Method for operating a lane keeping assistant of a vehicle in the region of a branch-off while taking into account a driver intention, lane keeping assistant, and vehicle

Abstract

The invention relates to a method for operating a lane keeping assistant (2) of a vehicle (1), comprising the steps of: carrying out steering interventions for automated lateral control of the vehicle (1); detecting a branch-off (15) of a roadway (12), wherein a first lane (14) branches off from a second lane (13) at the branch-off (15); selecting the first lane (14) in order to follow a specified navigation route; planning a first trajectory (17) for the automated lateral control in a region of the branch-off (15), the first trajectory (17) leading onto the selected first lane (14); checking, before the vehicle (1) reaches the branch-off (15), whether there is a deviating driver intention to follow the second lane (13), and, if the deviating driver intention exists: selecting the second lane (13) and planning a second trajectory (16) for the automated lateral control in the region of the branch-off (15), the second trajectory (16) leading onto the second lane (13).

Description

[0001] Method for operating a lane guidance assistant of a vehicle in the area of ​​a junction taking into account a driver's intention, lane guidance assistant and vehicle

[0002] The present invention relates to a method for operating a lane guidance assistant of a vehicle. Furthermore, the present invention relates to a lane guidance assistant for a vehicle. Finally, the present invention relates to a vehicle with such a lane guidance assistant.

[0003] Lane guidance assistants for vehicles are well known in the art. Such lane guidance assistants, also known as steering and lane guidance assistants or active lane keeping assistants, serve primarily to keep the vehicle within a lane. Such a lane guidance assistant uses the surrounding data from a vehicle's surrounding sensor to detect the boundaries of a lane or lane markings. If such lane markings are detected with sufficient certainty, the lane guidance assistant can be activated, and steering interventions can be performed to keep the vehicle within the lane. For example, the steering interventions can be performed in such a way that the vehicle is kept centered within the lane.

[0004] The current state of the art includes active steering assistants or lane guidance assistants which actively follow the current lane based on lane markings detected by sensors. This so-called lane following can be based on lane markings detected by a camera or lidar sensor, position information of another object ahead detected by a radar sensor or camera, or localization using a high-precision map, as well as a combination of the above. In particular, there are known versions of assistance systems which work on the basis of high-precision digital maps which, in the event of a road branch where the lanes split into several lanes, automatically select the most suitable lane based on a set navigation destination. This determined or...The selected lane can then be followed by the system merging into the selected lane. Furthermore, implementations without the requirement of a high-precision map are known, in which lane selection follows simple rules, such as keeping to the right or following the straight lane.

[0005] With known lane guidance assistants, the problem can arise of finding a suitable lane in cooperation with the driver in the event of a lane split or in the area of ​​a junction. For example, state-of-the-art systems show the problem that at least a highly accurate map must be available to implement automatic selection of the appropriate lane. Furthermore, the driver must enter a navigation destination. In addition, even if a navigation destination has been entered, optimal cooperation between the driver and the assistance system is not guaranteed in the event of a junction. For example, the driver may not want to follow the navigation destination or may decide for other reasons to choose a lane other than the one selected by the system.In this case, there is no approach designed for cooperative interaction between driver and system to implement optimal lane selection with active steering assistance.

[0006] The object of the present invention is to show a solution how the cooperativity between a lane guidance assistant of the type mentioned above and a driver of the vehicle can be improved.

[0007] This object is achieved according to the invention by a method, by a lane guidance assistant, and by a vehicle having the features according to the independent claims. Advantageous developments of the present invention are specified in the dependent claims.

[0008] One aspect of the invention relates to a method for operating a lane guidance assistant of a vehicle. The method comprises performing steering interventions for automated lateral guidance of the vehicle. Furthermore, the method comprises receiving a predefined navigation route for traveling with the vehicle. In addition, the method comprises detecting a junction of a roadway on which the vehicle is currently traveling, wherein at the junction a first lane branches off from a second lane. Furthermore, the method relates to selecting the first lane to follow the predefined navigation route and planning a first trajectory for the automated lateral guidance in an area of ​​the junction, wherein the first trajectory leads to the selected first lane.Furthermore, the method relates to checking, before the vehicle reaches the junction, whether there is a different driver intention to follow the second lane and selecting the second lane and planning a second trajectory for the automated lateral guidance in the area of ​​the junction, wherein the second trajectory leads to the second lane if the different driver intention is present.

