Adjusting acceleration for an automatic overtaking manoeuvre

Abstract

The invention discloses a method for controlling an automatic overtaking manoeuvre involving a lateral lane change in order to overtake a vehicle to be overtaken (340) in front. The overtaking manoeuvre comprises a first speed change of the vehicle (300) prior to the lane change. The method comprises determining a combination (128) of values that satisfy one or more criteria (124) for the overtaking manoeuvre, based on a combination (126) of reference values. The combination (128) of values comprises a value for the first speed change of the vehicle (300) in the direction of movement (314) and a transverse acceleration value in the course of the lateral lane change in a lateral direction (316) relative to the direction of movement (314). A first criterion of the one or more criteria (124) is that a predefined first minimum distance from the vehicle to be overtaken (340) is not fallen below. A control signal (130) to carry out the overtaking manoeuvre involving the lateral lane change is transmitted upon receipt of a trigger signal to carry out the overtaking manoeuvre involving the lateral lane change.

Description

ACCELERATION ADJUSTMENT FOR AN AUTOMATIC OVERTAKING MANIFOLD FIELD OF TECHNOLOGY

[0001] The invention relates to a method, a computer program and a computer unit for controlling an automatic overtaking process with a lateral lane change. STATE OF THE ART

[0002] Autonomous driving functions, some of which can also be implemented in current driver assistance systems, are becoming increasingly important. Such autonomous driving functions can increase overall road safety, reduce the occurrence of dangerous driving situations, and contribute to reducing stress for both drivers and passengers during the journey.

[0003] In this context, autonomous driving functions and current driver assistance systems are currently being developed for highway driving. This generally applies to driving scenarios on roads with at least two parallel lanes for one direction of travel, also known as highway driving scenarios. Such systems and functions are currently offered, for example, as adaptive cruise control (ACC), which enables a vehicle to maintain a safe distance from the third vehicle ahead and additionally adjust its speed if no third vehicle is detected in front of the vehicle in the same lane within a relevant distance.

[0004] In these highway driving scenarios, overtaking third-party vehicles (hereinafter referred to as overtaking vehicles) traveling in the same lane is an important issue. However, previous implementations tend to be static and limit the opportunities for overtaking maneuvers, which can increase travel time if third-party vehicles ahead limit the vehicle's actual usable speed.

[0005] It is an object of the invention to provide an improved method for controlling an automatic overtaking maneuver with a lateral lane change. The object underlying the invention is achieved by the features of the independent claims. SUMMARY

[0006] In one aspect, a method for controlling an automatic overtaking maneuver with a lateral lane change from a current lane to an overtaking lane for overtaking a preceding overtaking vehicle by a computer unit of a driving assistance system of a vehicle is disclosed. The overtaking maneuver includes a first change in the speed of the vehicle in a direction of movement of the vehicle along the current lane prior to the lane change.

[0007] The method comprises receiving, by the computer unit, a first speed value of a speed of the vehicle before the first speed change. A first distance value of a relative distance of the overtaking vehicle to the vehicle and a second speed value of a relative speed of the overtaking vehicle are received. A combination of values ​​that meet one or more criteria for the overtaking maneuver is determined based on a combination of reference values. The combination of values ​​includes a value for the first speed change of the vehicle in the direction of travel and a lateral acceleration value during the lateral lane change in a lateral direction relative to the direction of travel. The combination of reference values ​​includes a first reference value for the first speed change and a second reference value for the lateral acceleration.The combination of values ​​is determined using the received first and second speed values, as well as the first distance value. A first criterion of the one or more criteria is not falling below a predetermined first minimum distance to the overtaking vehicle. The lateral acceleration value depends on the first speed change and a wheel angle of the vehicle during a steering maneuver for a lateral lane change. Upon receipt of a trigger signal for executing the overtaking maneuver with the lateral lane change, a control signal is sent for executing the overtaking maneuver with the lateral lane change using the determined first speed change of the vehicle and the wheel angle resulting for the determined lateral acceleration.

[0008] The control signal, which includes both an initial change in the vehicle's speed prior to the lane change and a wheel angle to execute the lateral lane change, enables automatic speed control in combination with a coordinated automatic steering during the lateral Lane change. The adjustment of the parameters for executing the lane change takes place on both the speed control on the one hand and the steering control on the other. This allows for greater flexibility when executing lateral lane changes compared to approaches that only adapt the speed or only the steering to the conditions for the overtaking maneuver provided by third vehicles. For example, this greater flexibility makes it possible to use relatively small gaps in the overtaking lane, i.e. a parallel lane, to execute the lane change. For this purpose, for example, a quick lane change, i.e. a comparatively high wheel turning during the lane change, is combined with additional acceleration before the lane change. Likewise, the comparatively high wheel turning can, if necessary, also be combined with braking, i.e.a negative acceleration, before changing lanes.

[0009] For example, in this case, acceleration occurs before the lane change begins in order to increase speed, but this acceleration is coordinated with the lane change so that, for example, a specified minimum distance to the vehicle ahead that is to be overtaken is not undercut during the overtaking maneuver. During the planning of the overtaking maneuver, both a first partial planning of a longitudinal movement preceding the lane change and a second partial planning of a lateral movement executed during the lane change are taken into account. The combination of these two partial planning processes so that mutual dependencies can be effectively considered enables greater flexibility.In particular, it can be ensured that the criteria to be met during the overtaking maneuver are taken into account from the outset in both partial planning steps, and that all values ​​determined during the planning process for executing the overtaking maneuver are consistent with these criteria, i.e., they meet the same criteria. Thus, the lane change to be executed is already taken into account in the speed planning before the lane change, just as, conversely, a speed adjustment prior to the lane change is taken into account in the lane change planning.

[0010] The first speed change, for example, is a maximum or minimum speed change prior to the lane change. A maximum speed change occurs, for example, when the corresponding speed change is an acceleration, more precisely a pre-amplification acceleration. A minimum speed change is This is the case, for example, if the corresponding change in speed is a braking deceleration. The wheel angle is, for example, the maximum wheel angle achieved during the lane change, i.e., in the lateral direction toward the overtaking lane.

[0011] By coordinating speed and steering control, not only can the flexibility in executing the overtaking maneuver be increased, but it can also, for example, prevent undesired interruptions of excessive acceleration initiated prior to the lane change or even unplanned braking maneuvers.

[0012] Cruise control can, for example, be implemented in the form of adaptive cruise control (ACC), which automatically and adaptively regulates the vehicle's speed. As part of such adaptive cruise control, the vehicle's speed can, for example, be automatically increased when a planned lane change into an overtaking lane is signaled. Such a lane change can, for example, be signaled by the driver, for example by activating the indicator. As a result of the increase in speed or acceleration, the distance to the overtaking vehicle in front decreases, for example. By synchronizing these speed changes before the lane change with the lane change itself, it can be ensured that a specified minimum distance to the overtaking vehicle is not undercut during the entire maneuver.For example, a greater wheel angle can lead to a faster lane change, especially before the specified minimum distance to the overtaking vehicle is exceeded as a result of the increase in speed.

[0013] By coordinating the speed change and lane change, it is possible to prevent, for example, an unplanned braking maneuver and / or the abort of the overtaking maneuver due to a lane change that is too slow in relation to the speed change and the resulting failure to maintain the minimum distance to the overtaking vehicle in front. An unplanned braking maneuver, in particular, can be uncomfortable for both the driver and passengers. At the same time, coordinating the speed change and lane change can prevent an overly abrupt lane change, which can also be uncomfortable for both the driver and passengers.

