response time in past lane change operations and estimating the predicted response time. By estimating the predicted response time, it helps select a proposed timing that increases the likelihood of driver confirmation being obtained at the ideal lane change point. In this way, the assistance system as a whole can be more individually tailored to each driver.

[0018] Preferably, the computing device is configured to predict the timing of the lane change operation when the automatic lane change operation will be performed, and to determine the suggested timing in accordance with the predicted lane change timing. The lane change timing may represent the timing at which the automatic lane change operation will be ideally performed. By predicting when the lane change operation should be performed in this way, it is possible to determine the ideal suggested timing for making a suggestion to the driver, given that the driver's response time is known.

[0019] Drivers with above-average response times can receive adjusted lane change suggestions that alert them well in advance to the lane change they should be making. On the other hand, drivers with quick reaction times only need to receive lane change suggestions just before the ideal moment for the change. In this way, the overall optimal lane change action can be achieved while also taking into account response times that change over time. For example, by continuously monitoring response times and adjusting the suggestion timing based on that data, the driver's familiarity with the assistance system's functions over time can be taken into consideration.

[0020] In one embodiment, the computing device is configured to determine the timing of a lane change based on surrounding data and / or route data describing the planned route. Based on this surrounding data, the position and movement of other vehicles on the road, or the speed of each vehicle, can be identified. Based on this information, it is then possible to estimate at what point a lane change operation can or should be performed. For example, it is possible to predict at what point a clear space for a lane change operation will become available. Furthermore, when determining the actual traffic situation, data on the current traffic conditions, congestion, traffic density, etc., can be considered. In addition, when determining the actual traffic situation, a pre-set navigation route can be considered. For example, a lane change operation may be necessary when arriving at an exit or when entering another road.

[0021] Furthermore, it is advantageous to configure the system to adjust the vehicle's speed in preparation for automatic lane change operations, and to determine the timing of the suggestion independently of that speed adjustment. For example, the vehicle's speed or longitudinal speed can be adjusted so that an automatic lane change operation can be performed immediately afterward. For example, the speed can be adjusted so that the vehicle is positioned in a line with or next to an empty space. In conventional technology, the suggestion is usually issued only after the speed adjustment for the subsequent lane change operation has already been completed. However, here, the suggestion is issued independently of the speed adjustment. For example, in the case of a driver with a longer-than-average reaction time, the timing of the suggestion can be pre-selected before the speed adjustment. As a result, the driver can be given sufficient time to approve or confirm.

[0022] In other embodiments, the computer is configured to control the steering system if a suggestion is made to the driver during a suggestion period, and the driver approves it within that period. Furthermore, the computer is configured to adjust the suggestion period in particular according to a specified response time. The computer can output a suggestion signal via an output device to the driver to suggest or comment on an automatic lane change operation during the suggestion period. The suggestion period can be, for example, several seconds. In particular, the suggestion period can be between 1 and 10 seconds, preferably between 3 and 7 seconds. The driver can also approve the suggestion during this suggestion period or while the suggestion is being made. The suggestion period can be selected so as to give the driver sufficient time to recognize and confirm the suggestion. In this case, the driver's typical response time can be taken into consideration.

[0023] In other embodiments, the computing device is configured to adjust the proposed time according to the current time. For example, drivers generally have longer response times in the evening or at night than during the day, for instance, due to fatigue, and this can be taken into consideration. By continuously identifying response times, the driver's behavior in relation to time can be learned and taken into account when making suggestions. In addition, actual weather conditions, surrounding factors that may distract attention, and actual traffic conditions may also be taken into consideration when adjusting the proposed time.

[0024] Preferably, the computer is configured to output suggestion signals to provide suggestions during hands-off driving by the support system, and to ensure the driver's attentiveness is confirmed during hands-off driving. In other words, when the vehicle is in a so-called hands-off driving state, the support system can suggest automatic lane change operations to the driver. During hands-off driving, the support system controls lateral automatic steering to keep the vehicle within the lane. In particular, steering assistance and lane keeping assistance or active lane keeping assistance functions are also provided. Preferably, longitudinal steering of the vehicle is also controlled in the form of adaptive cruise control (ACC) during hands-off driving.