[0009] The lane guidance assistant is designed to assist a vehicle driver with steering tasks. In particular, the lane guidance assistant is designed to keep the vehicle within the lane or the current lane. The lane guidance assistant can also be referred to as a steering and lane guidance assistant, an active lane keeping assistant, or a steering assistant. The method can be implemented using a corresponding computing device of the lane guidance assistant. This computing device can be formed by at least one electronic control unit of the vehicle.

[0010] This computing device can receive sensor data or environmental data. This environmental data can be provided by at least one environmental sensor of the vehicle or the lane guidance assistant. The environmental sensor can in particular be a camera or a front camera and / or a lidar sensor of the lane guidance assistant. This sensor data, which is provided by the environmental sensor or the camera, describes the lane boundaries or the boundaries of at least one of the lanes. The lane boundaries can in particular be road markings, such as solid, dashed or interrupted lines. However, the lane boundaries can also be a structural boundary, for example a wall, a guardrail, a curb or the like. Furthermore, a grass verge, a gravel bed or the like can be detected as a lane boundary.

[0011] Based on the detected lane boundaries or road markings, the current position of the vehicle relative to these boundaries or road markings can be determined. Based on the surrounding data, the position of the vehicle within the lane or track can be determined. Furthermore, it can be provided that the data from additional surrounding sensors, such as radar sensors, lidar sensors, or the like, is used and merged with the sensor data from the camera to determine the vehicle's position. The sensor data from the additional surrounding sensors can also describe other road users in the lane.

[0012] Furthermore, it can be provided that the surrounding data is used to check whether at least one road user is present in the vicinity of the vehicle, and in particular in front of the vehicle in the forward direction of travel. The road user can be another road user or another vehicle that is located in front of the vehicle in the forward direction of travel. In particular, it is not necessary for the road user to be one directly in front of the vehicle.

[0013] The lane guidance assistant or the computing device can receive satellite-based positioning data, which can be received, for example, with a corresponding receiver for a satellite-based positioning system. The receiver can receive corresponding positioning data from a global navigation satellite system (GNSS). In particular, a so-called differential global positioning system is used, which can increase the accuracy of positioning or GNSS navigation by transmitting correction data.

[0014] In addition, high-resolution map data or high-precision map data or HD maps are used to determine the vehicle's current position. This high-resolution map data can be received by the computing device. The high-resolution map data can be stored in a memory of the lane guidance assistant and / or received from an external computing device. The map-based position data can then be determined based on the satellite-based position data and the high-resolution map data.

[0015] During automated lane guidance or automated lateral guidance, the lane guidance assistant can provide automated steering interventions or an override steering torque to keep the vehicle within the lane. For example, the lane guidance assistant can intervene directly in the driving process via an active steering system. However, the steering torque or steering intervention provided by the lane guidance assistant can be overridden by the driver at any time by operating the steering wheel.

[0016] Furthermore, it is provided that the branching of the roadway is detected. This branching or fork in the lanes can be detected on the basis of the digital map data and / or the surrounding data. The term branching is to be understood in particular in the present case as meaning that the lane guidance of at least one second lane deviates from the lane guidance of at least one first lane. The branching can be, for example, a motorway fork or a branching on a country road, federal highway or the like. At the branching or in the area of ​​the branching, the second lane can branch off from the first lane. In principle, the roadway in the area of ​​the branching can also have several lanes that branch off from one another. The branching can be detected on the basis of satellite-based position data and high-resolution map data.Alternatively or additionally, it may be provided that the surrounding data are also used to detect the junction.