[0014] The computer unit is, for example, a computer unit configured for a driving assistance system of a fully automatically controlled vehicle, i.e. a driving assistance system that performs both speed control and steering control during an overtaking maneuver. The vehicle in question is, for example, following a vehicle ahead that is overtaking. This vehicle is to be overtaken, for example, because the target speed of the controlled vehicle is higher than the speed of the vehicle ahead that is overtaking. The driver of the vehicle activates, for example, an automatically guided lane change or an automatic overtaking maneuver with a corresponding lane change and activation of the turn signal. The activation of the turn signal is received by the computer unit, for example, as a trigger signal to execute the overtaking maneuver with the lateral lane change.Using sensor data collected by sensors, particularly the vehicle's environmental sensors, such as ultrasonic sensors, radar sensors, LiDAR sensors, and / or optical cameras, it is possible to determine which third-party vehicles are in the vehicle's vicinity and how the overtaking maneuver should be coordinated with them so that all specified criteria can be met. In particular, the speed change before the lane change, such as an increase in speed or, if necessary, a decrease in speed, can be coordinated with the lane change, taking the corresponding third-party vehicles into account.

[0015] The reference values ​​represent, for example, predetermined optimal values ​​for an overtaking maneuver, which are used when there are no restrictions, ie when the reference values ​​meet all the criteria specified for the overtaking maneuver, such as minimum distances to third vehicles.

[0016] For example, using received sensor values, such as the vehicle's speed before the first speed change, as well as relative speeds and distances to detected third-party vehicles, the computer unit checks whether the reference values ​​based on the combination of reference values ​​meet the specified criteria for the overtaking maneuver. If the specified criteria are met, the overtaking maneuver is executed using the reference values.

[0017] For this purpose, the computer unit sends, for example, a control signal to carry out the overtaking maneuver with the lateral lane change using the first reference value for the first change in speed of the vehicle and a wheel angle resulting for the lateral acceleration according to the second reference value.

[0018] The first reference value for the vehicle's speed change is, for example, a pre-acceleration. Under optimal conditions, such as when the distance to a preceding overtaking vehicle is sufficiently large, a maximum pre-acceleration is performed according to the first reference value. Furthermore, the lane change is performed with a maximum lateral acceleration according to the second reference value.

[0019] The first reference value can, for example, depend on the speed of the vehicle before the first speed change and be based on the specifications for pre-acceleration according to ISO 15622:2018-09. For example, the first reference value a R = 4 m / s A 2 for speeds v < 5m / s and a R = 2 m / s A 2 for speeds v>20m / s with interpolation in between.

[0020] If the specified criteria are not met by the reference values, for example, if a minimum distance to a preceding overtaking vehicle is not met, a combination of adjusted values ​​is determined based on the reference values ​​as initial values, so that the resulting values ​​meet the specified criteria for the overtaking maneuver. The overtaking maneuver is then executed using the adjusted reference values, i.e., the specified values. For this purpose, the computer unit sends a control signal to execute the overtaking maneuver with the lateral lane change, using the specified initial vehicle speed change and the wheel angle resulting from the specified lateral acceleration.

[0021] For example, determining the values ​​of the combination of values ​​from the reference values ​​of the combination of reference values ​​comprises gradually iteratively changing the values ​​until the changed values ​​of the combination of values ​​satisfy the one or more criteria for the overtaking process.

[0022] The step-by-step iterative changing of the values ​​from the two sub-areas of cruise control and steering control starting from the reference values ​​as initial values ​​makes it possible to take into account the lane change in the cruise control and at the same time to take into account the expected speed curve resulting from the cruise control in the steering control or the lane change.

[0023] For example, the values ​​are changed or adjusted together with each iteration step. For example, the step-by-step, iterative change of the values ​​occurs alternately. The change can, for example, be made in fixed increments or by a fixed percentage.

[0024] For example, the values ​​of the combination of values ​​are determined using an A* algorithm. Using an A* algorithm allows, for example, possible changes in different directions to be taken into account when adjusting the reference values. For example, one of the reference values ​​to be adjusted can be increased along one path and decreased along another.

[0025] For example, determining the values ​​of the combination of values ​​comprises decreasing the first speed change in the form of an acceleration from the first reference value and increasing the lateral acceleration from the second reference value.

[0026] The higher the acceleration before the lane change, the greater the distance covered within a specified lane and the more the distance to the overtaking vehicle is reduced. By reducing the acceleration starting from the first reference value for acceleration, the driver can delay the minimum distance to the overtaking vehicle in front being exceeded during the overtaking maneuver. The higher the lateral acceleration, the earlier the change to the parallel lane occurs. For example, the lateral acceleration can be adjusted so that the change occurs before the minimum distance to the overtaking vehicle in front is exceeded as a result of the (reduced) acceleration.

[0027] By simultaneously implementing both reductions in lane-direction acceleration and increases in lateral acceleration based on the reference values ​​during the adjustment process, a failure to maintain the minimum distance can be effectively prevented without having to reduce acceleration too much or increase lateral acceleration too much. This can, for example, improve comfort for both the driver and passengers.

[0028] For example, the method further comprises receiving a second distance value of a relative distance of a first third vehicle traveling ahead in the overtaking lane to the vehicle. Furthermore, a third speed value of a relative speed of the of the first third-party vehicle traveling ahead. The values ​​of the combination of values ​​are further determined using the received third speed value and the second distance value. A second criterion of the one or more criteria is not falling below a predetermined second minimum distance from the first third-party vehicle traveling ahead.

[0029] This means, for example, that a third-party vehicle driving ahead in the overtaking lane can also be taken into account when determining the overtaking maneuver. In particular, it can be ensured that the lane change does not result in the specified second minimum distance to the first third-party vehicle driving ahead being undercut.

[0030] For example, the method further comprises receiving a third distance value of a relative distance of a second third-party vehicle following in the overtaking lane to the vehicle. Furthermore, a fourth speed value of a relative speed of the following second third-party vehicle is received. The values ​​of the combination of values ​​are further determined using the received fourth speed value and the third distance value. A third criterion of the one or more criteria is not falling below a predetermined third minimum distance to the following second third-party vehicle.

[0031] This allows, for example, a second vehicle following in the overtaking lane to be taken into account when determining the overtaking maneuver. In particular, it can be ensured that the lane change does not result in the specified third minimum distance to the second vehicle following behind being undercut.

[0032] For example, the combination of values ​​further includes a value for a second speed change during the lane change. The combination of reference values ​​further includes a third reference value for the second speed change. The lateral acceleration value also depends on the second speed change.

[0033] This also allows for a speed change to be adjusted during the lane change. This allows the overtaking maneuver to be carried out even more flexibly without compromising safety in terms of maintaining the specified minimum distance from other vehicles. The second speed change, for example, is a maximum speed change during the lane change.

[0034] For example, the control signal for executing the overtaking process is sent with a time delay, which is taken into account when determining the combination of values.

[0035] For example, the control signal for executing the overtaking maneuver is sent and thus the overtaking maneuver begins with a predetermined time delay. This predetermined time delay is, for example, a fixed delay between the activation of the overtaking maneuver, for example by activating a turn signal, and the actual start of the overtaking maneuver. This predetermined time delay is taken into account when determining the values ​​for executing the overtaking maneuver. For example, it is taken into account how the relative positions, i.e. the distances between the vehicle and other vehicles in the same lane and / or in the parallel lane, change due to the deceleration. These changed distances are then used, for example, as the basis for determining the values ​​for executing the overtaking maneuver.

[0036] For example, the control signal for executing the overtaking maneuver is sent, and thus the start of the overtaking maneuver, with a variable time delay. This specified time delay is, for example, a delay between the activation of the overtaking maneuver, e.g., by activating the indicator, and the actual start of the overtaking maneuver. Such a variable time delay can, for example, be selected so that one or more vehicles in the overtaking lane that make it impossible to execute an overtaking maneuver while adhering to all specified criteria, even if the reference values ​​are adjusted, are initially waited for before the overtaking maneuver is actually started.