[0025] During hands-off driving, the driver's level of attention can be determined based on attention data from a driver monitoring device. The computing device can receive driver attention data from the driver monitoring device. The driver monitoring device can provide driver attention data that describes the driver's actual gaze direction and / or actual head orientation. The driver monitoring device may, for example, have an in-vehicle camera pointed at the driver. The driver monitoring device can determine the position or orientation of the driver's head from the detected nose. In addition, the driver monitoring device can determine the position of the driver's pupils and, consequently, the direction of the driver's gaze. The driver monitoring device can also detect whether the eyes are open or closed. The driver monitoring device may be equipped with an infrared light source, which allows the driver's head position and / or gaze direction to be determined even when sunglasses are being worn and / or in dark conditions. In addition, the driver's posture or upper body orientation can be determined based on the attention data or data from the driver monitoring device.

[0026] In particular, the attentiveness data can be continuously analyzed to determine whether the driver is distracted from the original driving task. For example, it can be determined whether the driver's line of sight is directed towards the road. At this time, based on the attentiveness data, the direction of the driver's line of sight and / or the orientation of the head can be analyzed. If it is determined that the driver is not paying attention, the hands-off driving can be interrupted, and the driver can be requested to take hold of the steering wheel or take over the operation.

[0027] In other embodiments, the computing device is configured to identify whether a driver's situation awareness regarding a lane change operation has been made as an approval for the proposal, where the situation awareness means directing the line of sight and / or the orientation of the head towards an area corresponding to the empty space. Based on the data of the driver monitoring device, it is possible to detect the driver's situation awareness of the subsequent lane change operation. When the computing device or the assistance system senses the driver's situation awareness, this can be regarded as an approval for the proposal. To confirm whether the situation awareness has been made, it is determined based on the attentiveness data whether the driver directs the line of sight and / or the orientation of the head towards at least one area corresponding to the empty space. In this determination, the overall posture of the driver can also be considered. Preferably, it may also be confirmed whether the driver is making a visual confirmation.

[0028] This particularly means that when the driver looks at or directs the line of sight towards the empty space to confirm the passing space for the lane change operation, the driver's situation awareness regarding the lane change operation is considered appropriate. In that case, the driver is particularly fully responsible for the subsequent lane change operation. This also holds true, preferably, when confirming whether the target lane is actually empty as detected only by the vehicle or the assistance system before.

[0029] Preferably, when the proposal is approved, the computing device is configured to output an operation start signal that automatically starts the operation of the vehicle's travel direction indicator. The externally visible travel direction indicator can be automatically started by the computing device in preparation for a lane change operation. In particular, the travel direction indicator can be started without pre-operating an operation element (e.g., a direction indicator lever). In particular, the travel direction indicator can be automatically started when the proposal for the lane change operation is approved by the driver.

[0030] The assistance system for performing the lateral automatic control of the vehicle according to the present invention has the computing device according to the present invention. The computing device can be constituted by at least one processor or at least one electronic control device. In addition, the assistance system may include at least one peripheral sensor used to provide peripheral data. As the peripheral sensor, the assistance system may include a camera used to provide image data describing the periphery of the vehicle. Next, the computing device can identify lane boundary lines and / or other boundaries of lanes or roads in the image data. In addition, objects and other moving bodies can be identified in the image data. Furthermore, the assistance system may include at least one distance sensor as a peripheral sensor, and this distance sensor may be formed as a radar sensor and / or a lidar sensor. Based on the sensor data of these distance sensors, for example, other moving bodies can be detected and the speeds of other moving bodies can also be specified.

[0031] In addition, the support system may include a driver monitoring device used to provide attention depth data. The driver monitoring device may include an in-vehicle camera and an appropriate light source, particularly a light source emitting light in the infrared wavelength range. Based on this attention depth data, the computing device can, for example, determine whether the driver is concentrating or directing their attention to traffic events during hands-off driving. Furthermore, based on the attention depth data, it can determine whether the driver is aware of the situation in preparation for a planned automatic lane change operation or whether they have visually confirmed the operation as approval for the automatic lane change operation.