[0017] At the junction, the first lane is selected to be followed. The first lane is selected in particular on the basis of a received navigation destination or navigation route. This navigation route can, for example, be entered by the driver into a navigation system. The first lane is preferably selected under the condition that the navigation destination can be reached this way. Based on the selection of the first lane, a first trajectory is planned, which is followed in the area of ​​the junction. The first trajectory leads to the first lane. It may happen that the vehicle is in the second lane before reaching the junction, for example, and then changes to the first lane.It may also be the case that the vehicle is already in the first lane and remains in the first lane in the area of ​​the junction.

[0018] According to the present invention, it is now provided that before the vehicle reaches the junction, an additional check is carried out to determine whether a different driver intention exists. This different driver intention describes in particular the driver's wish to follow the second lane rather than the first lane at the junction. If this different driver intention is detected or exists, the second lane is selected for following. In addition, the second trajectory is planned, which is followed in the area of ​​the junction, wherein the second trajectory leads to the second lane. This can also include the vehicle already being in the second lane and the second trajectory being planned such that the vehicle remains in the second lane.

[0019] The basic idea of ​​the invention thus represents, in particular, a method for an active lane guidance assistant, in which an improved lane selection in the area of ​​the junction is achieved by taking driver interaction or driver request into account. Overall, this can improve the cooperation between the lane guidance assistant and the driver.

[0020] In particular, to check for the presence of a different driver intention, a steering wheel angle set by the driver and / or a steering wheel torque applied by the driver is recorded. Even before the vehicle reaches the junction, it can be checked whether the driver has made an input to the steering wheel or a steering handle of the vehicle. In particular, it can be checked whether the driver applies a defined steering wheel angle or performs a specific steering movement on the steering wheel. Alternatively or additionally, it can be checked whether the driver applies a defined steering torque to the steering wheel. This makes it possible, for example, to easily and reliably detect that the driver's intention regarding the selection of the lane differs from the selection of the lane by the lane guidance assistant.If this different driver intention is recognized, the second trajectory can be planned accordingly and the driver's request can be followed during automated lateral guidance in the area of ​​the junction.

[0021] It is also advantageous if the steering wheel angle and / or the steering wheel torque applied by the driver is compared with a first threshold value, wherein the first threshold value is lower than a second threshold value at which the automated lateral guidance is deactivated. It can also be checked whether a difference between the steering angle specified by the lane guidance assistant and the steering angle brought about by the driver's steering intervention exceeds a first threshold value. If it is detected that the driver, while the active lane guidance assistant is in operation and shortly before reaching the junction or lane division, specifies a steering angle via the steering wheel operation which differs from the steering angle set by the assistance system by exceeding predefined limits, a corresponding driver intention to select the second lane can be detected.In particular, it can be checked whether the steering wheel angle applied by the driver exceeds the first threshold. The first threshold can be selected such that it is lower than the second threshold, which leads to deactivation or deactivation of the active lane guidance assistant. Thus, a predefined steering intervention by the driver can easily and intuitively select the second lane for following in the area of ​​the junction.

[0022] Furthermore, it is preferably provided that the direction of the driver's steering intervention is detected, and the deviating driver intention is recognized based on the direction. Thus, the direction of the steering wheel angle or the steering wheel torque can be determined. In particular, it can be checked whether the driver is steering toward the first lane selected based on the navigation route or toward the second lane. If the driver is steering toward the second lane, it can be concluded that the deviating driver intention is present.

[0023] Preferably, the presence of the deviating driver intention is checked during a predetermined time period and / or during a predetermined route section before the vehicle reaches the junction. For example, at the predetermined temporal and / or route-related interval from the lane splitting event, the driver's steering action can be evaluated and assessed. In particular, it can be checked whether there is a tendency for the driver to steer, for example to the left or right, relative to the steering angle set by the system. This makes it possible to react, in particular, to situations in which the driver changes his mind at short notice and, for example, does not want to follow the planned navigation route. This can be the case, for example, if the driver can only perceive the traffic situation in the area of ​​the junction shortly before reaching the junction.