[0037] For example, maximum permissible changes are specified for each reference value. If these maximum changes are reached during the adjustment of the reference values ​​without all specified criteria being met, the process is aborted, for example, or a variable delay is provided until the environmental situation has changed to such an extent (e.g., third-party vehicles have passed in the overtaking lane) that the specified criteria can be met. Just as by specifying maximum permissible changes, a limitation of the adjustments can also be implemented by limiting the maximum number of iteration steps during an iterative adjustment of the reference values.

[0038] In another aspect, a computer program for controlling an automatic overtaking maneuver with a lateral lane change from a current lane to an overtaking lane for overtaking a preceding overtaking vehicle by a computer unit of a vehicle's driving assistance system is disclosed. The overtaking maneuver includes a first change in the vehicle's speed in a direction of movement of the vehicle along the current lane prior to the lane change.

[0039] The computer program comprises machine-readable program instructions. Execution of the machine-readable program instructions by a processor unit of the computer unit causes the processor unit to control the computer unit to receive a first speed value of a speed of the vehicle before the first speed change. Furthermore, a first distance value of a relative distance of the overtaking vehicle to the vehicle and a second speed value of a relative speed of the overtaking vehicle are received. A combination of values ​​that fulfill one or more criteria for the overtaking maneuver is determined based on a combination of reference values. The combination of values ​​includes a value for the first speed change of the vehicle in the direction of travel and a lateral acceleration value during the lateral lane change in a lateral direction relative to the direction of travel.The combination of reference values ​​comprises a first reference value for the first speed change and a second reference value for the lateral acceleration. The combination of values ​​is determined using the received first and second speed values, as well as the first distance value. A first criterion of the one or more criteria is not falling below a predetermined first minimum distance to the overtaking vehicle. The lateral acceleration value depends on the first speed change and a wheel angle of the vehicle during a steering maneuver for a lateral lane change. Upon receipt of a trigger signal for executing the overtaking maneuver with the lateral lane change, a control signal for executing the overtaking maneuver with the lateral lane change is sent using the determined first speed change of the vehicle and the wheel angle resulting from the determined lateral acceleration.

[0040] The program instructions comprised by the computer program are configured, for example, when executed by the processor unit of the computer unit of the driving assistance system, to cause the corresponding processor unit to execute one of the above-mentioned examples of the method for controlling the automatic overtaking process with lateral lane change to overtake a preceding overtaking vehicle.

[0041] For example, a computer program product for controlling an overtaking maneuver with automatic lateral lane change from a current lane to an overtaking lane for overtaking a preceding overtaking vehicle by a computer unit of a vehicle's driving assistance system comprises a computer-readable storage medium embodied with machine-readable program instructions. The overtaking maneuver includes a first change in the vehicle's speed in a direction of movement of the vehicle along the current lane prior to the lane change.

[0042] Execution of the machine-readable program instructions by a processor unit of the computer unit causes the processor unit to control the computer unit to receive a first speed value of a speed of the vehicle before the first speed change. Furthermore, a first distance value of a relative distance of the overtaking vehicle to the vehicle and a second speed value of a relative speed of the overtaking vehicle are received. A combination of values ​​that fulfill one or more criteria for the overtaking maneuver is determined based on a combination of reference values. The combination of values ​​includes a value for the first speed change of the vehicle in the direction of travel and a lateral acceleration value during the lateral lane change in a lateral direction relative to the direction of travel.The combination of reference values ​​comprises a first reference value for the first speed change and a second reference value for the lateral acceleration. The combination of values ​​is determined using the received first and second speed values, as well as the first distance value. A first criterion of the one or more criteria is not falling below a predetermined first minimum distance to the overtaking vehicle. The lateral acceleration value depends on the first speed change and a wheel angle of the vehicle during a steering maneuver for a lateral lane change. Upon receipt of a trigger signal for executing the overtaking maneuver with the lateral lane change, a control signal for executing the overtaking maneuver with the lateral lane change is sent using the determined first speed change of the vehicle and the wheel angle resulting from the determined lateral acceleration.

[0043] The program instructions included in the computer program product are configured, for example, when executed by the processor unit of the computer unit of the driving assistance system, to cause the corresponding processor unit to execute one of the aforementioned examples of the method for controlling the automatic overtaking process with lateral lane change for overtaking a preceding overtaking vehicle.

[0044] For example, the computer program product is a memory of the computer unit of the vehicle's driving assistance system.

[0045] For example, the computer program product is a computer-readable storage medium, such as a solid-state hard drive, a flash memory, a USB stick, a random access memory (RAM), a read-only memory (ROM), an optical disk, a magneto-optical disk, and the register file of the processor or computing system. Furthermore, the computer-readable storage medium can be, for example, a recording medium that can be accessed by a computer unit via a network or a communications connection. For example, data can be retrieved from the computer-readable storage medium via a modem, the Internet, or a local area network. For example, the computer program product or the computer-readable storage medium is provided using a cloud.The computer-readable storage medium is, for example, a computer resource provided via the cloud. For example, the machine-readable program instructions are provided as software-on-demand, i.e. as software on request via the cloud for download.

[0046] For example, the program instructions retrieved from the computer program product or the computer-readable storage medium or read from the computer program product or the computer-readable storage medium can be stored in a memory of the computer unit of the driving assistance system of the vehicle for further use.

[0047] In a further aspect, a computer unit for a driving assistance system of a vehicle is disclosed for controlling an automatic overtaking process with a lateral lane change from a current lane to an overtaking lane for overtaking a preceding overtaking vehicle by the computer unit. The overtaking process comprises a Lane change preceding first change in speed of the vehicle in a direction of movement of the vehicle along the current lane.

[0048] The computer unit comprises a processor unit and a memory with machine-readable program instructions. Execution of the machine-readable program instructions by the processor unit causes the processor unit to cause the computer unit to receive a first speed value of a speed of the vehicle before the first speed change. Furthermore, a first distance value of a relative distance of the overtaking vehicle to the vehicle and a second speed value of a relative speed of the overtaking vehicle are received. A combination of values ​​that fulfill one or more criteria for the overtaking maneuver is determined based on a combination of reference values. The combination of values ​​includes a value for the first speed change of the vehicle in the direction of travel and a lateral acceleration value during the lateral lane change in a lateral direction relative to the direction of travel.The combination of reference values ​​comprises a first reference value for the first speed change and a second reference value for the lateral acceleration. The combination of values ​​is determined using the received first and second speed values, as well as the first distance value. A first criterion of the one or more criteria is not falling below a predetermined first minimum distance to the overtaking vehicle. The lateral acceleration value depends on the first speed change and a wheel angle of the vehicle during a steering maneuver for a lateral lane change. Upon receipt of a trigger signal for executing the overtaking maneuver with the lateral lane change, a control signal for executing the overtaking maneuver with the lateral lane change is sent using the determined first speed change of the vehicle and the wheel angle resulting from the determined lateral acceleration.

[0049] The program instructions included in the memory of the computer unit for the driving assistance system are configured, for example, when executed by the processor unit of the computer unit, to cause the corresponding processor unit to execute one of the aforementioned examples of the method for controlling the automatic overtaking process with lateral lane change for overtaking a preceding overtaking vehicle.

[0050] For example, a driving assistance system comprises a computer unit according to one of the aforementioned examples. For example, a vehicle with a driving assistance system comprises a computer unit according to one of the aforementioned examples.

