Computing device for an assistance system of a vehicle for planning an automated overtaking operation on a multi-lane road, assistance system, and method

Abstract

The invention relates to a computing device (3) for an assistance system (2) for automated lateral guidance of a vehicle (1) on a multi-lane road (14), wherein the computing device (3) is designed: to plan an overtaking operation, wherein the overtaking operation comprises a first automated lane change manoeuvre and a second automated lane change manoeuvre; to receive route data that describe a planned navigation route; to estimate, on the basis of the route data, an available driving distance (S) until the second automated lane change manoeuvre is executed; to receive environment data that describe positions and speeds of other road users (17) on the road (14); to receive speed data that describe a speed of the vehicle (1); and to plan the execution of the first automated lane change manoeuvre depending on the available driving distance (S), the environment data and the speed data.

Description

[0001] Computing device for a vehicle assistance system for planning an automated overtaking maneuver on a multi-lane roadway, assistance system, and method

[0002] The present invention relates to a computing device for an assistance system for automated lateral guidance of a vehicle on a multi-lane roadway. 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] Furthermore, driver assistance systems are known from the state of the art that support the vehicle user on a multi-lane road when reaching an exit or junction. For example, based on the input of a navigation destination, the driver assistance system can prepare all necessary lane changes until reaching an exit. To do this, the driver assistance system can first detect a free gap for the vehicle in the adjacent lane and then adjust the vehicle's speed to the detected gap for the subsequent lane change maneuver.

[0007] 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.

[0008] Such Level 2 assistance systems can support the driver in various situations by suggesting and executing lane-changing maneuvers. Two scenarios in particular frequently conflict: overtaking a slower vehicle and changing to a suitable lane to continue on the route, for example, to reach an exit. In this case, it is necessary to decide whether an overtaking maneuver is still advisable and can be completed before, for example, the exit is missed.

[0009] Current assistance systems usually plan hierarchically. Short-term goals are derived from a long-term goal, such as following the route. Such a short-term goal could be, for example, staying in lane or not overtaking when the exit is already very close. The framework conditions for long-term planning can usually not be recorded by the environmental sensors and are therefore largely unknown. Here, highly simplified assumptions are made. If long-term planning has already defined the goal of staying in lane, short-term planning can no longer react to the current traffic situation, even though this can be recorded relatively accurately by the environmental sensors. Hierarchical planning of maneuvers can lead to a slower vehicle in front not being overtaken even though the current traffic situation still permits. This can be particularly confusing for the driver with Level 2 assistance systems.

[0010] It is the object of the present invention to show a solution how the operation of an assistance system of the type mentioned above can be improved, in particular with regard to the driver's perception.

[0011] This object is achieved according to the invention by a computing device, an assistance system, and a method having the features according to the independent claims. Advantageous developments of the present invention are specified in the dependent claims.

[0012] A computing device according to the invention for an assistance system for the automated lateral guidance of a vehicle on a multi-lane roadway is configured to plan an overtaking maneuver, wherein the overtaking maneuver comprises a first automated lane change maneuver and a second automated lane change maneuver. Furthermore, the computing device is configured to receive route data describing a planned navigation route. Furthermore, the computing device is configured to estimate, based on the route data, an available route until the second automated lane change maneuver is carried out. Furthermore, the computing device is configured to receive environmental data describing the positions and speeds of other road users on the roadway. Furthermore, the computing device is configured to receive speed data describing a speed of the vehicle.In addition, the computing device is designed to plan the execution of the first automated lane change maneuver depending on the available route, the environmental data and the speed data.

[0013] With the help of the computing device or the assistance system, the driver of the vehicle is to be supported in maneuvering the vehicle on a multi-lane road. The multi-lane road can generally be a trunk road, a federal highway, an expressway, a motorway-like road or the like. The multi-lane road is preferably a motorway. The road can, for example, have two directional carriageways, each with at least two lanes, which are referred to here as the first lane and the second lane. Both the vehicle itself and other road users can move in a predetermined direction on these lanes. The road can also have additional lanes. The first lane can be limited to an exit or the deceleration lane leading to the exit.The first lane can, for example, be the right lane of a motorway. The deceleration lane may also lead to another road.