[0024] Additional input variables can also be used to detect deviating driver intention. For example, the activation of a turn signal or a corresponding turn signal lever by the driver can be detected. Furthermore, a change in the navigation route or destination by the driver can be detected. Furthermore, relevant traffic regulations, such as keeping to the right, can be taken into account. A prioritization can be established, based on which the available input variables are evaluated with regard to lane selection.

[0025] In a further embodiment, the first trajectory and / or the second trajectory are planned such that the vehicle, before reaching the junction, has a lateral offset within the lane in the direction of the selected lane. If, for example, the vehicle is in the second lane before reaching the junction and a change to the first lane along the first trajectory is planned in the area of ​​the junction, the first trajectory can be selected such that the vehicle, before reaching the junction, is not located in the center of the second lane, but has a lateral offset in the direction of the first lane. In this way, the lane guidance assistant can establish a slight offset in the direction of the lane to be entered at an early stage.This not only intuitively alerts the driver that the lane guidance assistant wants to change to the first lane, but also allows the driver to steer in the opposite direction.

[0026] If, for example, the detected, different driver intention leads to a decision to follow the second lane instead of the first lane, the second trajectory can be determined such that it has a lateral offset toward the second lane. This informs the driver that their different driver intention has been detected. Furthermore, the driver is intuitively informed that the vehicle will follow the second lane in the area of ​​the junction.

[0027] In a further embodiment, the second trajectory is planned based on environmental data from an environmental sensor, wherein only environmental data that describes a boundary of the second lane is used to plan the second trajectory. If, therefore, a tendency or driver intention in the direction of the second lane is detected before reaching the junction, the detected lane boundaries or the environmental data are preferably filtered upon reaching the junction or lane division. For example, only those lane boundaries that also describe the second lane can be used to estimate the road geometry or the geometry of the second lane. If, for example, the second lane branches off to the right at the junction, only at least one lane boundary located furthest to the right can be taken into account.If the second lane branches off to the left, only at least one of the leftmost lane boundaries can be considered. This filtering of the surrounding data or the detected lane boundaries can then be used to plan the second trajectory. This allows the different lanes to be clearly modeled after the branch or lane split, and thus the ideal second trajectory for reaching the selected lane or second lane can be calculated.

[0028] In another embodiment, the second trajectory is planned based on digital map data, with the digital map data describing the junction. As previously explained, high-resolution map data, or so-called HD maps, can be used for this purpose. The highly accurate map information describes the lane distribution in the area of ​​the junction and also the course of the respective lanes. Thus, the second trajectory can be reliably calculated.

[0029] It is also possible to adjust the lane selection up to a second, predefined distance from the lane split event, provided that corresponding driver intervention is detected. If no driver interaction with the steering wheel is detected before the lane split is reached, the selection of the lane to follow can be decided based on the criteria in the previously described prioritization of input variables. If none of these criteria lead to a decision, an arbitrary action, such as always following the right lane, can be set as the default selection.

[0030] A further aspect of the invention relates to a lane guidance assistant for a vehicle, wherein the lane guidance assistant is configured to carry out steering interventions for automated lateral guidance of the vehicle. In addition, the lane guidance assistant is configured to receive a predefined navigation route for the vehicle journey. In addition, the lane guidance assistant is configured to detect a junction of a roadway on which the vehicle is currently traveling, wherein at the junction a first lane branches off from a second lane, and to select the first lane for following the predefined navigation route. In addition, the lane guidance assistant is configured to plan a first trajectory for the automated lateral guidance in an area of ​​the junction, wherein the first trajectory leads to the selected first lane.The lane guidance assistant is further configured to check, before the vehicle reaches the junction, whether there is a different driver intention to follow the second lane and, if the different driver intention is present, to select the second lane and to plan a second trajectory for the automated lateral guidance in the area of ​​the junction, wherein the second trajectory leads to the second lane.