[0032] In addition, the support system may include output devices used to provide the driver with visual, auditory, and / or tactile feedback. These output devices can be controlled by a computer that sends suggestion signals, thereby outputting suggestions or opinions to the driver regarding lane change maneuvers.

[0033] The support system's computing device can control the vehicle's steering system to control the vehicle's lateral steering. This allows, for example, the vehicle to be kept within the track or lane. In addition, the steering system can be controlled to perform lane change operations. Preferably, the computing device can also control the brake system and / or drive motors to control the vehicle's longitudinal steering.

[0034] The vehicle according to the present invention has the support system according to the present invention. This vehicle is particularly formed as a passenger car.

[0035] The method according to the present invention is used for lateral automatic steering of a vehicle. This method includes detecting a traffic situation that requires an automatic lane change operation. In addition, this method includes planning the automatic lane change operation. Furthermore, this method includes outputting a suggestion signal at the time of the suggestion to propose the automatic lane change operation to the driver and determining whether the suggestion has been approved. Moreover, if the suggestion is accepted, this method includes outputting a steering signal to control the vehicle's steering system to execute the automatic lane change operation. Furthermore, this method includes determining the driver's response time from the time of the suggestion to the time of approval. Furthermore, this method includes adjusting the suggestion time for subsequent automatic lane change operations according to the determined response time.

[0036] Further aspects of the present invention relate to a computer program, which includes instructions causing a computing device to execute the method and advantageous embodiments of the present invention when the program is executed by the computing device. Furthermore, the present invention relates to a computer-readable storage medium, which includes instructions causing a computing device to execute the method and advantageous embodiments of the present invention when executed by the computing device.

[0037] Preferred embodiments and their advantages presented with reference to the computing device according to the present invention also apply to the support system, vehicle, computer program, and computer-readable storage medium according to the present invention.

[0038] Other features of the present invention will become apparent from the claims, drawings, and description relating to the drawings. The features and combinations of features described above in the specification, and the features and combinations of features described below in the description relating to the drawings and / or the features and combinations of features shown only in the drawings, can be used not only in the described combinations but also in other combinations or individually without departing from the scope of the present invention.

[0039] The present invention will be described in more detail below based on preferred embodiments and with reference to the accompanying drawings. [Brief explanation of the drawing]

[0040] [Figure 1] This diagram schematically shows a vehicle equipped with an assistance system that performs automatic lateral steering. [Figure 2] Figure 1 schematically illustrates a traffic situation where a vehicle is positioned in the center lane of the road and an automatic lane change operation to the right lane is planned. [Modes for carrying out the invention]

[0041] Figure 1 shows a top view of vehicle 1 (in this example, it is formed as a passenger car). Vehicle 1 has an assistance system 2 used to enable the vehicle 1 to perform automatic lane change operations. The assistance system 2 has a computing device 3, which can be configured, for example, by at least one electronic control device of vehicle 1.

[0042] Furthermore, the support system 2 has at least one distance sensor 4 as a peripheral sensor. In this example, the support system 2 has four distance sensors 4, two of which are located in the front area 7 and the other two in the rear area 8. The distance sensors 4 are located at the corners of the rear area 8 and the front area 7 of the vehicle 1, respectively. The distance sensors 4 may be configured as, for example, radar sensors. Using these distance sensors 4, appropriate measurements can be taken to detect objects in the vicinity 5 of the vehicle 1. The corresponding data wiring between the distance sensors 4 and the computing device 3 is not shown here for clarity.

[0043] In addition, the support system 2 has a camera 6 as a surrounding sensor, which is used to provide image data or surrounding data describing the area around the vehicle 1 5. The computing device 3 can process the surrounding data from the distance sensor 4 and the camera 6, and as a result can detect objects, other roads 19, lane boundary lines 21, etc., in the surrounding area 5.

