Method for displaying a lane change operation, computer program product and vehicle

Abstract

The invention relates to a method (100) for displaying a lane change operation in a vehicle (1) for a lane change of the vehicle (1) from a first lane (11) to a second lane (12), wherein a display unit (2) with a display region (2.1) for showing information in a visible region (3) for perceiving an external environment of the vehicle (1) is provided. The invention also relates to a computer program product and to a vehicle (1).

Description

[0001] Description

[0002] Method for indicating a lane change, computer program product, and vehicle

[0003] The invention relates to a method for displaying a lane change process in a vehicle, a computer program product, and a vehicle.

[0004] It is known that vehicle displays can be presented in a head-up display. One advantage of such a display is the ability to augment display content and functional states directly in the operator's real field of vision. This can reduce the abstraction of a display and thus the operator's required transfer effort.

[0005] When changing lanes, it is known to use such head-up displays before a vehicle changes lanes to indicate the planned lane change to the operator in the vehicle. For this purpose, animations in the form of arrows are often played in the head-up display to visualize the direction of the planned lane change. However, these animations are usually defined by predefined image sequences, so that the operator is only provided with the directional information and the general information that a lane change is planned, regardless of the vehicle's surroundings.

[0006] From US 2022 / 0018678 A1 it is also known to adapt predefined image patterns in a head-up display to the respective driving situation, for example in order to avoid overlaps with other road users.

[0007] Thus, existing visualizations provide a vehicle operator with an initial indication of the lane change before a lane change. It is desirable to improve visual support for the operator during the lane change.

[0008] It is an object of the present invention to at least partially remedy the above-mentioned disadvantages known from the prior art. In particular, it is an object of the present invention to improve the support provided to a vehicle operator by visualizing a lane change during a lane change process. The above object is achieved by a method having the features of claim 1, a computer program product having the features of claim 15, and a vehicle having the features of claim 16. Further features and details of the invention emerge from the respective subclaims, the description, and the drawings.Features and details that are described in connection with the method according to the invention naturally also apply in connection with the computer program product according to the invention and / or the vehicle according to the invention and vice versa, so that with regard to the disclosure of the individual aspects of the invention, reference is or can always be made to each other.

[0009] According to a first aspect of the invention, a method for displaying a lane change in a vehicle for a lane change of the vehicle from a first lane to a second lane is provided. A display unit has a display area for displaying information in a field of view for perceiving the vehicle's external environment. The method comprises, in particular in the form of method steps:

[0010] Detecting a signal to initiate the lane change process, in particular by a control unit of the vehicle,

[0011] Acquisition of environmental data of the first and second lane, in particular by the control unit, Continuous detection of a reference position of the vehicle to the first and second lane during the lane change process, in particular by the control unit,

[0012] Detection of a target area of ​​the second lane depending on the environmental data, in particular by the control unit,

[0013] Determining a visualization of the lane change for display in the display area, in particular by the control unit, so that the visualization extends optically in the field of view from the reference position in the direction of the target area, preferably outputting the visualization for display in the display area, in particular by the control unit and / or to the display unit, adapting the visualization of the lane change depending on a change in the reference position, and preferably from the target area, during an execution of the lane change process by the vehicle.

[0014] The vehicle can preferably be a motor vehicle, e.g., in the form of an electric vehicle. The display unit can preferably be integrated into the vehicle or connected to the vehicle. The field of view can be formed, in particular, by a windshield of the vehicle and / or glasses. Thus, the field of view can be, in particular, a driver's field of view, in which, for example, a road can be perceived by the driver while driving the vehicle. The display area can be a, in particular transparent, part of a display unit of the vehicle.