[0031] The lane guidance assistant can have at least one environmental sensor with which environmental data can be provided. The at least one environmental sensor can be embodied as a camera, radar sensor, lidar sensor, ultrasonic sensor, or the like. Furthermore, the lane guidance assistant can have a computing device by means of which the environmental data can be selected. The computing device can be formed by a processor, an electronic control unit, or the like. Furthermore, the lane guidance assistant can assume lateral guidance and preferably also longitudinal guidance of the vehicle in order to align the vehicle based on detected lane markings and / or to follow a road user ahead. Furthermore, the lane guidance assistant can have a receiver for a satellite-based positioning system.

[0032] In addition, the lane guidance assistant can have a memory or a storage device on which high-resolution map data or a so-called HD map is stored.

[0033] A vehicle according to the invention comprises a lane guidance assistant according to the invention. The vehicle is designed, in particular, as a passenger car.

[0034] The preferred embodiments presented with reference to the method according to the invention and their advantages apply accordingly to the lane guidance assistant according to the invention and to the vehicle according to the invention.

[0035] Further features of the invention emerge from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective combinations specified, but also in other combinations or on their own, without departing from the scope of the invention. The invention will now be explained in more detail using preferred embodiments and with reference to the accompanying drawings. In the drawings:

[0036] Fig. 1 is a schematic representation of a vehicle having a lane guidance assistant;

[0037] Fig. 2 is a schematic representation of a vehicle moving towards a junction of a roadway;

[0038] Fig. 3 is a schematic representation of the detected lane boundaries and a planned trajectory of the roadway according to Fig. 2; and

[0039] Fig. 4 is a schematic representation of a method for operating a lane guidance assistant.

[0040] Fig. 1 shows a top view of a vehicle 1, which in this case is designed as a passenger car. The vehicle 1 includes an assistance system in the form of a lane guidance assistant 2, which is configured to assist a user or driver of the vehicle 1 in lateral guidance of the vehicle 1. In particular, the lane guidance assistant 2 serves to provide automated lateral guidance of the vehicle 1.

[0041] The lane guidance assistant 2 comprises a computing device 3, which can be formed, for example, by at least one electronic control unit of the vehicle 1. Furthermore, the lane guidance assistant 2 comprises at least one environment sensor 4, which in this case is designed as a camera or front camera. The environment sensor 4 can provide sensor data or environment data that describe an environment or an environment 5 of the vehicle 1. In particular, the environment data or image data can describe lane markings 18, 19, in particular roadway markings, of a roadway. The environment data can be transmitted from the environment sensor 4 or the camera to the computing device 3.

[0042] Furthermore, the lane guidance assistant 2 includes a receiver 7 for a satellite-based positioning system. Using the receiver 7, satellite-based positioning data describing the position of the vehicle 1 can be determined. Furthermore, the lane guidance assistant 2 includes a storage device 8 on which high-resolution map data, or so-called HD maps, are stored. Furthermore, the lane guidance assistant 2 includes an output device 9, by means of which an output can be provided to the user of the vehicle 1. This output can generally be provided visually, acoustically, and / or haptically.

[0043] Furthermore, the computing device 3 is configured to control a steering system 10 of the vehicle 1, which is shown only schematically here. By controlling the steering system 10, the lateral guidance of the vehicle 1 can be taken over. In this case, steerable wheels 11 of the vehicle 1 can be moved by controlling the steering system 10. It is preferably also provided that a drive motor and / or a braking system of the vehicle 1 can be controlled by means of the computing device 3 in order to also take over the longitudinal guidance of the vehicle 1. Furthermore, a steering wheel angle applied to a steering wheel of the vehicle 1 and / or a steering wheel torque applied to the steering wheel can be determined by means of a sensor 6 of the lane guidance assistant 2 and transmitted to the computing device 3.

