Computing device, support system, and method for a vehicle support system that performs system-led automatic lane change operations, taking into account interaction with the driver.

Abstract

The present invention relates to a computing device (3) for an assistance 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, outputs a suggestion signal to propose an automatic lane change operation to the driver, determines whether the suggestion has been approved, outputs a steering signal to control the steering system (9) of the vehicle (1) to perform the automatic lane change operation if the suggestion is approved, verifies whether the driver initiated or performed a driver lane change operation first within a predetermined period before the suggestion signal is output, and is configured to withhold the output of the suggestion signal if the planned automatic lane change operation differs from the driver lane change operation.

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 for lateral semi-automatic steering assists the driver by taking over the steering work. Different from assistance systems that perform 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 trajectories of the preceding vehicles are detected and used as a basis for the planned trajectory of the host vehicle.

[0003] Some of these known assistance systems for lateral semi-automatic 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 within 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 could be the case, for example, 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. Conventional lane change assistance systems have generated lane change suggestions (system-led) based solely on traffic conditions and pre-set actual navigation routes, without considering the driver's actions. [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 interaction with the driver. [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 for automatic lateral steering of a vehicle is configured to detect traffic conditions requiring an automatic lane change operation. In addition, the computing device is configured to output a suggestion signal to propose an automatic lane change operation to the driver. The computing device is also configured to determine whether the suggestion has been approved. Furthermore, if the suggestion is approved, the computing device is configured to output a steering signal to control the vehicle's steering system to execute the automatic lane change operation. Moreover, the computing device is configured to verify whether the driver initiated or manually performed a driver lane change operation (driver's lane change operation) within a predetermined period before the suggestion signal is output. Furthermore, the computing device is configured to withhold the output of the suggestion signal if the planned automatic lane change operation differs from the driver lane change operation.

[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 its 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 a lane change operation, the computing device can output a suggestion signal or send it to an output device. Through this output device, suggestions or opinions regarding the automatic lane change operation can be given to the driver. This output device may have a display unit or screen and can provide suggestions to the driver visually or in a 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 an image of the vehicle and other traffic objects 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, a computing device can be used to verify whether the driver has approved the suggestion to change lanes. To do this, for example, it may be possible to verify 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, before issuing a suggestion for an automatic lane change operation or outputting a suggestion signal, it is confirmed whether the driver has already initiated (led) the lane change operation or performed the lane change operation manually. This type of lane change operation, initiated by the driver (driver-led type) or performed manually, is called a driver lane change operation. In particular, it may be confirmed whether the driver initiated the lane change operation or performed the lane change operation manually within a predetermined period before issuing the suggestion. This predetermined period is preferably less than 5 minutes, and especially less than 1 minute. When the driver initiates the lane change operation, for example, they may perform a certain driving action, and the support system can then automatically perform the lane change operation in response. That driving action may be the operation of an operating element (e.g., a turn signal lever). In the case of a manually performed lane change operation, the lane change operation is performed solely by the driver operating the steering wheel.

[0016] If the system detects that the driver has performed a lane change before a suggestion is issued, the lane change can be compared to a planned lane change by the support system or computer. If the lane change differs from or is significantly different from the planned lane change, the suggestion signal can be blocked. In this case, the driver will not be presented with any suggestions for lane changes.

[0017] This invention aims to address the problem that conventional assistance systems, without considering the driver's actions, generate system-led lane change suggestions based solely on traffic conditions and / or pre-set navigation routes. This previous approach, which does not adequately consider the driver's actions, can lead to confusion in decision-making. For example, a system-led lane change may be executed immediately after a lane change initiated by the driver, resulting in the vehicle returning to its original lane. Furthermore, even if the driver intentionally wishes to remain in their current lane, the system may repeatedly attempt lane changes, potentially resulting in disruptive lane changes.

[0018] This invention focuses precisely on this type of interaction between the assistance system and the driver, avoiding decisions that could confuse the system and achieving a more intuitive driving experience. To this end, driver lane change operations initiated or performed manually are given particular attention and are considered as intentional decisions by the driver. As a result, the assistance system as a whole can adapt more appropriately to the driver's responses.

[0019] While the proposed automatic lane change operation is suspended, the vehicle can automatically maintain its current lane, particularly the one reached by the driver's lane change operation. In addition, it may be configured to follow a preceding vehicle in this lane. Preferably, this preceding vehicle can be followed in the form of adaptive cruise control through longitudinal automatic control. This is especially true when the pre-programmed adaptive cruise control speed or target speed is greater than the actual speed of the preceding vehicle. In other words, the vehicle in the current lane is preferably allowed to remain a preceding object, even if it is possible to overtake at the desired speed at the current time.