[0014] Using the computing device, automated lane-changing maneuvers can be prepared and executed to perform an overtaking maneuver. The overtaking maneuver comprises at least the first automated lane-changing maneuver and the second automated lane-changing maneuver. For example, the first automated lane-changing maneuver can lead from a first lane to a second lane. The second automated lane-changing maneuver can then lead from the second lane back to the first lane. The overtaking maneuver can include further lane-changing maneuvers following the second automated lane-changing maneuver. At least one other road user can be overtaken during the overtaking maneuver.

[0015] In order to plan the overtaking maneuver, the computing device can receive environmental data that describes the other road users in the vicinity of the vehicle or on the roadway. 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.

[0016] 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.

[0017] The computing device can also receive speed data. The speed data can describe the current speed of the vehicle. Furthermore, the speed data can describe a set speed or target speed specified by the driver for an adaptive cruise control system. Based on the surrounding data and / or digital map data, information on a permitted maximum speed for driving on the road can also be determined. For example, the assistance system's camera can detect traffic signs indicating the permitted maximum speed. The information on the permitted maximum speed can also be determined proactively using map information from the backend.

[0018] The computing device can also receive route data describing a planned navigation route. For example, the route data can specify that the vehicle should be maneuvered from the current lane, possibly via another lane, to a deceleration lane, and from there to the road exit. This provides the computing device with information, for example, about which road exit the vehicle should be maneuvered to.

[0019] If the overtaking maneuver is planned using the computer, the route data can be used to determine when the second automated lane change maneuver, which completes the overtaking maneuver, should be performed. The computer can then use the route data to estimate the available distance until the second automated lane change maneuver is performed. This can also take into account the preparation for the second automated lane change maneuver. Long-term planning with the goal of following the planned navigation route can thus determine the benchmark for the distance at which a driving maneuver should begin to follow the route.

[0020] The computer can be used to calculate the route based on the available route, the

[0021] The first automated lane change maneuver, which initiates the overtaking maneuver, can be planned based on the surrounding data and speed data. In addition to the long-term planning, which takes the navigation route into account, the short-term planning for the overtaking maneuver can take into account the available route, the speeds of other road users, the traffic density, and the speed of the driver's own vehicle. This data can describe the so-called acute traffic situation. Based on this data, it can then be determined whether the overtaking maneuver can be completed within the available route in order to begin the second automated lane change maneuver in good time, followed by another driving maneuver to follow the route.

[0022] By taking the current traffic situation into account, situations can be avoided, for example, in which the vehicle follows a slow-moving road user ahead until reaching the exit, even though overtaking would have been possible or sensible. Overall, the operation of an assistance system can thus be improved with regard to driver perception.

[0023] Preferably, the computing device is configured to plan the first lane change maneuver from a first lane to a second lane, to determine a first speed of the road users in the first lane and a second speed of the road users in the second lane based on the environmental data, and to plan the execution of the first automated lane change maneuver as a function of the first speed and the second speed. The first speed can describe the speed of at least one other road user in the first lane. For example, the first speed can describe the current speed of a road user traveling ahead of the vehicle. The first speed can also describe an average speed of several road users in the first lane.The second speed can describe the speed of at least one other road user in the second lane. The second speed can also describe an average speed of several road users in the second lane.

[0024] In a further embodiment, the computing device is configured to determine, based on the first speed and the second speed, whether the second automated lane-change maneuver can be performed within the available route. When checking whether the second automated lane-change maneuver or the overtaking maneuver can be performed within the available route, the speed of the vehicle or the set speed and / or the maximum permissible speed for the area of ​​the roadway encompassing the available route can also be taken into account. In particular, a difference between the second speed and the first speed can be determined.For example, if the other road users in the second lane are traveling significantly faster than the road users in the first lane, the first lane change maneuver and subsequently the second lane change maneuver can be performed. However, if the other road users in the second lane are traveling only slightly faster than the road users in the first lane, the first lane change maneuver or the overtaking maneuver can be omitted.