[0044] Fig. 2 shows a schematic representation of vehicle 1, which is located on a roadway 12. The roadway 12 can, for example, be a two-lane country road. At a first time t1, the vehicle 1 is in a second lane 13 or a right-hand lane of the roadway 12. Automated lateral guidance of the vehicle 1 is enabled by means of the lane guidance assistant 2, and the vehicle 1 is maneuvered by means of the lane guidance assistant 2 and thus kept, for example, within the second lane 13. Further along the roadway 12, for example at a distance of 400 meters, the roadway 12 has a junction 15. Here, a first lane 14 branches off from the second lane 13, in which the vehicle 1 is currently located. At the start of the journey, the driver has a navigation destination orA navigation route is defined, which requires following the first lane 14 or the right lane in the area of ​​junction 15. The first lane 14 may, for example, be an exit lane for changing country roads.

[0045] Since no driver interactions or deviating driver intentions are detected up to the first time t1, the lane guidance assistant 2 initially decides, according to the existing navigation route, to follow the first lane 14 in the area of ​​the exit. The example shown assumes that at a subsequent time t2, for example, 200 meters before reaching the junction 15, the driver realizes that leaving the country road is not advisable due to the traffic situation and decides to remain on the country road. This means that the driver wishes to continue driving in the second lane 13.

[0046] Based on the planned navigation route, the lane guidance assistant 2 establishes a slight offset of the vehicle 1 within the second lane 13 in the direction to be traveled or in the direction of the first lane 14 at an early stage in order to enable the driver to intervene in the opposite direction. To implement their changed intention, the driver steers slightly to the left during active lane guidance to indicate that they wish to follow the left lane or the second lane 13. This steering movement by the driver achieves a steering wheel angle which is also outside a tolerated range for "no driver interaction" and which exceeds a first threshold value. This driver intervention or steering intervention, which is detected by the sensor 6, is understood as a deviating driver intention and is output by the computing device 3 of the lane guidance assistant 2.Furthermore, the direction of the driver's intention is also detected based on the driver's intervention on the steering wheel. This information is forwarded to the computing device 3 for calculating the road geometry from the available data from the environment sensor 4 or the camera.

[0047] Fig. 3 shows a schematic representation of the roadway according to Fig. 2 with the second lane 13 and the first lane 14. The lane markings 18 of the second lane 13 and a lane marking 19 of the first lane 14 are shown. These lane markings 18, 19, which in this case are road markings, can be detected using the data from the environment sensor 4 or the camera data. Curbs, crash barriers or the like can also be detected as lane markings 18, 19. Based on the detected lane markings 18, 19, a center line in the form of the first trajectory 17 can be determined by means of the lane guidance assistant 2. It should be noted that this center line, estimated on the basis of the environment data, can point to each branching lane. The estimation of the first trajectory 17 orThe center line is evaluated in particular and only used to calculate the geometry of lanes 13, 14 if the corresponding hypotheses are met. Due to the different driver intention, the first trajectory 17 should no longer be followed in the area of ​​the junction 15. Based on the recorded lane boundaries 18 of the second lane 13, a second trajectory 16 is determined (see Fig. 2). For this purpose, the environmental data of the environmental sensor 4 is filtered accordingly so that only the lane boundaries 18 are taken into account when calculating the second trajectory 16. After activating this filter, the geometry of the road model is adjusted so that the target lane is shifted to the left, so that with the help of trajectory planning, a time-dependent path can be planned to reach the newly determined lane.A modification of the example described here with a map-based road model or other sensors as well as a different criterion for the initial selection of the lane to be followed is possible and can be combined as desired.

[0048] Fig. 4 shows a schematic representation of a method for operating a lane guidance assistant 2. In a step S1, a deviating driver intention is detected. The input variables taken into account here are the steering angle 20 specified by the lane guidance assistant 2 and the steering wheel angle 21 currently specified by the driver on the steering wheel. To detect the deviating driver intention, a check is carried out to determine whether the steering wheel angle 21 specified by the driver exceeds a first threshold value or deviates from the steering angle of the lane guidance assistant 2 by a first threshold value. In addition, the direction of the steering wheel angle specified by the driver is determined. In a step S2, the lane 13, 14 to be followed is selected. The driver interaction determined in step S1 is taken into account for this selection.Further input variables 22 that can be taken into account here are whether the driver has activated the turn signal, whether a navigation route has been specified or replanned, and / or whether traffic regulations are taken into account. Furthermore, for the calculation of the selected lane 13, 14, information from a road model that is determined in a step S3 is taken into account in step S2. These variables can include, for example, the available lanes 13, 14 and information about the junction 15. In addition, these variables can also be obtained from another source. Using the information from step S2, which describes the selected lane 13, 14, the road model can then be updated. The geometry of the selected lane 13, 14 can then be determined on the basis of the road model. In a step S4, the trajectory is planned and the subsequent trajectory 16, 17 is output. List of reference symbols.