[0020] Preferably, the computer is configured to suppress the output of a suggestion signal when the automated lane change operation involves changing lanes from the first lane to the second lane, and the driver lane change operation involves changing lanes from the second lane to the first lane. In other words, it is configured to ensure that the planned automated lane change operation or system-led lane change operation does not result in returning to the original lane, i.e., the lane in which the vehicle was before the driver lane change operation. In other words, it is configured to ensure that the automated lane change operation is, so to speak, contrary to the driver lane change operation. For example, a driver may intentionally change lanes from the second lane (e.g., the left lane) to the first lane (e.g., the right lane) to use an exit during a driver lane change operation. If the suggestion for the automated lane change operation then leads back to the first lane, i.e., the left lane, this would be bothersome and undesirable for the driver.

[0021] In one embodiment, the computing device is configured to withhold the output of a suggestion signal for a predetermined delay period after the start or execution of a driver lane change operation. Specifically, the comparison between the driver lane change operation and the automatic lane change operation can be performed only during the delay period after the execution of the driver lane change operation. This delay period may last for less than 10 minutes, preferably less than 5 minutes. The delay period may also be determined according to the actual speed or set speed of the vehicle. In addition, the delay period may be determined on a case-by-case basis according to the actual traffic conditions and / or previously performed driving operations. For example, the delay period may be determined according to the direction of the previous driver operation or lane change operation. After the delay period has ended, the driver may be offered the automatic lane change operation again.

[0022] In other embodiments, the computing device is configured to withhold the output of the suggestion signal until at least one predetermined event occurs. That is, a system-led lane change suggestion can be withheld until a predetermined event or predetermined traffic condition occurs. Such predetermined events may include a specific speed change of the preceding vehicle or the cutting in of another vehicle ahead. A reassessment of the situation (and as a result a new decision to change lanes) is performed if it is assumed that the object ahead has changed or has significantly reduced its speed, making the driver's original decision no longer valid.

[0023] In addition, the system may be designed to determine the country in which the vehicle is currently located and to suspend the proposed signal accordingly. In countries where specific regulations or rules exist, the suspension of the proposal may be required only for a predetermined period. For example, in countries such as Germany, there is a rule of driving on the right. In this case, a suspension of the proposal limited to a specific period can ensure compliance with the rule of driving on the right, depending on the circumstances. In countries where such rules do not exist, the proposal may be suspended until a predetermined event occurs. This is one example that can be expected in the United States.

[0024] In one embodiment, the computing device is configured to output a maximum of a predetermined number of suggestion signals depending on the detected traffic situation when a traffic situation requiring an automatic lane change is detected. When a traffic situation requiring or in which an automatic lane change is meaningful is detected, the system can proactively (initially) offer opinions or suggestions to the driver. In this case, it is preferable that the computing device is configured to output only the maximum number of suggestion signals mentioned above. This means that, in particular, only a fixed number of suggestions, for example, two or three suggestions, are offered to the driver for the detected traffic situation. If the driver does not approve these suggestions, the system may refrain from issuing further suggestions under this traffic situation. However, this is preferable if subsequent events reveal that an automatic lane change might have been impossible after all. This is, for example, when another vehicle traveling at a high speed and overtaking the vehicle is only detected at a later date.

[0025] Preferably, the computing device outputs a proposal signal for making a proposal during hands-off driving by the assistance system, and is configured to confirm the driver's attentiveness during the hands-off driving. In other words, when the vehicle is in a so-called hands-off driving state, it is possible to propose a lane change operation to the driver. During hands-off driving, the assistance system takes over the lateral automatic steering to keep the vehicle within the lane. That is, in particular, a steering assistance function and a lane keeping assistance function or an active lane keep assistance function are provided. Preferably, during hands-off driving, the longitudinal control of the vehicle is also taken over in the form of Adaptive Cruise Control (ACC).

[0026] During hands-off driving, the driver's attentiveness can be determined based on the attentiveness data of the driver monitoring device. The computing device can receive the driver attentiveness data from the driver monitoring device. The driver monitoring device can provide driver attentiveness data describing the actual line of sight direction and / or the actual head orientation of the driver. The driver monitoring device may, for example, have an in-vehicle camera directed at the driver. The driver monitoring device can identify the position of the driver's head or the head orientation from the detected nose of the driver. In addition, the driver monitoring device can identify the position of the driver's pupils and thus the driver's line of sight direction. The driver monitoring device can also detect whether the eyes are open or closed. The driver monitoring device may be provided with an infrared light source, whereby the position of the driver's head and / or the line of sight direction can be determined even when the driver is wearing sunglasses and / or when the surroundings are dark. In addition, based on the attentiveness data or the data of the driver monitoring device, the posture or the upper body orientation of the driver can also be identified.