[0025] In a further embodiment, the computing device is configured to determine a general traffic density on the roadway based on the speeds of the other road users and to estimate the available route based on the general traffic density. For example, the general traffic density can be determined based on the first speed of the road users in the first lane and the second speed of the road users in the second lane, and if applicable, the speeds of road users in other lanes, and the available route can be estimated. For example, sensory observation of the general traffic density is used to estimate the distance required to search for a gap and merge into the target lane or the first lane in order to reach it in time with a high degree of probability.Real-time traffic information can also be taken into account, allowing for reliable planning of overtaking maneuvers while taking general traffic density into account.

[0026] When checking whether the second automated lane change maneuver can be carried out within the available route, the at least one driving maneuver required after the overtaking maneuver to follow the navigation route can also be taken into account. This driving maneuver can, for example, be another lane change maneuver onto an exit, a deceleration lane, another lane, or the like. The time required to prepare the driving maneuver can also be taken into account. For example, a free gap can be searched for when preparing the driving maneuver. It can also be taken into account whether multiple driving maneuvers, for example multiple lane changes, are required to follow the navigation route after the overtaking maneuver. In addition, a target speed for the rest of the route can be taken into account. For example, tight curve radii on exits can be taken into account.

[0027] The computing device is preferably configured to output an offer signal to a driver of the vehicle for issuing an offer for the first automated lane change maneuver. It can also be provided that the computing device is configured to output an offer signal to a driver of the vehicle for issuing an offer for the second automated lane change maneuver. For example, it can first be checked on the basis of the environmental data whether there is a free gap for the lane change maneuver. If there is a suitable gap for the lane change maneuver, the offer signal can be output by means of the computing device or transmitted to an output device. The offer or a suggestion for the automated lane change maneuver can be output to the driver by means of the output device. The output device can comprise a display and can present the offer to the driver visually or textually.in the form of a display. The display can be used to visualize the current traffic situation in the vehicle's surroundings to the driver. For example, an image of the vehicle and other road users in the vehicle's vicinity can be shown on the display. The lanes can also be shown on the display.

[0028] 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.

[0029] In addition, the computing device can be used to check whether the driver has accepted the offer for the automated lane change maneuver. For this purpose, it can be checked, for example, whether the driver has performed a predetermined operating action to accept it. If the driver confirms the offer, it can be assumed that the driver is situationally aware of the lane change maneuver. The computing device is preferably configured to output the offer signal for issuing the offer by the assistance system 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.In hands-off mode, the assistance system controls the automated lateral guidance to keep the vehicle within the lane. In particular, the functions of a steering and lane guidance assistant or an active lane keeping assistant are provided. Preferably, in hands-off mode, the vehicle's longitudinal guidance is also controlled in the form of adaptive cruise control (ACC).

[0030] During hands-off operation, the driver's attention can be determined based on the attention data from the driver monitoring device. The computing device can receive the driver attention data from a driver monitoring device. The driver monitoring device can provide the driver attention data, which describes a current line of sight and / or a current orientation of the driver's head. The driver monitoring device can, for example, comprise an interior camera directed at the driver. The driver monitoring device can determine the head position or head orientation based on the detected driver's nose. In addition, the driver monitoring device can determine the position of the driver's pupils and thus the driver's direction of sight.The driver monitoring device can also detect whether the eyes are open or closed. The driver monitoring device can incorporate infrared light sources, allowing the driver's head position and / or gaze direction to be determined even when wearing sunglasses and / or in dark ambient conditions. Furthermore, the driver's posture or upper body alignment can be determined based on the attention data or data from the driver monitoring device.

[0031] 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.

[0032] In a further embodiment, the computing device is configured to determine whether the driver has situational awareness of the automated lane-changing maneuver as an acceptance of the offer, wherein the situational awareness describes a direction of gaze and / or head orientation directed toward an area associated with the free gap. Based on the data from the driver monitoring device, the driver's situational awareness with regard to the following automated lane-changing maneuver can be detected. If the computing device or the assistance system has detected the driver's situational awareness, this can be interpreted as an acceptance of the offer. To check whether situational awareness is present, it is determined based on the attention data whether the driver is directing their gaze and / or head orientation toward at least one area associated with the free gap.This assessment can also take into account the driver's general posture. Preferably, it can be checked whether the driver is performing a safety check.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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 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.

[0037] 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.