[0015] The display unit is preferably a head-up display (HUD) of the vehicle, particularly preferably an augmented reality head-up display (AR-HUD). For example, the visualization can be displayed in the vehicle by projection onto the windshield by the display unit and / or a transparent display device of the display unit. In an augmented reality head-up display, the projected display elements are additionally placed in a contact-analog manner, i.e., the display element is projected virtually in front of the vehicle, superimposed on reality at the correct location. For example, it is known to use AR-HUDs to virtually place navigation instructions in the driver's field of vision at an intersection in order to draw attention to the turning maneuver taking place at that intersection. Such a display is advantageous due to its intuitive comprehensibility for the user.

[0016] In particular, it is further conceivable for the display unit to be part of a, particularly wearable, augmented reality device, e.g., in the form of augmented reality glasses (AR glasses), which are connected to the vehicle and / or have a data communication connection. Preferably, the display unit can be configured to execute an augmented reality function for the field of view. The display of information in the field of view can, in particular, take place in the form of a visualization.

[0017] The first and second lanes can be understood, in particular, as lanes of a roadway. For example, the first lane can form a lane with a first, intended direction of travel, and the second lane can form a lane with a second prescribed direction of travel that is oriented opposite to the first direction of travel. However, it is equally conceivable for the first and second lanes to encompass the same intended direction of travel. Furthermore, it can be provided that the first and second lanes are part of a roadway with more than two lanes. For example, the first or second lane can be surrounded by two other lanes.

[0018] Preferably, the lanes are designed for vehicle use.

[0019] A lane change can be understood as a movement of the vehicle from the first lane, in particular the center of the first lane, to the second lane, in particular a center of the second lane. The lane change process can comprise the lane change and preferably accompanying time periods and / or functions. For example, the lane change process can begin before the vehicle moves from the first to the second lane. For example, the lane change process can be initiated by an operator action, such as by activating a turn signal on the vehicle. The signal to initiate the lane change can be received, in particular by the control unit, from a driver assistance system and / or an operating unit of the vehicle. The signal to initiate the lane change can thus detect the start of the lane change process and / or start the lane change process.

[0020] The environmental data can be acquired by the vehicle's environmental sensor system. For example, the environmental sensor system can comprise one or more cameras and / or at least one or more radar, lidar, and / or ultrasonic sensors. To detect the first and second lanes, geometric data, e.g., relating to a lane marking and / or lane boundary, of the first and / or second lane can be acquired based on the environmental data.

[0021] The reference position can be understood, in particular, as an ego position of the vehicle and / or a position of the display unit. For example, the reference position can comprise a position of a lower edge of the display area. For this purpose, a position of the vehicle and / or the display unit can be localized in the environmental data. However, it is also conceivable for the reference position to comprise another position in the display area that is advantageous and / or relevant for visualizing the lane change. For continuous detection of the reference position, the detection of the reference position can be repeated at regular or irregular intervals during the lane change process.

[0022] The target area can preferably be an area of ​​the second lane that can be addressed by the vehicle for lane changes and / or is suitable for lane changes. To identify the target area, an area of ​​the second lane that lies in front of the vehicle and is free of other road users can be determined, for example.

[0023] The visualization is preferably output during the lane change process, in particular continuously. Outputting the visualization can, for example, comprise sending graphic data to the display unit. Furthermore, the visualization can be displayed in the display area when the visualization is output by the display unit. The visualization can preferably connect the reference position and the target area. However, it is also conceivable for the visualization to extend only in the direction of the target area. The visualization can, in particular for optically connecting the reference position and the target area, comprise, for example, two linear markings with an arrowhead, preferably an arrow, for display in the display area. The optical connection can be in a direct line or, preferably, via a curved path.

[0024] The change in the reference position can be detected and processed as a result of a movement of the vehicle during a lane change, i.e. in particular from the first lane to the second lane. For this purpose, for example, a transverse offset of the vehicle in the first and / or second lane can be determined. By changing the reference position, a distance between the reference position and the target position can also be changed. When adapting the visualization, the visualization can be adapted to the changed distance. Preferably, a curvature of the visualization can be adapted in order to change the orientation of an arrowhead of the visualization to the target area. The adaptation of the visualization can preferably take place continuously during the lane change, in particular depending on the continuous detection of the reference position.