[0027] 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 ascertained whether the driver's line of sight is directed towards the road. At this time, based on the attentiveness data, the driver's line of sight direction and / or head orientation 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.

[0028] In other embodiments, the computing device is configured to identify whether a driver's situation awareness regarding a vehicle lane change operation has been made as an approval for the proposal, where the situation awareness means directing the line of sight and / or head orientation 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 a subsequent vehicle 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 head orientation 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 ascertained whether the driver is visually making a confirmation.

[0029] This particularly means that when the driver looks at or towards the empty space to confirm the passing space for a vehicle 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 a subsequent vehicle lane change operation. This can also be said when preferably confirming whether the target lane is actually empty as previously detected by only the vehicle or the assistance system.

[0030] Preferably, the computer is configured to output an activation signal that automatically starts the operation of the vehicle's turn signals when the proposal is approved. The externally visible turn signals can be automatically activated by the computer in preparation for an automatic lane change operation. In particular, the turn signals can be activated without prior operation of the operating element (e.g., the turn signal lever). Specifically, the turn signals can be automatically activated once the proposal for an automatic lane change operation is approved by the driver.

[0031] The support system for performing lateral automatic steering of a vehicle according to the present invention has a computing device according to the present invention. The computing device may consist of at least one processor or at least one electronic control unit. In addition, the support system may include at least one peripheral sensor used to provide peripheral data. As a peripheral sensor, the support system may include a camera used to provide image data describing the area around the vehicle. The computing device can then identify lane boundaries and / or other boundaries of lanes or roads in the image data. In addition, it can identify objects and other passing bodies in the image data. Furthermore, the support system may include at least one distance sensor as a peripheral sensor, which may be configured as a radar sensor and / or a lidar sensor. Based on the sensor data from these distance sensors, for example, other passing bodies can be detected and their speeds can also be determined.

[0032] The support system may further 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, in particular 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. It can also determine, based on the attention depth data, whether the driver is aware of the situation in relation to a planned lane change operation or whether they have visually confirmed the lane change operation as an approval.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] The method according to the present invention is used for lateral automatic steering of a vehicle. The method includes detecting a traffic situation that requires an automatic lane change operation. In addition, the method includes outputting a suggestion signal to propose an automatic lane change operation to the driver. Furthermore, the method includes determining whether the suggestion has been approved. Moreover, if the suggestion is accepted, the method includes outputting a steering signal to control the vehicle's steering system to perform the automatic lane change operation. Furthermore, the method includes determining whether the driver initiated a driver lane change operation first or performed it manually within a predetermined period before the suggestion signal was output. Furthermore, the method includes withholding the output of the suggestion signal if the planned automatic lane change operation differs from the driver lane change operation.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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]

[0041] [Figure 1] This diagram schematically shows a vehicle equipped with an assistance system that performs automatic lateral steering. [Figure 2] Figure 1 is a schematic diagram illustrating a traffic situation where a vehicle changes lanes from the center lane to the right lane. [Modes for carrying out the invention]

[0042] Figure 1 shows a top view of vehicle 1 (in this example, it is formed as a passenger car). Vehicle 1 has a support system 2 used to enable vehicle 1 to perform automatic lane change operations. The support system 2 has a computing device 3, which can be configured, for example, by at least one electronic control device of vehicle 1.

[0043] 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.

[0044] 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 boundaries, etc., in the surrounding area 5.

[0045] 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).

[0046] 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.

[0047] 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).

[0048] 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 lanes 15 and 16 of road 14 vehicle 1 is currently located in. Based on this information, the computing device 3 can determine whether a lane change is necessary or meaningful in the actual traffic situation. For example, changing lanes to the edge lanes may not be meaningful.

[0049] 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.

[0050] Figure 2 shows Vehicle 1 from Figure 1 in an exemplary traffic situation. Here, Vehicle 1 is currently in the first lane 16 or the right lane of Road 14. The driver of Vehicle 1 has previously manually changed lanes from the second lane 15 or the center lane of Road 14 to the first lane 16. The driver wants to steer Vehicle 1 out of the second lane 15 into the first lane 16, and then continue through the deceleration lane 17 to the exit 18 of Road 14.