[0038] The assistance system's computing device can be used to 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-changing maneuver. Preferably, the computing device can also control a braking system and / or a drive motor to control the vehicle's longitudinal guidance. A vehicle according to the invention comprises an assistance system according to the invention. The vehicle is designed, in particular, as a passenger car.

[0039] A method according to the invention for the automated lateral guidance of a vehicle on a multi-lane roadway comprises planning an overtaking maneuver, wherein the overtaking maneuver comprises a first automated lane change maneuver and a second automated lane change maneuver. The method further comprises receiving route data describing a planned navigation route. Furthermore, the method comprises estimating an available route until the second automated lane change maneuver is carried out based on the route data. Furthermore, the method comprises receiving environmental data describing the positions and speeds of other road users on the roadway. Furthermore, the method comprises receiving speed data describing a speed of the vehicle.Furthermore, the method includes planning the execution of the first automated lane change maneuver depending on the available route, the environmental data and the speed data.

[0040] 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.

[0041] 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.

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

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

[0044] Fig. 2 is a schematic representation of a traffic situation in which the vehicle according to Fig. 1 is in a right lane of a roadway and in which an overtaking maneuver is planned.

[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 17, 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 and / or during lane-changing maneuvers. By controlling the steering system 9, steerable wheels 10 of the vehicle 1 can be steered and thus the lateral guidance can be controlled during the lane-changing maneuver. By means of the computing device 3, the drive motor and a braking system of the vehicle 1 can also preferably be controlled in order to control the longitudinal guidance of the vehicle 1, in particular in the sense of an adaptive cruise control system.

[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 17 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 can be determined which lane 15, 16 of a roadway 14 the vehicle 1 is currently in. Based on this information, the computing device 3 can determine whether a lane change is necessary or advisable for a current traffic situation. Furthermore, the computing device 3 can receive route data from a navigation device of the vehicle 1. The route data describe a planned navigation route.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 17 traveling ahead can be maintained.

[0052] Fig. 2 shows a schematic representation of a traffic situation in which the vehicle 1 according to Fig. 1 is on a multi-lane roadway 14. The vehicle 1 is currently in a first lane 15 or a right-hand lane of the roadway 14. In front of the vehicle 1 in the first lane 15 there are other road users 17 in the form of trucks. In a second lane 16 or a left-hand lane of the roadway 14 there are other road users 17 in the form of passenger cars. For the journey with the vehicle 1, a navigation route is specified according to which the vehicle 1 has to leave the roadway 14 via an exit 18. The vehicle 1 can therefore change to another roadway, for example at a motorway junction or a junction. The representation according to Fig. 2 is not to scale. The exit can be 2 km away, for example.In about 2 km it is necessary to take exit 18 to the right to continue the route.

[0053] This means that a lane change to the right must be performed from the current lane or from the first lane 15. The lane change must be performed at the earliest as soon as lane or exit 18 begins, and completed at the latest when the new road or exit 18 splits to the right.

[0054] It is assumed that the driver has set a set speed or desired speed to 110 km / h. The maximum permitted speed on lane 14 is 120 km / h. Based on the environmental data from the environmental sensors 4, 6, a first speed of road users 17 in the first lane 15 can be determined. It is assumed that the first speed is approximately 80 km / h. In addition, a second speed of road users 17 in the second lane 16 can be determined. The computing device 3 can be used to determine whether an overtaking maneuver should be performed before reaching the exit 18 or whether the vehicle 1 should continue driving in the first lane 15.The overtaking maneuver comprises a first lane change maneuver from the first lane 15 to the second lane 16, followed by a second lane change maneuver from the second lane 16 back to the first lane 15. Using the computing device 3, a general traffic density can be determined based on the first speed and the second speed. From the general traffic density, a distance s available until the second lane change maneuver can be determined.

[0055] Furthermore, the computing device 3 determines the current traffic situation based on the first speed, the second speed, the set speed, and the maximum permissible speed. Based on this, it is calculated whether the overtaking maneuver can be completed within the available driving distance S in order to begin the maneuver to follow the route in a timely manner. Three example situations are presented below.

