Method for operating an assistance system of a vehicle with evaluation of a driver-performed acceptance action for acceptance of an automated lane change maneuver, computing device, and assistance system

Abstract

The invention relates to a method for operating an assistance system (2) of a vehicle (1), comprising the steps of: planning an automated lane change maneuver into a free gap (19); outputting an offer signal for outputting an offer for the automated lane change maneuver to a driver; receiving attentiveness data, the attentiveness data describing a viewing direction and / or a head orientation of the driver; determining whether an acceptance action performed by the driver is given as acceptance of the offer, the acceptance action describing a turning of the viewing direction and / or of the head orientation to a region (23, 24, 26, 27) associated with the free gap (19); outputting a steering signal for controlling a steering system (9) of the vehicle (1) in order to perform the automated lane change maneuver, if the acceptance is given; evaluating the performance of the acceptance action; and outputting the evaluation of the performance of the acceptance action to the driver.

Description

[0001] Method for operating a vehicle assistance system with evaluation of an acceptance action performed by the driver to accept an automated lane change maneuver, computing device and assistance system

[0002] The present invention relates to a method for operating a vehicle assistance system. Furthermore, the present invention relates to a computing device for a vehicle for carrying out such a method. In addition, the present invention relates to a vehicle assistance system.

[0003] Driver assistance systems capable of at least partially automated lateral control of the vehicle are known from the state of the art. Such systems support the driver by taking over the steering task. Unlike lane-keeping assistance systems, this support is not limited to situational interventions, such as lane departure, but provides continuous assistance to the driver in maintaining lane position. During operation, the assistance system typically detects lane markings and / or the trajectory of the vehicle ahead and uses this data as the basis for planning the trajectory of the autonomous vehicle.

[0004] Some of these well-known driver assistance systems for semi-automated lateral control allow the driver to temporarily take their hands off the steering wheel. This is also referred to as a tolerated hands-off state. However, after a relatively short time, the driver is reminded of the driving task by means of visual and / or audible cues and prompted to put their hands back on the steering wheel.

[0005] Furthermore, lane change assistance systems are known from the prior art that support the driver during lane change maneuvers. In known lane change assistance systems with automated or automatic lane change functionality, the driver typically indicates a lane change request through a specific control action. When such an action is detected, the lane change assistance system maneuvers the vehicle along a planned trajectory into the adjacent lane or the target lane with automatic lateral guidance and generally also with automatic longitudinal guidance. Additionally, lane change assistance systems are known from the prior art that recognize when an automated lane change maneuver is necessary or advisable. These lane change assistance systems can then offer the driver the option of an automated lane change maneuver.The automated lane change maneuver can be performed as soon as the driver has accepted the offer. Acceptance typically requires the driver to perform a specific action. Such an action could, for example, be a visual confirmation by looking in the side mirror and / or checking over their shoulder.

[0006] Driver assistance systems according to SAE Level 2, such as the lane-change assist systems described earlier, are often difficult for the driver or user to understand and require detailed explanation. Furthermore, the human-machine interaction in such systems must be precisely timed so that the user perceives the function as valuable and is not disruptive to the driver. It is often challenging to explain these interactions clearly to different drivers with varying behavioral patterns.

[0007] The object of the present invention is to provide a solution for improving the interaction between the driver and the assistance system in an assistance system of the type mentioned above.

[0008] This problem is solved by the features of the independent claims. Further advantageous embodiments of the invention are specified in the dependent claims.

[0009] One aspect of the invention relates to a method for operating a vehicle assistance system. The method comprises planning an automated lane change maneuver into an available gap. Furthermore, the method comprises issuing an offer signal to a driver to issue an offer for the automated lane change maneuver. The method also includes receiving attention data, wherein the attention data describes the driver's gaze direction and / or head orientation. Finally, the method includes determining whether an acceptance action performed by the driver constitutes acceptance of the offer, wherein the acceptance action describes a shift in gaze direction and / or head orientation toward an area associated with the available gap.Furthermore, the procedure includes issuing a steering signal to control the vehicle's steering system to execute the automated lane change maneuver, if the assumption is correct. The procedure also includes evaluating the execution of the acceptance action and providing the driver with the evaluation of this evaluation.