[0051] It is understood that one or more of the aforementioned embodiments may be combined with one another, as long as the embodiments do not exclude one another. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The following examples are explained in more detail using the drawings. They show:

[0053] Fig. 1 is a flowchart of an exemplary method for controlling an automatic overtaking maneuver with lateral lane change,

[0054] Fig. 2 is a flowchart of another exemplary method for controlling an automatic overtaking maneuver with lateral lane change,

[0055] Fig. 3 is a flowchart of another exemplary method for controlling an automatic overtaking maneuver with lateral lane change,

[0056] Fig. 4 is a schematic diagram of an exemplary overtaking maneuver with lateral lane change,

[0057] Fig. 5 is a schematic diagram of another exemplary overtaking maneuver with lateral lane change,

[0058] Fig. 6 is a block diagram of an exemplary method for determining values ​​of the combination of values,

[0059] Fig. 7 is a block diagram of an exemplary computer unit for controlling an automatic overtaking process with lateral lane change and

[0060] Fig. 8 is a schematic diagram of an exemplary vehicle with a computer unit for controlling an automatic overtaking maneuver with lateral lane change. DETAILED DESCRIPTION

[0061] In the following, similar elements are identified by the same reference numerals.

[0062] Fig. 1 shows an exemplary method for controlling an automatic overtaking maneuver with a lateral lane change from a current lane to an overtaking lane for overtaking a preceding overtaking vehicle by a computer unit of a vehicle's driving assistance system. The overtaking maneuver includes a first change in the vehicle's speed in a direction of movement of the vehicle along the current lane prior to the lane change. The method is executed by the computer unit.

[0063] In block 200, a first speed value of a speed of the vehicle before the first speed change is received. Furthermore, in block 202, a first distance value of a relative distance of the overtaking vehicle to the vehicle is received, and in block 204, a second speed value of a relative speed of the overtaking vehicle is received. In block 214, a combination of values ​​that meet one or more criteria for the overtaking maneuver is determined based on a combination of reference values. The combination of values ​​includes a value for the first speed change of the vehicle in the direction of travel and a lateral acceleration value during the lateral lane change in a lateral direction relative to the direction of travel. The combination of reference values ​​includes a first reference value for the first speed change and a second reference value for the lateral acceleration.The combination of values ​​is determined using the received first and second speed values, as well as the first distance value. A first criterion of the one or more criteria is not falling below a predetermined first minimum distance to the overtaking vehicle. The lateral acceleration value depends on the first speed change and a wheel angle of the vehicle during a steering maneuver for a lateral lane change. Upon receipt of a trigger signal for executing the overtaking maneuver with the lateral lane change, a control signal for executing the overtaking maneuver with the lateral lane change is sent in block 216 using the determined first speed change of the vehicle and the wheel angle resulting from the determined lateral acceleration.

[0064] Fig. 2 shows another exemplary method for controlling an automatic overtaking maneuver with lateral lane change. In the example according to Fig. 2, in addition to the A first third-party vehicle traveling in the overtaking lane is detected by an overtaking vehicle traveling in the same lane. Blocks 200 to 204 of Fig. 2 correspond to blocks 200 to 204 of Fig. 1. In addition, in the method according to Fig. 2, a second distance value of a relative distance of the first third-party vehicle traveling in the overtaking lane to the vehicle is received in block 206. Furthermore, a third speed value of a relative speed of the first third-party vehicle traveling in the overtaking lane is received in block 208.

[0065] Blocks 214 to 216 of Fig. 2 correspond to blocks 214 to 216 of Fig. 1, wherein the values ​​of the combination of values ​​are determined in block 214 using the third speed value received in block 206 and the second distance value received in block 208. A second criterion of the one or more criteria is not falling below a predetermined second minimum distance to the first third vehicle traveling ahead.

[0066] Fig. 3 shows a further exemplary method for controlling an automatic overtaking maneuver with lateral lane change. In the example according to Fig. 3, in addition to the overtaking vehicle traveling in front in the same lane, a second third-party vehicle following in the overtaking lane is detected. Blocks 200 to 204 of Fig. 3 correspond to blocks 200 to 204 of Fig. 1. In addition, in the method according to Fig. 3, in block 210, a third distance value of a relative distance of a second third-party vehicle following in the overtaking lane to the vehicle is received. Furthermore, in block 212, a fourth Receive speed value of a relative speed of the following second third vehicle.

[0067] Blocks 214 to 216 of Fig. 3 correspond to blocks 214 to 216 of Fig. 1, wherein the values ​​of the combination of values ​​are determined in block 214 using the fourth speed value received in block 210 and the third distance value received in block 212. A third criterion of the one or more criteria is not falling below a predetermined third minimum distance to the following second third vehicle.

[0068] For example, the exemplary methods for controlling an automatic overtaking maneuver with lateral lane change according to Fig. 2 and 3 can also be combined. In this case, in addition to the overtaking vehicle driving in front in the same lane, not only a first third vehicle driving in front in the overtaking lane, but also a second vehicle following in the overtaking lane. Such a combined The method comprises all blocks 200 to 24 of Figs. 2 and 3.

[0069] The values ​​of the combination of values ​​in block 214 are determined using both the third speed value received in block 206 and the second distance value received in block 208, as well as the fourth speed value received in block 210 and the third distance value received in block 212. Furthermore, in this case, the one or more criteria include, in addition to the first criterion, not only the second criterion of not falling below the predefined second minimum distance to the preceding first third-party vehicle, but also the third criterion of not falling below the predefined third minimum distance to the following second third-party vehicle.

[0070] Fig. 4 shows an exemplary overtaking maneuver using the method from Fig. 1. The corresponding method is performed by vehicle 300, which wishes to overtake the overtaking vehicle 340 traveling ahead in the same lane 370. During the overtaking maneuver, vehicle 300 performs a lateral lane change from the current lane 370 to an overtaking lane 372, i.e., a parallel lane. In addition, a change in speed of vehicle 300 occurs prior to the lane change.

[0071] First, the initial situation is shown at a time t0. The vehicle 300 is moving in a direction of movement 314 along the lane 370. In front of the vehicle 300, the overtaking vehicle 340 is traveling in the same lane 370, which vehicle is to be overtaken, for example, due to a speed that is lower than a target speed of the vehicle 300. The direction of movement 314 along the lane 370 is in the forward direction of the vehicle 300. In the case of a straight lane 370, the direction of movement 314 is a direction straight ahead, i.e., parallel to a longitudinal axis of the vehicle 300. In the case of a non-straight lane 370, the direction of movement 314 can be a direction that deviates from the extension direction of the longitudinal axis of the vehicle 300. The situation at a time t1, after the lane change has taken place, is also shown in Fig. 4.

[0072] Under optimal conditions, ie when the distance Dl is sufficiently large in relation to a speed difference between the two vehicles and when the overtaking lane 372 is free, the overtaking maneuver is carried out according to predetermined reference values ​​for a pre-acceleration and a lateral acceleration or for a maximum pre-acceleration and a maximum lateral acceleration.

[0073] In this case, during the overtaking maneuver with the corresponding pre-acceleration before a lateral lane change from lane 370 to the overtaking lane 372 and with the corresponding lateral acceleration in the lateral direction 316 during the lane change, a predetermined minimum distance to the overtaking vehicle 340 in front is not undercut, ie the distance Dl between vehicle 300 and overtaking vehicle 340 parallel to the direction of movement 314 along lane 370 is greater than a predetermined minimum distance during the entire overtaking maneuver, as long as vehicle 300 is in the same lane behind overtaking vehicle 340.

[0074] If the overtaking maneuver cannot be performed using the reference values ​​without falling below the specified minimum distance, the overtaking maneuver is performed using the method described, for example, in Fig. 1 with adjusted values ​​for a speed change prior to the lane change and a lateral acceleration during the lane change. Starting with the reference values ​​as initial values, the values ​​are adjusted together until a combination of values ​​is determined that can prevent the minimum distance from being exceeded.