[0056] According to a first situation, it is assumed that the second speed of road user 17 in the second lane 16 is significantly higher than the first speed of road user 17 in the first lane 15. In this case, the driver is offered the automated execution of the first lane change maneuver because, with the set speed of 110 km / h, it is possible to quickly overtake road user 17 or the truck in the first lane 15 before the second lane change maneuver needs to be prepared.

[0057] According to a second situation, it is assumed that the second speed is only slightly higher than the first speed. In this case, the driver is not offered the first lane change maneuver because the overtaking maneuver would take a long time and exit 18 is unlikely to be reached in time.

[0058] In a third situation, it is assumed that the overall traffic is so dense that a long time can be expected for the gap search and merging. In this case, the driver is not offered the first lane change maneuver because it is highly unlikely that overtaking can be completed within the available distance S. If the overtaking maneuver is to be carried out, the driver can first be offered the first automated lane change maneuver. It is also necessary for the driver to accept or confirm the offer for the first lane change maneuver. For this purpose, it can be provided that the driver presses a control button or the direction indicator. However, it is preferably provided that the driver secures the first lane change maneuver or the traffic space for the planned lane change maneuver.For this purpose, the driver is required to direct his gaze toward the free gap in the second lane 16. Acceptance of the offer for the automated lane change maneuver can therefore be confirmed by a visual confirmation.

[0059] If the acceptance has been made, the direction indicators 11 facing the second lane 16 can be automatically activated, and the lane change maneuver can be performed automatically using the assistance system 2. The subsequent second automated lane change maneuver can be performed analogously to the first lane change maneuver.

Claims

Claims 1. A computing device (3) for an assistance system (2) for the automated lateral guidance of a vehicle (1) on a multi-lane roadway (14), wherein the computing device (3) is configured to: - to plan an overtaking maneuver, wherein the overtaking maneuver comprises a first automated lane change maneuver and a second automated lane change maneuver, - to receive route data describing a planned navigation route, - to estimate the available route (S) until the second automated lane change maneuver is carried out, based on the route data, - to receive environmental data describing the positions and speeds of other road users (17) on the roadway (14), - to receive speed data describing a speed of the vehicle (1) and - to plan the execution of the first automated lane change maneuver depending on the available route (S), the environmental data and the speed data.

2. Computing device (3) according to claim 1, characterized in that the computing device (3) is configured to plan the first lane change maneuver from a first lane (15) to a second lane (16), to determine a first speed of the road users (17) on the first lane (15) and a second speed of the road users (17) on the second lane (16) based on the environmental data, and to plan the execution of the first automated lane change maneuver depending on the first speed and the second speed.

3. Calculation device (3) according to claim 2, characterized in that the calculation device (3) is designed to calculate, based on the first speed and the second speed to determine whether the second automated lane change maneuver can be carried out within the available driving distance (S).

4. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is designed to determine a general traffic density on the roadway (14) on the basis of the speeds of the other road users (17) and to estimate the available route (S) on the basis of the general traffic density.

5. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is configured to output an offer signal for outputting an offer for the first automated lane change maneuver to a driver of the vehicle (1).

6. Computing device (3) according to claim 5, characterized in that the computing device (3) is configured to output the offer signal during a hands-off operation by the assistance system (2), wherein a check of the driver's attention is carried out during the hands-off operation.

7. Computing device (3) according to claim 5 or 6, characterized in that the computing device (3) is configured to determine whether a situation awareness of the driver for the first automated lane change maneuver is given as the acceptance for the offer, wherein the situation awareness describes a direction of gaze and / or a head orientation towards an area associated with a free gap.

8. Computing device (3) according to one of claims 5 to 7, 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 the automated lateral guidance of a vehicle (1) on a multi-lane roadway (14), comprising the steps: - Planning an overtaking maneuver, wherein the overtaking maneuver comprises a first automated lane change maneuver and a second automated lane change maneuver, - Receiving route data describing a planned navigation route, - Estimating an available route (S) until the second automated lane change maneuver is carried out based on the route data, - Receiving environmental data describing the positions and speeds of other road users (17) on the roadway (14), - receiving speed data describing a speed of the vehicle (1), and - Planning the execution of the first automated lane change maneuver depending on the available route (S), the environmental data and the speed data.

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