[0025] By dynamically changing the visualization, the vehicle operator can see directly in their field of vision how far the lane change has already been completed. At the same time, the simple and intuitively understandable visualization can minimize potential distraction for the operator. It has therefore been recognized within the scope of the invention that the dynamic adaptation of the visualization depending on the reference position of the operator can intuitively convey additional information on the status of the lane change. In particular, it can be provided that the lane change is supported at least partially automatically after the lane change process has been initiated by the vehicle. The dynamic visualization can improve the trust of the vehicle occupants in a driver assistance system.When determining the visualization, a color code is preferably assigned to the visualization depending on the automation level of the vehicle's lane change. This allows the driver to intuitively recognize the automation level of the driving maneuver based on the color of the visualization.

[0026] It is further conceivable in a method according to the invention for the visualization to have at least a first curvature and a second curvature, wherein, when determining the visualization, the first curvature is calculated as a function of a current trajectory of the vehicle and / or the second curvature is calculated as a function of a planned trajectory and / or the target area for the lane change. The planned trajectory can be calculated as a function of the environmental data. It can be provided that the first curvature is determined tangentially to the current trajectory. Furthermore, the second curvature can be determined tangentially and / or overlapping with the planned trajectory and / or the second lane, i.e. in particular the target area of ​​the second lane. Preferably, the first and second curvatures can be oriented tangentially to one another. The first and second curvatures can, for example, form an S-shape.By adapting the curvatures to the current and planned trajectories, the visualization can be improved for intuitive understanding. In particular, additional information about the current and planned trajectories can be simultaneously communicated to the vehicle operator, thereby improving confidence in the vehicle during lane-changing maneuvers.

[0027] Furthermore, in a method according to the invention, it can advantageously be provided that a lane center of the second lane is detected as a function of the environmental data, wherein the target area comprises the lane center of the second lane. The target area can preferably be formed by the lane center. It can be provided that the second curvature is aligned tangentially to the second lane, in particular to the lane center of the second lane, when determining the visualization and when changing the visualization. Preferably, the planned trajectory for the lane change process includes an alignment of the vehicle in the lane center of the second lane, so that straight-ahead travel can be continued in the second lane after the lane change. The lane center therefore represents an area for the target area that is intuitively understandable to the operator, in particular for completing the lane change.

[0028] Furthermore, in a method according to the invention, it is conceivable that upon reaching the second lane, in particular the target area, a finalization process is carried out in which the visualization is converted into a target representation, in particular wherein the target representation comprises lane guidance of the second lane. Preferably, the first and second curvatures can be straightened during the lane change, so that the visualization in the target representation lies in the second lane, in particular in perspective with respect to the display area. The target representation can preferably comprise hiding the arrowhead of the visualization and / or splitting the visualization, in particular the linear markings of the visualization. The lane guidance can comprise a course of the second lane, which is determined as a function of the environmental data.Lane guidance can be used to adapt the target display to the second lane depending on the environmental data and / or the reference position. The linear markings can be adapted to the course of the second lane and / or the center of the second lane and / or aligned to the second lane depending on the environmental data. The linear markings of the visualization can preferably be animated horizontally outwards and displayed for a few seconds across the width of the vehicle as a sign of lane center guidance. The markings can then be hidden to minimize driver distraction and overlap. This can intuitively convey to the operator the information that the vehicle is aligned to the second lane and / or that the vehicle has completed its lane change.

[0029] Furthermore, in a method according to the invention, it is conceivable that a road course of the first and second lane is detected based on the environmental data, wherein the road course is taken into account when detecting the target area and / or when adapting the visualization of the lane change. The road course can, for example, comprise a course of the first and second lane, in particular in front of the vehicle. When determining the visualization and when adapting the visualization, the visualization can be adapted to the road course and preferably placed on the first and second lane. In particular, the road course can also be taken into account for the first and / or second curvature of the visualization and / or the current and / or planned trajectory.By taking the road course into account, the visualization can be individually and / or dynamically adapted to the road course in order to enable improved embedding in the vehicle environment and thus facilitate the driver's understanding.