[0010] The procedure can be carried out using a computer unit in the vehicle or a computer unit in the vehicle's assistance system. This computer unit can, for example, be at least one electronic control unit in the vehicle. Using this computer unit, an automated lane-change maneuver can be prepared and executed. To assess the current traffic situation regarding the necessity of a lane change, the computer unit can receive environmental data describing other road users in the vicinity of the vehicle. This environmental data can describe the positions of these other road users. In particular, the environmental data can describe which lane each road user is currently in. Furthermore, the environmental data can describe the current speeds of these other road users.The environmental data can be received by the computer unit from at least one environmental sensor of the vehicle or the assistance system. This sensor can be a camera, radar sensor, lidar sensor, ultrasonic sensor, or similar device.

[0011] Using the assistance system's computing unit, the lane change maneuver from the vehicle's current lane to the adjacent lane or the target lane can be planned. For example, a suitable trajectory can be calculated along which the vehicle is to be maneuvered. To plan the lane change maneuver, the system can first check whether there is a free gap for the vehicle between other road users in the adjacent lane. A free gap, in particular, describes a sufficiently large maneuvering area for a safe lane change. If a gap is detected, it can be checked whether its dimensions are suitable for the lane change maneuver.

[0012] If a suitable gap for the lane change maneuver is available, the control unit can issue the offer signal or transmit it to an output device. The output device can then issue the offer or a suggestion for the automated lane change maneuver to the driver. The output device can include a display and present the offer to the driver visually or as a screen. When the offer is issued, the driver can be shown a symbol describing the planned lane change maneuver. Alternatively or additionally, text indicating the planned lane change maneuver can be displayed to the driver. Furthermore, the offer can be issued audibly, for example, as an additional warning tone or as a voice announcement. Alternatively or additionally, a haptic signal can be issued to the driver.

[0013] Furthermore, the computer receives driver attention data from a driver monitoring device. This device provides driver attention data describing the driver's current gaze direction and / or head orientation. The driver monitoring device may, for example, include an interior camera pointed at the driver. Based on the driver's nose, the driver monitoring device can determine the head position and / or orientation. It can also determine the position of the driver's pupils and thus their gaze direction. Finally, the driver monitoring device can detect whether the eyes are open or closed.The driver monitoring device may include infrared light sources, allowing the driver's head position and / or gaze direction to be determined even when wearing sunglasses and / or in dark environments. Furthermore, the driver's posture and upper body orientation can be determined based on attention data and / or data from the driver monitoring device.

[0014] Based on data from the driver monitoring system, the driver's situational awareness regarding the upcoming automated lane change maneuver can be detected. If the computer or assistance system detects the driver's situational awareness, this can be interpreted as acceptance of the offer. To verify whether situational awareness is present, the attention data is used to determine if the driver is performing a predetermined acceptance action. During the acceptance action, the driver may direct their gaze and / or head towards at least one area associated with the available space. For example, the driver might look in a side mirror associated with the available space and / or perform a shoulder check in that direction.

[0015] The externally visible turn signals can be automatically activated by the computer system to prepare for the automated lane change maneuver. Specifically, the turn signals can be activated without prior operation of a control element, such as a turn signal lever. In particular, the turn signals can be activated automatically when the driver accepts the offer for the automated lane change maneuver.

[0016] If a free gap is detected and the driver confirms, the vehicle can be maneuvered into the adjacent lane, at least semi-automatically, using the assistance system. The assistance system can intervene in the vehicle's steering or take over lateral control. Preferably, the assistance system should also take over longitudinal control of the vehicle during the automated lane change. For example, the vehicle's speed can also be adjusted for the lane change maneuver.

[0017] According to the invention, the acceptance action performed by the driver to accept the lane change offer is evaluated. In particular, the execution of the acceptance action can be assessed. The evaluation of the acceptance action can, in principle, verify whether the acceptance action constituted a valid acceptance for the assistance system and / or whether the automated lane change maneuver was successfully executed as a result of the acceptance action. For the evaluation of the acceptance action, the driver's acceptance action can, for example, be compared with at least one previously defined reference acceptance action. Points can, for example, be assigned during the evaluation of the acceptance action.