[0075] Even if the overtaking maneuver is a two-stage process in which vehicle 300 first changes speed in its own lane 370 to adjust its speed relative to the overtaking vehicle 340 in front and then subsequently changes lanes, the relevant values ​​for both stages are determined together. For simplicity, the speed of vehicle 300 can be assumed to be constant during the lane change. It is also possible to factor in a change in speed, in particular an increase in speed, during the lane change. A corresponding value for the change in speed during the lane change would then have to be determined together with the other values ​​so that, even taking this further change in speed into account, the specified minimum distance is not undercut during the overtaking maneuver.

[0076] For example, both values, pre-acceleration and lateral acceleration, are optimized together. For this purpose, both values ​​are adjusted step by step, starting from the reference values ​​as initial values, until the criterion of not falling below the minimum distance is met. During the adjustment, the value for pre-acceleration is successively reduced, for example, and the value for lateral acceleration is successively increased. The adjustment can, for example, be carried out in specified absolute or percentage steps for all values ​​to be adjusted simultaneously or alternately.

[0077] For example, the reference value for the pre-acceleration is alO = lm / s A 2, where the following successive adjustment is made during the integration steps: all = al0*0.9, al2 = al0*0.8, or all = al0*0.9, al2 = all*0.9, ... . For example, the reference value for the lateral acceleration is a20 = 0.75 m / sA 2, where the following successive adjustment is made during the integration steps: a21 = a20*l,l, a22 = a20*l,2, ...; or a21 = a20*l,l, a22 = a21*l,l, ... .

[0078] The optimization condition here is that the distance Dl to the overtaking vehicle 340 in front does not fall below the specified minimum distance. For example, the value for the pre-acceleration ali can be alternately reduced and the value for the lateral acceleration a2i increased iteratively: al0,a20 | all,a20 | all,a21 | al2,a21 | al2,a22 ... .

[0079] Alternatively, a reference value, such as al0=0, can be used as the basis for the speed change and an adjustment can be made so that the following pattern results for the resulting speed, starting from a speed vO of the vehicle 300 before the speed change: vl = v0- / +Av, vl = vO- / +2*Av, ..., with, for example, Av = 5 km / h. Likewise, alO can also be selected to be positive as the pre-acceleration. By adjusting - / +, adjustments in both directions, i.e. increasing and reducing the speed change, can be taken into account. In particular, a possibly necessary braking, i.e. negative speed change before the lane change, can also be taken into account. In this case, a step-by-step iterative adjustment can be made, for example, using an A* algorithm, as shown by way of example in Fig. 6.

[0080] Fig. 5 shows an exemplary overtaking maneuver involving third-party vehicles 350, 360 in the overtaking lane 372. For example, a third-party vehicle 350 driving ahead of the vehicle 300 and / or a third-party vehicle 360 ​​following the vehicle 300 may be located in the overtaking lane 372. In this case, the corresponding third-party vehicles 350, 360 must be taken into account when adapting the values ​​to be used during the overtaking maneuver for the speed change preceding the lane change, as well as for the lateral acceleration during the lane change. Furthermore, a speed change during the lane change, in particular an acceleration, can also be taken into account.

[0081] Fig. 5 shows both the positions of the vehicles 300, 340, 350, 360 at a time t0 before the overtaking maneuver is carried out, and the situation at a time t1 after the lane change has taken place.

[0082] As a criterion to be met, it is specified, for example, that during the overtaking maneuver, the relative distance D1 to the preceding overtaking vehicle 340 does not fall below a specified minimum distance. Furthermore, as criteria, it is specified, for example, that after the lane change, a distance D2 to the preceding third vehicle 350 and / or a distance D3 to the following third vehicle 360 ​​does not fall below a specified minimum distance.

[0083] If a lane change is possible using the reference values, with all criteria being met, the overtaking maneuver is carried out, for example, using the corresponding reference values. If one or more of the criteria are violated during a lane change using the reference values, the corresponding reference values ​​are adjusted so that the criteria are met with the adjusted values. For this purpose, a method according to a combination of Figs. 2 and 3, as described above, can be used, for example. In this case, an adjustment can be carried out, for example, using an A* algorithm according to Fig. 6.

[0084] For example, as shown above for the resulting speed in the case of Fig. 4, the lateral acceleration can also be adjusted in both directions, ie increased and decreased, for example using a multiplication by factors greater and less than 1, such as 1.1 and 0.9.

[0085] Fig. 6 shows an exemplary method for determining values ​​of a combination of values ​​using an A* algorithm. For this purpose, an effort or cost function is assigned to the adjustments. For example, the branch with the lowest effort, A, is followed. For example, the number of iterations can be limited, such as to 10 iteration steps. As soon as the effort exceeds a specified effort for the initial reference values, no further iteration is performed for the corresponding combination.

[0086] In the example shown, the initial combination 126 of reference values ​​is assigned an initial reference effort of 200. The dashed blocks each mark a searcher for the corresponding due to an effort that exceeds the initial Exceeds the reference effort. In the example shown, a1 represents a change in speed before the lane change, a2 represents a lateral acceleration during the lane change, and a3 represents a change in speed during the lane change. The iteration is repeated until a combination of 128 values ​​is determined that meets all criteria or a termination criterion is met, such as reaching the maximum number of iteration steps.

[0087] Fig. 7 shows an exemplary computer unit or computer device 100 of a driving assistance system 102 of a vehicle. The computer unit 100 is configured to control an automatic overtaking maneuver with a lateral lane change from a current lane to a passing lane for overtaking a preceding overtaking vehicle. The overtaking maneuver includes a first change in the vehicle's speed in a direction of movement of the vehicle along the current lane prior to the lane change.

[0088] Furthermore, the driving assistance system 102 includes, for example, one or more environmental sensors (not shown), which are configured to detect, for example, relative distances to third-party vehicles and / or relative speeds of third-party vehicles. Corresponding environmental sensors are shown, for example, in Fig. 8. These environmental sensors can include, for example, one or more ultrasonic sensors, one or more radar sensors, one or more LiDAR sensors, and / or one or more optical cameras.

[0089] The computer unit 100 of the driving assistance system 102 can be integrated into various types of vehicle-related components and / or systems. For example, the computer unit 100 is a Computer unit 100. This computer unit 100 integrated into the vehicle can, for example, also be implemented as a distributed system. The illustrated computer unit 100 comprises a processor unit or computing unit 104. The processor unit 104 can, for example, be an integrated circuit in the form of a microprocessor or a microcontroller in an embedded system. The illustrated processor unit 104 represents one or more processor units. The illustrated computer unit 100 further comprises a hardware interface 106. The hardware interface can enable the processor unit 104 to communicate with other components. and / or other components. These other components include, for example, one or more environmental sensors.

[0090] The illustrated processor unit 104 can further be connected to an optional user interface 108. The user interface 108 can, for example, be a user interface 108 of an on-board computer of a vehicle. The user interface 108 can, for example, also comprise a display device. This could, for example, comprise a two-dimensional computer display, a touchscreen, a virtual reality system, and / or an augmented reality system. For example, the user interface 108 is configured to output an acoustic warning signal when an obstacle is detected during obstacle monitoring by the driving assistance system 102. For example, the user interface 108 comprises a graphical user interface configured to graphically display detected third-party vehicles and / or signal their presence. For example, positions of the third-party vehicles relative to the vehicle are displayed.

[0091] The illustrated processor unit 104 is further connected to a memory unit 110. The memory unit 110 includes machine-readable or machine-executable program instructions 120. The machine-readable program instructions 120 can enable the processor unit 104 to perform various numerical and computational tasks. The machine-readable program instructions 120 can also enable the processor unit 104 to control and operate other components via the hardware interface 106, for example, one or more environmental sensors of the vehicle's driving assistance system 102.