[0030] It is further conceivable in a method according to the invention that the target representation is determined dynamically as a function of the environmental data and the reference position, in particular wherein the course of the road is taken into account when determining the target representation. To take the course of the road into account, the linear markings can, for example, be adapted to the course of the road, preferably taking into account a perspective from the vehicle. To determine the target representation as a function of the course of the road, the linear markings can, for example, be oriented parallel to the course of the road. By dynamically determining the target representation, the target representation can be individually and / or dynamically adapted to the respective driving situation, in particular to the course of the road, in order to enable improved embedding in the vehicle environment and thus facilitate the driver's understanding.Furthermore, it is conceivable in a method according to the invention that, depending on the signal for initiating the lane change process, the lane change is carried out by the vehicle, in particular completely automatically. The automated execution of the lane change can be carried out by a driver assistance system, in particular by a lane change assistant, of the vehicle. It can be provided that the driver assistance system outputs the signal for initiating the lane change process in order to trigger the visualization in the display area. During automated execution of the lane change, the dynamic change in the visualization can show a vehicle operator directly in their field of vision how far the lane change has already been carried out, but also that the vehicle is being guided according to plan. This can increase trust in the driver assistance system.

[0031] Furthermore, a method according to the invention can advantageously provide for the vehicle to be guided by automated lane centering before the lane change in the center of the first lane and / or after the lane change in the center of the second lane. The lane centering can be carried out by a driver assistance system of the vehicle, in particular by a lane keeping assistant. In this case, the vehicle can be kept in an area between lane markings of the first or second lane while driving, and steering movements for following the course of the road can preferably be carried out automatically. Thus, in particular, the lane keeping assistant and the lane change assistant can communicate with each other in order to carry out the lane change automatically.

[0032] In particular, lane changes can thus be performed as an autonomous driving maneuver by the vehicle. Visual support, particularly through visualization and / or target display, allows the operator to intuitively understand the vehicle's actions at all times.

[0033] Furthermore, in a method according to the invention, it can advantageously be provided that the vehicle is transferred into a wait mode for checking a driving situation of the vehicle by the signal for initializing the lane change process, wherein the lane change is carried out automatically when the driving situation fulfills a start condition, in particular wherein the visualization in the wait mode has a first visualization type, wherein the first visualization type is transferred to a second visualization type when the lane change is carried out by the vehicle. The first and second visualization types can preferably be different colors of the visualization. The color of the visualization can change when the first is transferred to the second visualization type. However, other visualization types are also conceivable.For example, it can be provided that one of the visualization types comprises a flashing visualization, while the other of the two visualization types comprises a permanent display of the visualization. The wait mode can preferably be triggered by user interaction in which a manual operation request from the operator for assisted lane changing is detected. In wait mode, the lane change can be delayed by the vehicle, e.g. due to environmental factors, until the environmental conditions permit the lane change, e.g. due to free space in the traffic in the second lane. Thus, the first visualization type can display the vehicle's search for and / or planning for an assisted lane change. The second visualization type informs the operator that the lane change is currently being carried out.

[0034] Furthermore, in a method according to the invention, it is conceivable that, in order to check the driving situation, at least one driving parameter of the vehicle and / or an area of ​​the first and / or second lane is checked based on the environmental data as a function of the start condition. The start condition can comprise a boundary condition, such as a minimum clearance in the second lane and / or a minimum speed of the vehicle. The at least one driving parameter can comprise, for example, a speed and / or acceleration of the vehicle. For example, it can be provided that the vehicle only leaves the wait mode when it reaches a speed of 90 km / h. Based on the environmental data, it can also be determined whether an object in the first and / or second lane prevents the lane change from being carried out.For example, the surrounding data can be used to determine whether a faster-moving road user is approaching the vehicle from behind in the second lane. The visualization can inform the driver about the current status of the waiting mode.