[0051] The support system 2 can essentially detect whether a lane change operation is necessary or meaningful. Based on surrounding data, it can identify the position and speed of other vehicles 19. Based on this data and the actual speed or set speed of vehicle 1, the calculation device 3 can then determine whether a lane change operation is meaningful. In addition, the calculation device 3 can check whether there is sufficient space for a lane change operation based on sensor data from surrounding sensors 4 and 6. If there is sufficient space, the support system 2 then suggests an automatic lane change operation to the driver. For this purpose, the driver can be notified of the suggestion to perform an automatic lane change operation via the output device 13.

[0052] 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 a planned lane change operation. In this regard, it is conceivable that the driver directs their gaze towards the available space in the right lane 16. In other words, approval of the proposed automatic lane change operation can be done by visual confirmation.

[0053] In the traffic situation shown in Figure 2, it is assumed that the set speed of vehicle 1 is greater than the current speed of the preceding vehicle 20 or the road object 19 in the direction of vehicle 1's travel. In this case, it is thought that the support system 2 or the computing device 3 would detect that changing lanes from the first lane 16 back to the second lane 15 is meaningful in order to maintain the set speed.

[0054] However, before proposing an automated lane change operation, the support system 2 or computing device 3 can verify whether a driver lane change operation has already been performed. In the case of a driver lane change operation, the driver of vehicle 1 initiates (leads) the lane change operation or performs it themselves. If this driver lane change operation differs from the planned automated lane change operation, the proposal for an automated lane change operation is withheld.

[0055] In the example in Figure 2, the driver is performing a lane change operation from the second lane 15 to the first lane 16. The auto lane change operation planned by the computing device 3 is expected to be an attempt to return from the first lane 16 to the second lane 15. Therefore, the auto lane change operation will be different from the planned auto lane change operation, and as a result, it will be contrary to the driver's intention. For this reason, in this case, the proposal for the auto lane change operation will not be made (it will be reserved). Proposals can be reserved for a specific injunction period or until a specific event occurs.

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, - Output a suggestion signal to the driver to suggest the aforementioned lane change operation. - Identify whether approval was given for that proposal, - If the above proposal is approved, a steering signal will be output to control the steering system (9) of the vehicle (1) to perform the above-mentioned lane change operation. In the computing device (3), - Within a predetermined period before the output of the proposed signal, confirm whether the driver initiated or manually performed the driver lane change operation. - If the planned vehicle lane change operation differs from the driver lane change operation, the output of the proposed signal is suppressed. A computing device (3) characterized by being configured in such a way.

2. In the computing device (3) described in claim 1, The output of the proposed signal is withheld if the planned vehicle lane change operation includes changing lanes from the first lane (16) to the second lane (15), and the driver lane change operation includes changing lanes from the second lane (15) to the first lane (16). A computing device (3) characterized by being configured in such a way.

3. In the computing device (3) according to claim 1 or 2, After the commencement or execution of the aforementioned driver lane change operation, the output of the proposed signal shall be suspended for a predetermined suspension period. A computing device (3) characterized by being configured in such a way.

4. In the computing device (3) according to claim 1 or 2, The output of the proposed signal is suspended until at least one predetermined event occurs. A computing device (3) characterized by being configured in such a way.

5. In the computing device (3) described in claim 4, The predetermined event is a predetermined speed change of the vehicle (20) ahead or the cutting in of another vehicle (19) in front of the vehicle (1). A computing device characterized by the following features.

6. In the computing device (3) according to any one of claims 1 to 5, When a traffic situation requiring the aforementioned lane change operation is detected, a maximum of a predetermined number of suggestion signals will be output according to the detected traffic situation. A computing device (3) characterized by being configured in such a way.

7. In the computing device (3) according to any one of claims 1 to 6, During hands-off driving by the support system (2), the suggestion signal for issuing the suggestion is output, and the driver's attentiveness is confirmed during the hands-off driving. A computing device (3) characterized by being configured in such a way.

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 has made a situational awareness regarding the above lane change operation, wherein the situational awareness 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, If the above proposal is approved, an operation start signal will be output to automatically start the operation of the vehicle's (1) turn signal (11). A computing device (3) characterized by being configured in such a way.

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 8.

11. A method for automatic lateral steering of a vehicle (1), - Detects traffic conditions that require automatic lane changes, - Output a suggestion signal to the driver to suggest the aforementioned lane change operation. - Identify whether approval was given for that proposal, - If the above proposal is approved, a steering signal will be output to control the vehicle's steering system (9) to perform the above-mentioned lane change operation. In a method having steps, - Within a predetermined period before the output of the proposed signal, confirm whether the driver initiated the driver lane change operation first or performed it manually. - If the planned vehicle lane change operation differs from the driver lane change operation, the output of the proposed signal is suppressed. A method characterized by having a step.

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