[0044] Furthermore, the computing device 3 is configured to control the steering system 9 of the vehicle 1, which is shown schematically here. By controlling the steering system 9, it is possible to perform at least one of the lateral maneuvers of the vehicle 1, either to keep the vehicle 1 within lanes 15, 16 or when performing a lane change. By controlling the steering system 9, the steerable wheels 10 of the vehicle 1 can be steered, thereby controlling the lateral maneuver during lane changes. The computing device 3 may also preferably control the drive motors and brake systems of the vehicle 1 to control the longitudinal maneuver of the vehicle 1 (particularly in the sense of adaptive cruise control).

[0045] Furthermore, the support system 2 has a driver monitoring device 12 used to detect the attentiveness of the driver of vehicle 1. The driver monitoring device 12 is equipped with an in-vehicle camera, which can be used to detect the driver's gaze direction, the direction of the driver's head, and / or the driver's posture. The support system 2 also has an output device 13 used to provide output to the driver. The output can be provided in a way that appeals to hearing, sight, and / or touch.

[0046] Furthermore, the computer 3 is also configured to control the vehicle's turn signal 11. To this end, the computer 3 can send an operation start signal to the turn signal 11. As a result of this control, the turn signal 11 can be started to operate, and the turn signal 11 will output a turn signal. The turn signal 11 can also be stopped again through subsequent control. Here, the turn signal 11 can be controlled regardless of the driver's operation of driving elements (e.g., the turn signal lever).

[0047] The computing device 3 also contains data representing the current speed of vehicle 1 and / or the set speed for adaptive cruise control. Based on measurements from surrounding sensors, namely distance sensors 4 and camera 6, the speed of other vehicles 19 can be determined. In addition, based on data from surrounding sensors 4 and 6, or based on a combination of digital map data and satellite positioning systems, it is possible to determine which lane 15 or 16 vehicle 1 is currently in on road 14. Based on this information, the computing device 3 can determine whether a lane change is necessary or meaningful given the actual traffic conditions.

[0048] The support system 2 also enables so-called hands-off driving. In other words, as long as the data from the driver monitoring device 12 indicates that the driver is paying attention, the driver can take their hands off the steering wheel. If the driver's gaze is directed towards the road 14, the driver can be considered to be paying attention. As long as the driver is paying attention, the driver does not need to take their hands on the steering wheel again after a set period of time, and the support system 2 continues to automatically maintain the lane. In addition, the support system 2 can control the speed of vehicle 1 to a set speed and maintain a distance from other vehicles 19 traveling ahead.

[0049] Figure 2 shows vehicle 1 of Figure 1 in an exemplary traffic situation. Here, vehicle 1 is on road 14. Vehicle 1 is currently located in the center lane 15 of road 14. From here, vehicle 1 must be maneuvered from the center lane 15 to the right lane 16, and then through the deceleration lane 17 to the exit 18 of road 14. This allows vehicle 1 to follow, for example, a pre-set navigation route.

[0050] The support system 2 automatically detects the need to change lanes from the center lane 15 to the right lane 16. In addition, the support system 2 verifies whether a lane change from the center lane 15 to the right lane 16 is possible. To this end, it can determine whether there is an available space 20 for the lane change operation in lane 16 based on sensor data from surrounding sensors 4 and 6. If there is an available space 20, the support system 2 then proposes an automatic lane change operation from the center lane 15 to the right lane 16 to the driver. For this purpose, the driver can be notified of the automatic lane change operation via the output device 13.

[0051] In response, the driver needs to approve or confirm the proposed lane change operation. To this end, the system may be designed so that the driver operates an operation button or a turn signal. Alternatively, preferably, the system may be designed so that the driver confirms the space available for the lane change operation or the planned lane change operation. In this regard, it is conceivable that the driver directs their gaze towards the empty space in the right lane 16. In other words, approval of the proposed automatic lane change operation can be done by visual confirmation.

[0052] The calculation device 3 also determines the driver's response time. This response time represents the period from the time the proposal is made to the time the driver approves it. Based on this response time, the timing of the proposal for the subsequent automatic lane change operation can be adjusted.