[0035] Preferably, a method according to the invention can provide that if the lane change is aborted, an abort process is carried out by which the visualization of the lane change is ended. During the abort process, the visualization can disappear from the display area. For example, the visualization can be hidden by progressively fading. This allows the operator to receive information about the abort. At the same time, the display area is freed up in order to direct the driver's attention to the current driving situation. Furthermore, a method according to the invention can advantageously provide that driver interaction is continuously checked while the lane change is being executed, wherein the abort of the lane change is triggered automatically if a lack of driver interaction is detected during the checking of the driver interaction.Driver interaction can ensure, particularly depending on the vehicle's automation level, that the operator is attentive and / or can intervene in the vehicle's control. For example, when checking driver interaction, it can be checked whether the operator's hand is detected on the vehicle's steering wheel. If the operator releases the steering wheel, the abort process can be triggered immediately and / or after a specified time. The abort process also provides the operator with immediate feedback about the aborted lane change, allowing them to assess the vehicle's movement.

[0036] Within the scope of the invention, it is further conceivable that a viewing position in the vehicle for an operator's view of the display area is recognized, wherein the visualization is determined and / or positioned in the display area as a function of the viewing position and the environmental data. The viewing position can preferably be a stationary and / or predefined position in the vehicle from which the driver can view the display area. For example, the viewing position can be determined based on average measurements of people in a driver's seat of the vehicle. In particular, the viewing position can be a so-called eyebox position, which can, for example, be preset and / or changeable by the driver. The viewing position can define a field of view of the driver of the vehicle, in particular with regard to the display area.The viewing position can be independent of the driver's actual viewing direction. However, it is also conceivable that the viewing position is determined and / or adjusted dynamically during the process, particularly depending on a movement and / or the driver's actual viewing direction. By detecting the viewing position, the operator's perspective can be recognized and taken into account when positioning the visualization, depending on the reference position and the environmental data, in order to embed the visualization from the operator's perspective into the vehicle environment.

[0037] According to a further aspect of the invention, a computer program product is provided.

[0038] The computer program product comprises instructions which, when executed by a control unit, cause the control unit to execute a method according to the invention. Thus, a computer program product according to the invention provides the same advantages as those already described in detail with reference to a method according to the invention. The method can, in particular, be a computer-implemented method. The computer program product can be implemented as computer-readable instruction code. Furthermore, the computer program product can be stored on a computer-readable storage medium such as a data disk, a removable drive, a volatile or non-volatile memory, or a built-in memory / processor.Furthermore, the computer program product can be made available or provided on a network, such as the Internet, from which it can be downloaded or executed online by a user as needed. The computer program product can be implemented using software or one or more special electronic circuits, i.e., in hardware or in any hybrid form, i.e., using software components and hardware components.

[0039] According to a further aspect of the invention, a vehicle is provided. The vehicle has a display unit with a display area for displaying information about the vehicle. The display area extends at least partially within a field of vision for perceiving the vehicle's external environment. Furthermore, the vehicle has a control unit for executing a method according to the invention.

[0040] Thus, a vehicle according to the invention brings with it the same advantages as have already been described in detail with reference to a method according to the invention and / or a computer program product according to the invention. The control unit can comprise a processor and / or a microprocessor. Furthermore, the control unit can be at least partially or completely integrated into a central control unit of the vehicle. However, it is also conceivable for the control unit to be at least partially or completely integrated into one or more decentralized control units. The display unit can be permanently integrated into the vehicle and / or, in particular for receiving and / or exchanging data, connected to a display interface of the vehicle.