[0092] Execution of machine-readable program instructions 120 by processor unit 104 can cause processor unit 104 to control computer unit 100 to perform the automatic overtaking maneuver with a lateral lane change from a current lane to a passing lane to overtake a preceding overtaking vehicle. For example, computer unit 100 is controlled to execute one of the methods of FIGS. 1 to 6.

[0093] The storage unit 110 further includes, for example, received sensor values ​​122. These sensor values ​​122 may include, for example, raw data and / or preprocessed data. For example, the sensor values ​​122 may include sensor data that the computer unit 100 receives from the one or more environmental sensors. For example, The received sensor values ​​122 include a first speed value of a speed of the vehicle before the first speed change, a first distance value of a relative distance of a preceding overtaking vehicle from the vehicle, and a second speed value of a relative speed of the preceding overtaking vehicle. Furthermore, the received sensor values ​​122 include, for example, a second distance value of a relative distance of a first third-party vehicle traveling ahead in the overtaking lane from the vehicle and a third speed value of a relative speed of the first third-party vehicle traveling ahead. For example, the received sensor values ​​122 also include a third distance value of a relative distance of a second third-party vehicle following in the overtaking lane from the vehicle and a fourth speed value of a relative speed of the following second third-party vehicle.

[0094] The storage unit 110 further comprises, for example, one or more criteria 124 which must be met by the values ​​to be determined from a combination 128 of values ​​for executing the automatic overtaking maneuver. The criteria 124 comprise, for example, as a first criterion, not falling below a predetermined first minimum distance to an overtaking vehicle to be overtaken, which is traveling ahead in the same lane, during the lane change. Furthermore, the criteria 124 comprise, for example, as a second criterion, not falling below a predetermined second minimum distance to a detected first third-party vehicle traveling ahead in the overtaking lane during the lane change. In addition, the criteria 124 can, for example, as a third criterion, not falling below a predetermined third minimum distance to a detected second third-party vehicle following in the overtaking lane. These criteria 124 are, for example, speed-dependent.Minimum distances to third-party vehicles ahead depend, for example, on the speed of the vehicle during the overtaking maneuver.

[0095] The storage unit 110 further comprises, for example, a combination 126 of reference values. The combination 126 of reference values ​​comprises, for example, a first reference value for a first speed change of the vehicle preceding the lane change and a second reference value for the lateral acceleration. Furthermore, the combination 126 of reference values ​​can, for example, comprise a third reference value for a second speed change during the lane change. These reference values ​​of the combination 126 of reference values ​​serve, for example, as initial values ​​for an iterative Determining the combination of 128 values ​​to perform the automatic overtaking process.

[0096] Furthermore, the storage unit 110 includes, for example, the combination 128 of values ​​determined in the course of the method for executing the automatic overtaking maneuver. These values ​​of the combination 128 are determined, for example, using the received sensor values ​​122, the predetermined criteria 124, and the reference values ​​126. For example, the combination 126 includes a specific value for a first change in speed of the vehicle in the direction of movement preceding the lane change and a specific lateral acceleration value in the course of the lateral lane change in a lateral direction relative to the direction of movement. The lateral acceleration value depends, for example, on the first change in speed and a wheel angle of the vehicle in the course of a steering maneuver for the lateral lane change. For example, the value corresponding to the determined The wheel angle corresponding to the lateral acceleration value is also stored in the memory unit 110 for further use. Furthermore, the combination 128 includes, for example, a value for a second speed change during the lane change.

[0097] Finally, the memory unit 110 comprises, for example, information for a control signal 130 or a control signal for executing the overtaking maneuver with the lateral lane change using the determined first speed change of the vehicle and the wheel angle resulting from the determined lateral acceleration. The corresponding control signal 130 is sent from the computer unit 100 upon receipt of a trigger signal for executing the overtaking maneuver with the lateral lane change, for example via the hardware interface 106.

[0098] Fig. 8 shows an exemplary vehicle 300 with a driving assistance system 102 that assists a human driver in driving. The vehicle 300 may be any type of vehicle, such as a car, truck, or bus, driven by a human driver.

[0099] The driving assistance system 102 supports the human driver of the vehicle 300. This may be a driving assistance system 102 that provides additional types of driving assistance, or that only provides assistance in performing an overtaking maneuver with an automatic lane change, as described above. Such driving assistance systems 102 are also known as driver assistance systems, which are often also referred to as ADAS (Advanced Driver Assistance Systems). In the example shown, the driving assistance system 102 is configured to perform adaptive cruise control (ACC), which enables the vehicle 300 to maintain a safe distance from other vehicles and additionally to adjust its speed if no other vehicles that could be relevant to the vehicle 300 are detected in front of the vehicle 300.

[0100] In the example shown, the driving assistance system 102 comprises a plurality of different environmental sensors 304, 306, 308 for monitoring an environment 310 of the vehicle 300. The environmental sensors 304, 306, 308 comprise, for example, one or more LiDAR (Light Detection and Ranging)-based environmental sensors 304, one or more optical cameras 306, and one or more environmental sensors 308, which comprise one or more ultrasonic sensors and / or radar sensors. The environmental sensors 304, 306, 308 detect the environment 310 of the vehicle 300. Environmental sensors 304, 306, 308 generate sensor data, which is sent to a computer unit 100 of the driving assistance system 102. The sensor data sent to the computer unit 100 is, for example, raw data and / or pre-processed data.

[0101] The vehicle 300 further includes the computer unit 100 of the driving assistance system 102 and a data connection 312 that connects the environmental sensors 304, 306, 308 and the computer unit 100. The computer unit 100 can be any type of computer unit 100 suitable for use in a vehicle 300. Such computer units 100 are known in the automotive sector, for example, as ECUs (Electronic Control Units). The computer unit 100 can be used, for example, as a dedicated computer unit 100 for executing the above-described method for controlling the automatic overtaking process with lateral lane change of the vehicle 300 to overtake a preceding overtaking vehicle. The computer unit 100 can be used, for example, to execute a plurality of tasks or applications.The computer unit 100 receives and processes the sensor data sent by the environmental sensors 304, 306, 308 via the data connection 312.

[0102] The data connection 312 may be configured, for example, as a dedicated connection between the environmental sensors 304, 306, 308 and the computer unit 100 or as a data bus. Furthermore, the data connection 312 may be configured as a shared A data connection 312 is configured that is used by various types of devices of the vehicle 300, for example, a multi-purpose data bus. The data connection 312 can be implemented, for example, as a CAN bus, LIN bus, or other.

[0103] Although a single data connection 312 is illustrated in Fig. 8, multiple connections or data buses may be provided in parallel to connect the environmental sensors 304, 306, 308 to the computing unit 100, which are collectively considered data connection 312. Although a single computing unit 100 is illustrated in Fig. 8, similarly, multiple computing units 100 may be provided in parallel to process the sensor data from the environmental sensors 304, 306, 308. For example, the computing unit 100 is configured to fuse the sensor information received from the environmental sensors 304, 306, 308 to provide a single set of environmental data, in particular to provide an environmental map.

[0104] Although the invention has been fully illustrated and described in the drawings and the foregoing description, this illustration and description is to be considered as exemplary and not restrictive; the invention is not limited to the disclosed examples.

[0105] Other variations of the disclosed examples may be understood and practiced by those skilled in the art in practicing the claimed invention, based on the drawings, the description, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" does not exclude a plurality. The mere fact that certain features are recited in divergent dependent claims does not mean that a combination of those features cannot be advantageous. Any reference signs in the claims should not be construed as limiting the scope of protection.