[0049] Vehicle Lane guidance assistant Computing device Environment sensor Environment sensor Receiver Storage device Output device Steering system Wheels Roadway Second lane First lane Junction Second trajectory First trajectory

[0050] Lane markings Lane markings Steering angle Steering angle Input variables Step Step Step Step First time Second time

Claims

Claims 1. Method for operating a lane guidance assistant (2) of a vehicle (1) comprising the steps: - Carrying out steering interventions for automated lateral guidance of the vehicle (1), - Receiving a predefined navigation route for the journey with the vehicle (1), - detecting a junction (15) of a roadway (12) on which the vehicle (1) is currently moving, wherein at the junction (15) a first lane (14) branches off from a second lane (13), - Selecting the first lane (14) to follow the specified navigation route, - Planning a first trajectory (17) for the automated lateral guidance in an area of ​​the junction (15), wherein the first trajectory (17) leads to the selected first lane (14), characterized by the steps: - checking before the vehicle (1) reaches the junction (15) whether there is a different driver intention to follow the second lane (13), and - if the deviating driver intention is present: selecting the second lane (13) and planning a second trajectory (16) for the automated lateral guidance in the area of ​​the junction (15), wherein the second trajectory (16) leads to the second lane (13).

2. Method according to claim 1, characterized in that in order to check the presence of the deviating driving intention, a steering wheel angle (21) set by the driver and / or a steering wheel torque applied by the driver are detected.

3. Method according to claim 2, characterized in that the steering wheel angle (22) and / or the steering torque with a first threshold value is compared, wherein the first threshold is lower than a second threshold at which the automated lateral guidance is deactivated.

4. Method according to one of the preceding claims, characterized in that the presence of the deviating driving intention is checked during a predetermined time period and / or a predetermined route section before the vehicle (1) reaches the junction (15).

5. Method according to one of the preceding claims, characterized in that the first trajectory (17) and / or the second trajectory (16) is planned such that the vehicle (1) has a lateral offset within the lane (13, 14) in the direction of the selected lane (13, 14) before reaching the junction (15).

6. Method according to one of the preceding claims, characterized in that the second trajectory (16) is planned on the basis of environmental data from an environmental sensor (4), wherein only environmental data which describe a lane boundary (18) of the second lane (13) are used for planning the second trajectory (16).

7. Method according to one of the preceding claims, characterized in that the second trajectory (16) is planned based on digital map data, wherein the digital map data describe the junction (15).

8. Lane guidance assistant (2) for a vehicle (1), wherein the lane guidance assistant (2) is configured to: - to carry out steering interventions for automated lateral guidance of the vehicle (1), - to receive a predefined navigation route for the journey with the vehicle (1), - to detect a junction (15) of a roadway (12) on which the vehicle (1) is currently moving, wherein at the junction (15) a first lane (14) branches off from a second lane (13), - to select the first lane (14) to follow the given navigation route, - to plan a first trajectory (17) for the automated lateral guidance in an area of ​​the junction (15), wherein the first trajectory (17) leads to the selected first lane (14), characterized in that the lane guidance assistant (2) is further configured to: - to check before the vehicle (1) reaches the junction (15) whether there is a different driver intention to follow the second lane (13), and - if the driver's intention differs: use the second lane (13) and to plan a second trajectory (16) for the automated lateral guidance in the area of ​​the junction (15), wherein the second trajectory (16) leads to the second lane (13).

9. Vehicle (1) comprising a lane guidance assistant (2) according to claim 8.

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