[0041] Further advantages, features, and details of the invention will become apparent from the following description, in which exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description may be essential to the invention individually or in any combination. They schematically show: Figure 1 shows a waiting mode during a lane change in a vehicle according to the invention when executing a method according to the invention,

[0042] Fig. 2 - 3 a change of a visualization in the method,

[0043] Figure 4 shows a target representation during a finalization process in the method, and

[0044] Figure 5 shows the process flow.

[0045] In the following description of some embodiments of the invention, the same reference numerals are used for the same technical features even in different embodiments.

[0046] 1-4 show a vehicle 1 according to the invention with a field of view 3 for perceiving an external environment of the vehicle 1 in a first exemplary embodiment. The field of view 3 is in particular a windshield of the vehicle 1. The vehicle 1 has a display unit 2, in this exemplary embodiment an augmented reality head-up display, with a display area 2.1 for superimposing information about the vehicle 1 in the field of view 3. The display area of ​​an AR-HUD is usually referred to as a "field of view (FOV)". Thus, the display area 2.1 extends at least partially into the field of view 3. Furthermore, the vehicle 1 has a control unit 4 which is designed to carry out a method 100 according to the invention for displaying a lane change process in a vehicle 1 for a lane change of the vehicle 1 from a first lane 11 to a second lane 12.For this purpose, a computer program product can be provided that includes instructions that, when executed by the control unit 4, cause the control unit 4 to execute the method 100. A sequence of the method 100 is shown in Fig. 5.

[0047] In the method 100, a signal 201 for initiating the lane change process is first detected 101. The signal 201 can be triggered, for example, by an operating action of an operator of the vehicle 1. In particular, the signal 201 for initializing the lane change process transfers the vehicle 1 to a standby mode for checking a driving situation of the vehicle 1. To check the driving situation, at least one driving parameter of the vehicle 1 and / or an area of ​​the first and / or second lane 11, 12 can be checked based on environmental data 210 depending on a start condition 214. The lane change is preferably carried out automatically by the vehicle 1 and / or the control unit 4 when the driving situation fulfills the start condition 214.

[0048] The method 100 further comprises the acquisition 102 of environmental data 210 of the first and second lanes 11, 12. The environmental data 210 can represent the vehicle's surroundings in data terms, e.g., using a virtual map. Taking the environmental data 210 into account in particular, the method 100 further comprises a continuous detection 103 of a reference position 211 of the vehicle 1 relative to the first and second lanes 11, 12 during the lane change process and an at least one, repeated, or continuous detection 104 of a target area 212 of the second lane 12 depending on the environmental data 210. The reference position 211 can, as shown in Figs. 1-4, be a position of the vehicle 1, preferably a position in the display area 2.1, for example, at the lower edge of the display area 2.1.The target area 212 may comprise an area of ​​the second lane 12 in the direction of which the vehicle 1 is moved during the lane change.

[0049] To simplify perception by the operator, in particular the driver, of the vehicle 1, the method 100 further comprises determining 105 a visualization 202 of the lane change for display in the display area 2.1, such that the visualization 202 in the field of vision 3 optically extends from the reference position 211 in the direction of the target area 212. In wait mode, the visualization 202 has a first visualization type 202.3, as shown in Fig. 1. For example, the first visualization type 202.3 can include a first color scheme of the visualization 202. Furthermore, the method 100 detects a viewing position 2.2 in the vehicle 1 for an operator's view of the display area 2.1. For embedding in the vehicle environment, the visualization 202 is determined depending on the viewing position 2.2 and the environmental data 210 and / or positioned in the display area 2.1.

[0050] Furthermore, the visualization 202 comprises at least a first curvature 202.1 and a second curvature 202.2, as shown in Figure 2. During the determination 105 of the visualization 202, the first curvature 202.1 is calculated as a function of a current trajectory 203 of the vehicle 1, and the second curvature 202.2 is calculated as a function of a planned trajectory 204 and / or the target area 212 for the lane change process. It can be provided that, depending on the environmental data 210, a lane center 213 of the second lane 12 is detected, and that the target area 212 comprises the lane center 213 of the second lane 12 and / or is formed by the lane center 213. Preferably, the vehicle 1 is guided in a lane center 213 of the first lane 11 by automated lane center guidance before the lane change.