[0106] A single processor or other unit may perform the functions of multiple elements recited in the claims. A computer program may be stored / distributed on any suitable medium, such as an optical storage medium or a solid-state medium supplied with or as part of other hardware, but it may also be distributed in other forms, such as the Internet or other wired or wireless telecommunications systems. TI

[0107] As will be understood by those skilled in the art, aspects of the present invention may be embodied in the form of an apparatus, a method, or a computer program product. Accordingly, aspects of the present invention may take the form of a pure hardware variant, a pure software variant (including firmware, resident software, microcode, etc.), or a variant combining software and hardware aspects, which may be referred to herein generally as a "circuit," "module," or "system." Furthermore, aspects of the present invention may take the form of a computer program product embodied in one or more computer-readable media having computer-executable code embodied thereon.

[0108] Any combination of one or more computer-readable media may be used. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. As used herein, a "computer-readable storage medium" includes any tangible storage medium capable of storing instructions executable by a processor or computing system of a computing device. The computer-readable storage medium may be referred to as a computer-readable non-transitory storage medium. The computer-readable storage medium may also be referred to as a tangible computer-readable medium. In some embodiments, a computer-readable storage medium may also be capable of storing data accessible by the processor or computing system of the computing device.Examples of computer-readable storage media include, but are not limited to: a floppy disk, a magnetic hard disk drive, a solid-state drive, flash memory, a USB flash drive, random access memory (RAM), read-only memory (ROM), an optical disk, a magneto-optical disk, and the register file of the processor or computing system. Examples of optical disks include compact disks (CDs) and digital versatile disks (DVDs), for example, CD-ROM, CD-RW, CD-R, DVD-ROM, DVD-RW, or DVD-R disks. The term "computer-readable storage medium" also refers to various types of recording media that the computing device can access over a network or communications link. For example, data can be retrieved via a modem, over the Internet, or over a local area network. Computer-readable orComputer-executable code embodied on a computer-readable medium may be transmitted via any suitable medium, including, but not limited to, wireless transmission, wireline transmission, fiber optic cable, radio frequency transmission, etc., or any suitable combination of the foregoing media.

[0109] A computer-readable signal medium may contain a propagating data signal with computer-executable code embodied therein, for example, in baseband or as part of a carrier wave. Such a transmitted signal may take any form, including, but not limited to, electromagnetic or optical signals, or any suitable combination thereof. A computer-readable signal medium may be any computer-readable medium, other than a computer-readable storage medium, that can convey, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0110] A "computer memory," "storage unit," or "memory" is an example of a computer-readable storage medium. Computer memory is any memory that can be directly accessed by a processor or computing system.

[0111] A "processor system," "processor unit," "computing system," or "computing unit," as used herein, includes an electronic component capable of executing a program or machine-executable instruction or computer-executable code. References to the processor system or computing system, including an example "a processor system" or "a computing system," should be understood to mean that the example may include more than one processor system, processor unit, computing system, computing unit, or processor core. The processor system or computing system may, for example, be a multi-core processor. A processor system, processor unit, computing system, or computing unit may also refer to a collection of processor units or computing units within a single computer system or distributed across multiple computer systems.The term "processor system," "processor unit," "computing system," or "computing unit" should also be interpreted as potentially referring to a collection or network of computing devices, each comprising a processor or computing system. The machine-executable code or instructions may be executed by multiple computing systems or processors residing within the same computing device or even distributed across multiple computing devices.

[0112] Machine-readable or machine-executable instructions or computer-readable or computer-executable code may include instructions or a program that causes a processor or other computing system to carry out an aspect of the present invention. Computer-executable code for performing operations for Aspects of the present invention may be written and compiled into machine-executable instructions in any combination of one or more programming languages, including an object-oriented programming language such as Java, Smalltalk, C++, or the like, and conventional procedural programming languages ​​such as the "C" programming language or similar programming languages. In some cases, the computer-executable code may be in the form of a high-level language or in precompiled form and used in conjunction with an interpreter that generates the machine-executable instructions on the fly. In other cases, the machine-executable instructions or computer-executable code may be in the form of programming for programmable logic gate arrays.

[0113] The executable computer code may run entirely on the user's computer unit, partially on the user's computer unit, as a standalone software package, partially on the user's computer unit and partially on a remote computer unit, or entirely on the remote computer unit or server. In the latter case, the remote computer unit may be connected to the user's computer unit via any network, including a local area network (LAN) or a wide area network (WAN), or the connection may be established with an external computer unit (for example, via the Internet with the assistance of an Internet service provider).

[0114] Aspects of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It is understood that each block or a portion of the blocks of the flowchart, illustrations, and / or block diagrams may be implemented by computer program instructions in the form of computer-readable or computer-executable code, where applicable. It is further understood that combinations of blocks may be combined in different flowcharts, illustrations, and / or block diagrams if they are not mutually exclusive.These computer program instructions may be provided to a computing system of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine such that the instructions, executing via the computing system of the computer or other programmable data processing device, provide means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0115] These machine-executable instructions or computer program instructions may also be stored in a computer-readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner such that the instructions stored in the computer-readable medium produce an article of manufacture that includes instructions that perform the function / action specified in the flowchart and / or block diagram block or blocks.

[0116] The machine-readable or machine-executable instructions or computer program instructions may also be loaded onto a computer, other programmable data processing device, or other devices to cause a series of method steps to be performed on the computer, other programmable device, or other devices to produce a computer-implemented process, such that the instructions executing on the computer or other programmable device provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0117] A "user interface," as used herein, is an interface that allows a user or operator to interact with a computer or computer system. A "user interface" may also be referred to as a "human interface device." A user interface may provide information or data to the user and / or receive information or data from the user. A user interface may allow the computer to receive input from the user and provide output from the computer to the user. In other words, the user interface may allow a user to control or manipulate a computer, and the interface may allow the computer to display the effects of the user's control or manipulation.Displaying data or information on a display or graphical user interface is an example of delivering information to a user. Receiving data via a keyboard, mouse, trackball, touchpad, pointing stick, graphics tablet, joystick, gamepad, webcam, headset, pedals, wired glove, remote control, and accelerometer are all examples of user interface components that enable the receipt of information or data from a user.

[0118] A "hardware interface," as used herein, includes an interface that enables the processor system or computing system of a computing unit or system to interact with and / or control an external computing device and / or apparatus. A hardware interface may enable a computing unit to send control signals or commands to an external computing device and / or apparatus. A hardware interface may also enable a computing unit to exchange data with an external data processing system and / or apparatus.Examples of a hardware interface include: a universal serial bus, an IEEE 1394 port, a parallel port, an IEEE 1284 port, a serial port, an RS-232 port, an IEEE 488 port, a Bluetooth connection, a wireless local area network connection, a TCP / IP connection, an Ethernet connection, a control voltage interface, an M IDI interface, an analog input interface, and a digital input interface.

[0119] A "display," a "display," or a "display device," as used herein, includes an output device or user interface capable of displaying images or data. A display may output visual, audible, and / or tactile data. Examples of a display include, but are not limited to: a computer monitor, a television screen, a touchscreen, a tactile electronic display, a Braille screen,

[0120] Cathode ray tube (CRT), storage tube, bi-stable display, electronic paper, vector display, flat panel display, vacuum fluorescent display (VF display), light emitting diode display (LED), electroluminescent display (ELD), plasma display panel (PDP), liquid crystal display (LCD), organic light-emitting diode display (OLED), projector and head-mounted display. LIST OF REFERENCE SYMBOLS 100 computer units 102 Driving assistance system 104 Processor unit 106 Hardware interface 108 User interface 110 storage unit 120 machine-readable program instructions 122 sensor values 124 criteria 126 Combination of reference values 128 combination of certain values 130 control signal 300 vehicles 304 LiDAR-based environmental sensor, environmental sensor 306 optical camera, environmental sensor 308 Ultrasonic sensor / radar sensor, environmental sensor 310 surroundings 312 Data connection 314 Direction of movement 316 lateral direction 340 overtaking vehicle 350 third-party vehicles 360 third-party vehicle 370 lane 372 overtaking lane