[0053] Based on the surrounding data, the position and speed of each of the other vehicles 19 on the road 14 can be identified. Based on this data, it is then possible to predict the ideal time to change lanes from the center lane 15 to the right lane 16. In the traffic situation shown in Figure 2, the vehicles 19 on the center lane 15 and vehicle 1 are moving faster than the vehicles 19 on the right lane 16. During vehicle 1's journey, it will be even later before it can move into the empty space 20. In addition, the ideal time to change lanes into the empty space 20 can be estimated.

[0054] Suppose it has been found that the response time of the driver of vehicle 1 during past lane change operations is below average. Therefore, the suggestion timing can be set so that the driver is given a suggestion to automatically change lanes into space 20 before vehicle 1 is in a position to be side-by-side with space 20. This gives the driver sufficient time to approve the suggestion. For drivers with short response times, the suggestion can be given at a later point, for example, when vehicle 1 is in a position to be side-by-side with space 20.

Claims

1. A computing device (3) for a support system (2) that performs automatic lateral steering of a vehicle (1), - Detects traffic conditions that require automatic lane changes, - Plan the aforementioned automatic lane change operation, - A suggestion signal is output at the time of the suggestion to the driver to propose the automatic lane change operation. - Identify whether approval was given for that proposal, - If the above proposal is accepted, a steering signal will be output to control the steering system (9) of the vehicle (1) to perform the automatic lane change operation. - Identify the driver's response time from the time of the proposal to the time of approval, - Adjust the suggestion timing for proposing the subsequent automatic lane change operation according to the specified response time. A computing device (3) configured in such a way.

2. In the computing device (3) described in claim 1, A computing device (3) is configured to predict the time of lane change at which the automatic lane change operation will be performed, and to determine the proposed time according to the predicted time of lane change.

3. In the computing device (3) described in claim 2, A computing device (3) characterized by being configured to determine the lane change point based on surrounding data and / or route data describing the planned route.

4. In the computing device (3) according to any one of claims 1 to 3, A computing device (3) is configured to adjust the speed of the vehicle (1) in preparation for the automatic lane change operation, and to determine the proposed time independently of the speed adjustment.

5. In the computing device (3) according to any one of claims 1 to 4, The computer (3) is configured to control the steering system (9) if the proposal to the driver is made during the proposal period and the driver approves it within the proposal period, and the proposal period is configured to be adjusted according to the specified response time.

6. In the computing device (3) according to any one of claims 1 to 5, A computing device (3) is characterized by being configured to adjust the proposed time according to the current time.

7. In the computing device (3) according to any one of claims 1 to 6, A computing device (3) is characterized by outputting the suggestion signal for making the suggestion during hands-off driving by the support system (2), and being configured so that the driver's attentiveness can be confirmed during the hands-off driving.

8. In the computing device (3) according to any one of claims 1 to 7, As approval of the above proposal, a computing device (3) is configured to determine whether the driver is aware of the situation regarding the automatic lane change operation, wherein the awareness of the situation means directing the driver's gaze and / or head towards an area corresponding to an empty space.

9. In the computing device (3) according to any one of claims 1 to 8, The computing device (3) is configured to output an operation start signal that automatically starts the operation of the vehicle (1)'s direction indicator (11) if the above proposal is accepted.

10. A support system (2) that performs lateral automatic steering of a vehicle (1), comprising a computing device (3) according to any one of claims 1 to 9.

11. A method for automatic lateral steering of a vehicle (1), - Detects traffic conditions that require automatic lane changes, - Plan the aforementioned automatic lane change operation, - A suggestion signal is output at the time of the suggestion to the driver to propose the automatic lane change operation. - Identify whether approval was given for that proposal, - If the above proposal is accepted, a steering signal will be output to control the vehicle's steering system to perform the automatic lane change operation. - Identify the driver's response time from the time of the proposal to the time of approval, Depending on the identified response time, the suggestion timing for proposing the subsequent automatic lane change operation will be adjusted. A method that has steps.

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