[0051] Upon exiting the waiting mode, the first visualization type 202.3 is converted into a second visualization type 202.4, as shown in Fig. 2, when the lane change is performed by the vehicle 1. For example, depending on the signal 201 for initiating the lane change process, a fully automated execution of the lane change during the lane change process by the vehicle 1 can take place, in which the waiting mode is automatically maintained depending on the start condition 214 and exited to execute the lane change.

[0052] For improved assessment of the vehicle actions of vehicle 1 and for information about the status of the lane change, method 100 further comprises adapting 106 the visualization 202 of the lane change depending on a change in the reference position 211 during execution of the lane change process by vehicle 1. As shown in Figs. 2 and 3, when executing the lane change, vehicle 1 can leave the lane center 213 of the first lane 11 in order to move towards the lane center 213 of the second lane 12. In this case, reference position 211 is continuously detected and visualization 202, in particular the first curvature 202.1 and the second curvature 202.2, is adapted. Although the first and second lanes 11, 12 are shown in Figs.1 - 4 is straight, it can be provided that a road course 13, in particular in the form of a road curvature, which is straight in particular in the exemplary embodiment shown, of the first and second lanes 11, 12 is detected on the basis of the environmental data 210 and is taken into account when recognizing 104 the target area 212 and / or when adapting 106 the visualization 202 of the lane change.

[0053] When the vehicle 1 has reached the second lane 12, as shown in Fig. 4, a finalization process 220 can be executed, in which the visualization 202 is converted into a target representation 221. In particular, the vehicle 1 is guided in the lane center 213 of the second lane 12 by automated lane center guidance after the lane change. The target representation 221 can comprise lane guidance of the second lane 12 and / or be determined dynamically depending on the environmental data 210 and the reference position 211. For example, the roadway profile 13 can be taken into account when determining the target representation 221.

[0054] Preferably, a driver interaction 205 is continuously monitored during the execution of the lane change. Aborting the lane change can be automatically triggered if a lack of driver interaction 205 is detected during the monitoring of the driver interaction 205. Upon aborting the lane change, an abort process 107 is performed, which terminates the visualization 202 of the lane change.

[0055] The above explanation of the embodiments describes the present invention exclusively by way of examples. Of course, individual features of the embodiments can be freely combined with one another, provided they are technically feasible, within the scope of protection defined by the patent claims, without departing from the scope of the present invention.

[0056] List of reference symbols

[0057] vehicle

[0058] Display unit Display area Viewing position Viewing area Control unit First lane Second lane Road course

[0059] Proceedings

[0060] Capturing 201

[0061] Capturing 210

[0062] Detecting 211 Detecting 212 Determining 202 Adjusting 202 Aborting

[0063] Signal visualization first curvature second curvature first visualization type second visualization type current trajectory planned trajectory driver interaction

[0064] Environmental data

[0065] Reference position

[0066] Target area Lane center Start condition Finalization process Target display

Claims

Patent claims 1. Method (100) for displaying a lane change process in a vehicle (1) for a lane change of the vehicle (1) from a first lane (11) to a second lane (12), wherein a display unit (2) with a display area (2.1) is provided for displaying information in a field of view (3) for perceiving an external environment of the vehicle (1), wherein the method (100) comprises: Detecting (101) a signal (201) for initiating the lane change process, detecting (102) environmental data (210) of the first and second lanes (11, 12), continuously detecting (103) a reference position (211) of the vehicle (1) relative to the first and second lanes (11, 12) during the lane change process, Detecting (104) a target area (212) of the second lane (12) depending on the environmental data (210), Determining (105) a visualization (202) of the lane change for display in the display area (2.1), so that the visualization (202) extends optically from the reference position (211) in the direction of the target area (212) in the field of view (3), - adapting (106) the visualization (202) of the lane change depending on a change in the reference position (211) during an execution of the lane change process by the vehicle (1).