Claims

CLAIMS 1. A method for controlling an automatic overtaking maneuver with a lateral lane change from a current lane (370) to an overtaking lane (372) for overtaking a preceding overtaking vehicle (340) by a computer unit (100) of a driving assistance system (102) of a vehicle (300), wherein the overtaking maneuver comprises a first change in speed of the vehicle (300) preceding the lane change in a direction of movement (314) of the vehicle (300) along the current lane (370), wherein the method comprises the computer unit (100): Receiving a first speed value of a speed of the vehicle (300) before the first speed change, Receiving a first distance value of a relative distance of the overtaking vehicle (340) to the vehicle (300), Receiving a second speed value of a relative speed of the overtaking vehicle (340), Determining a combination (128) of values ​​that meet one or more criteria (124) for the overtaking maneuver, starting from a combination (126) of reference values, wherein the combination (128) of values ​​contains a value for the first Speed ​​change of the vehicle (300) in the direction of movement (314) and a lateral acceleration value during the lateral lane change in a lateral direction (316) relative to the direction of movement (314), wherein the combination (126) of reference values ​​comprises a first reference value for the first speed change and a second reference value for the lateral acceleration, wherein the determination of the combination (128) of values ​​is carried out using the received first and second speed values, as well as the first distance value, wherein a first criterion of the one or more criteria (124) is not falling below a predetermined first minimum distance to the overtaking vehicle (340), wherein the lateral acceleration value depends on the first speed change and a wheel angle of the vehicle (300) during a steering maneuver for the lateral lane change, upon receipt of a trigger signal for executing the overtaking maneuver with the lateral lane change, sending a control signal (130) for executing the overtaking maneuver with the first speed change and the lateral lane change using the determined first speed change of the vehicle (300) and the wheel angle resulting from the determined lateral acceleration.

2. The method according to claim 1, wherein determining the values ​​of the combination (128) of values ​​comprises a step-by-step iterative changing of the values, in particular an alternating changing, starting from the reference values ​​of the combination (126) of reference values, until the changed values ​​of the combination (128) of values ​​meet the one or more criteria (124) for the overtaking process.

3. The method of claim 2, wherein determining the values ​​of the combination (128) of values ​​is performed using an A* algorithm.

4. The method according to any one of the preceding claims, wherein determining the values ​​of the combination (128) of values ​​comprises reducing the first speed change in the form of an acceleration starting from the first reference value and increasing the lateral acceleration starting from the second reference value.

5. A method according to any one of the preceding claims, wherein the method further comprises: Receiving a second distance value of a relative distance of a first third vehicle (350) traveling ahead in the overtaking lane (372) to the vehicle (300), Receiving a third speed value of a relative speed of the first third vehicle (350) traveling ahead, wherein the values ​​of the combination (128) of values ​​are further determined using the received third speed value and the second distance value, wherein a second criterion of the one or more criteria (124) is a Not falling below a predetermined second minimum distance to the first third vehicle (350) driving ahead.

6. A method according to any one of the preceding claims, wherein the method further comprises: Receiving a third distance value of a relative distance of a second third vehicle (360) following in the overtaking lane (372) to the vehicle (300), Receiving a fourth speed value of a relative speed of the following second third-party vehicle (360), wherein the values ​​of the combination (128) of values ​​are further determined using the received fourth speed value and the third distance value, wherein a third criterion of the one or more criteria (124) is not falling below a predetermined third minimum distance to the following second third-party vehicle (360).

7. The method according to any one of the preceding claims, wherein the combination (128) of values ​​further comprises a value for a second speed change during the lane change, wherein the combination (126) of reference values ​​further comprises a third reference value for the second speed change, wherein the lateral acceleration value further depends on the second speed change.

8. Method according to one of the preceding claims, wherein the transmission of the control signal (130) for carrying out the overtaking process takes place with a time delay, in particular a predetermined time delay, wherein the time delay is taken into account when determining the combination (128) of values.

9. A computer program for controlling an automatic overtaking maneuver with a lateral lane change from a current lane (370) to an overtaking lane (372) for overtaking a preceding overtaking vehicle (340) by a computer unit (100) of a driving assistance system (102) of a vehicle (300), wherein the overtaking maneuver comprises a first change in speed of the vehicle (300) preceding the lane change in a direction of movement (314) of the vehicle (300) along the current lane (370), wherein the computer program comprises machine-readable program instructions (120), wherein execution of the machine-readable program instructions (120) by a processor unit of the computer unit (100) causes the processor unit to control the computer unit (100) to: Receiving a first speed value of a speed of the vehicle (300) before the first speed change, Receiving a first distance value of a relative distance of the overtaking vehicle (340) to the vehicle (300), Receiving a second speed value of a relative speed of the overtaking vehicle (340), Determining a combination (128) of values ​​that meet one or more criteria (124) for the overtaking maneuver, starting from a combination (126) of reference values, wherein the combination (128) of values ​​contains a value for the first Speed ​​change of the vehicle (300) in the direction of movement (314) and a lateral acceleration value during the lateral lane change in a lateral direction (316) relative to the direction of movement (314), wherein the combination (126) of reference values ​​comprises a first reference value for the first speed change and a second reference value for the lateral acceleration, wherein the determination of the combination (128) of values ​​is carried out using the received first and second speed values, as well as the first distance value, wherein a first criterion of the one or more criteria (124) is not falling below a predetermined first minimum distance to the overtaking vehicle (340), wherein the lateral acceleration value depends on the first speed change and a wheel angle of the vehicle (300) during a steering maneuver for the lateral lane change,upon receipt of a trigger signal for executing the overtaking maneuver with the lateral lane change, sending a control signal (130) for executing the overtaking maneuver with the lateral lane change using the determined first speed change of the vehicle (300) and the wheel angle resulting from the determined lateral acceleration.

10. Computer unit (100) for a driving assistance system (102) of a vehicle (300) for controlling an automatic overtaking process with lateral lane change from a current lane (370) to an overtaking lane (372) for overtaking a preceding overtaking vehicle (340) by the computer unit (100), wherein the overtaking process has a Lane change preceding first speed change of the vehicle (300) in a direction of movement (314) of the vehicle (300) along the current lane (370), wherein the computer unit (100) comprises a processor unit (104) and a memory (110) with machine-readable program instructions (120), wherein execution of the machine-readable program instructions (120) by the processor unit (104) causes the processor unit (104) to control the computer unit (100) to: Receiving a first speed value of a speed of the vehicle (300) before the first speed change, Receiving a first distance value of a relative distance of the overtaking vehicle (340) to the vehicle (300), Receiving a second speed value of a relative speed of the overtaking vehicle (340), Determining a combination (128) of values ​​that meet one or more criteria (124) for the overtaking maneuver, starting from a combination (126) of reference values, wherein the combination (128) of values ​​contains a value for the first Speed ​​change of the vehicle (300) in the direction of movement (314) and a lateral acceleration value during the lateral lane change in a lateral direction (316) relative to the direction of movement (314), wherein the combination (126) of reference values ​​comprises a first reference value for the first speed change and a second reference value for the lateral acceleration, wherein the determination of the combination (128) of values ​​is carried out using the received first and second speed values, as well as the first distance value, wherein a first criterion of the one or more criteria (124) is not falling below a predetermined first minimum distance to the overtaking vehicle (340), wherein the lateral acceleration value depends on the first speed change and a wheel angle of the vehicle (300) during a steering maneuver for the lateral lane change,upon receipt of a trigger signal for executing the overtaking maneuver with the lateral lane change, sending a control signal (130) for executing the overtaking maneuver with the lateral lane change using the determined first, Change in speed of the vehicle (300) and the wheel angle resulting from the determined lateral acceleration.

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