2. Method (100) according to claim 1, characterized in that the visualization (202) has at least a first curvature (202.1) and a second curvature (202.2), wherein in determining (105) the Visualization (202) the first curvature (202.1) is calculated as a function of a current trajectory (203) of the vehicle (1) and the second curvature (202.2) is calculated as a function of a planned trajectory (204) and / or of the target area (212) for the lane change process.

3. Method (100) according to claim 1 or 2, characterized in that a lane center (213) of the second lane (12) is recognized as a function of the environmental data (210), wherein the target area (212) comprises the lane center (213) of the second lane (12).

4. Method (100) according to one of the preceding claims, characterized in that when the second lane (12) is reached, a finalization process (220) is carried out, in which the visualization (202) is converted into a target representation (221), wherein the target representation (221) comprises a lane guidance of the second lane (12).

5. Method (100) according to one of the preceding claims, characterized in that a road course (13) of the first and second lanes (11, 12) is detected on the basis of the environmental data (210), wherein the road course (13) is taken into account when recognizing the target area (212) and / or when adapting (106) the visualization (202) of the lane change.

6. Method (100) according to claim 5, characterized in that the target representation (221) is determined dynamically as a function of the environmental data (210) and the reference position (211), wherein the roadway course (13) is taken into account when determining the target representation (221).

7. Method (100) according to one of the preceding claims, characterized in that, depending on the signal (201) for initiating the lane change process, a fully automated execution of the lane change during the lane change process by the vehicle (1) takes place.

8. Method (100) according to one of the preceding claims, characterized in that that the vehicle (1) is guided by an automated lane center guidance before the lane change in a lane center (213) of the first lane (11) and / or after the lane change in the lane center (213) of the second lane (12).

9. Method (100) according to one of the preceding claims, characterized in that the vehicle (1) is transferred by the signal (201) for initializing the lane change process into a waiting mode for checking a driving situation of the vehicle (1), wherein the lane change is carried out automatically when the driving situation fulfills a start condition (214), wherein the visualization (202) in the waiting mode has a first visualization type (202.3), wherein the first visualization type (202.3) is transferred into a second visualization type (202.4) when the lane change is carried out by the vehicle (1).

10. Method (100) according to one of the preceding claims, characterized in that, in order to check the driving situation, at least one driving parameter of the vehicle (1) and / or an area of ​​the first and / or second lane (11, 12) is checked on the basis of the environmental data (210) as a function of the starting condition (214).

11. Method (100) according to one of the preceding claims, characterized in that when the lane change is aborted, an abort process (107) is carried out, by which the visualization (202) of the lane change is terminated.

12. Method (100) according to one of the preceding claims, characterized in that a driver interaction (205) is continuously checked during the execution of the lane change, wherein the abort of the lane change is automatically triggered if a lack of driver interaction (205) is detected during the checking of the driver interaction (205).

13. Method (100) according to one of the preceding claims, characterized in that a viewing position (2.2) in the vehicle (1) for the view of an operator on the display area (2.1) is recognized, wherein the visualization (202) is dependent on the viewing position (2.2) and the environmental data (210) and / or positioned in the display area (2.1).

14. Method (100) according to one of the preceding claims, characterized in that the display unit (2) is a head-up display, an augmented reality head-up display or augmented reality glasses.

15. A computer program product comprising instructions which, when executed by a control unit (4), cause the control unit (4) to execute a method (100) according to any one of the preceding claims.

16. Vehicle (1), comprising a display unit (2) with a display area (2.1) for displaying information of the vehicle (1), wherein the display area (2.1) extends at least partially into a field of vision (3) for perceiving an external environment of the vehicle (1), and a control unit (4) for carrying out a method (100) according to one of claims 1 to 14.

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