[0018] Furthermore, the evaluation of the acceptance action is provided to the driver, or the driver is informed about the evaluation. The evaluation can, for example, be displayed as a score. The driver can also be shown which aspects of the acceptance action they can improve and / or why, for example, they did not achieve the maximum score. Overall, this gamification aims to better explain the function, encourage attention to detail, and facilitate learning how to interact with the vehicle. In addition, by promoting attentiveness and potentially calming driving behavior, it can positively influence road safety.

[0019] It may be specifically provided that the evaluation of the acceptance action and / or the output of the evaluation result are carried out in a special mode. For example, the driver can activate this special mode. The driver may also be offered the option to activate the special mode or game mode. The automated lane change assistant, which monitors the driver's safety, can be supplemented with a mode in which points are awarded for each successfully executed lane change. After a successful lane change, the score can increase by the value earned, and the driver can receive feedback via voice output and / or a suitable graphical display, which also indicates why, if applicable, they did not achieve the maximum score.

[0020] Preferably, the area assigned to the free gap is defined such that it encompasses the direction of gaze and / or the head orientation when looking in a side mirror facing the free gap and / or when looking over the shoulder towards the free gap, whereby the glance in the side mirror and / or the shoulder check is taken into account when evaluating the execution of the acceptance action. Using the attention data from the driver monitoring device, it can be verified whether the driver is looking in predetermined areas or areas of interest. For example, the driver's situational awareness regarding the future automated lane change maneuver can be confirmed by a glance in the side mirror, a glance in the rearview mirror, a glance through the side window, and / or a shoulder check. In particular, it can be verified whether the driver is looking towards the side mirror or...The driver checks the vehicle's side mirror, which is aligned with the available gap or the target lane. Alternatively or additionally, it can be checked whether the driver is performing a shoulder check in the direction of the available gap or the target lane.

[0021] Confirmation or acceptance of the offer may also require the driver to look in at least two predetermined areas or to direct their head towards at least two predetermined areas. A corresponding combination of areas for the viewing direction and / or head orientation can therefore be specified. A defined sequence for these areas can also be specified. For example, to accept the offer, the driver may first be required to look in an area corresponding to the interior mirror and then in an area corresponding to the exterior mirror.

[0022] In one embodiment, the execution of the acceptance action is evaluated by checking the point in time at which the acceptance action is performed and / or the duration during which the acceptance action is carried out by the driver. For example, it can be checked whether the acceptance or the acceptance action is carried out within a predetermined time window, such as a predetermined time window after the offer is issued. It can also be checked how long after the offer is issued the driver accepts it. Thus, it can be checked whether the driver accepts the offer for the automated lane change maneuver in a timely manner. The driver can be evaluated for this purpose and thus playfully trained in the use of the assistance system.

[0023] Preferably, the duration of the acceptance action can also be considered when evaluating its execution. A positive evaluation can preferably only be made if the driver performs the acceptance action for a defined minimum duration. This minimum duration could, for example, be between 100 ms and 1000 ms. If the acceptance action is performed for the defined minimum duration, it can be assumed that the driver performed the action consciously and, for example, did not unconsciously look into the area associated with the free space.

[0024] In one embodiment, the evaluation of the acceptance action involves checking whether the driver performs the acceptance action before issuing an offer signal. Thus, it can be verified, even before issuing the offer for the automated lane change maneuver, whether the driver is taking actions to ensure the safety of the traffic situation. For example, if the driver checks the side mirror, the rearview mirror, and / or performs shoulder checks before issuing the offer, it can be assumed that the driver is monitoring the traffic situation. Furthermore, it can be assumed that the driver anticipates the offer for the automated lane change maneuver. These actions by the driver before issuing the offer can be positively considered when evaluating the execution of the acceptance action.

[0025] In a further embodiment, the evaluation of the acceptance action involves checking for changes in the vehicle's longitudinal position before the automated lane change maneuver is performed. Specifically, the evaluation can verify whether the vehicle's longitudinal speed has decreased before the automated lane change maneuver. For example, if the driver's acceptance action is initiated relatively late, this can lead to the vehicle colliding with a slower vehicle ahead, necessitating a reduction in speed before the automated lane change. In this case, the interaction between the driver and the assistance system is not yet functioning as intended.A low score can be awarded, and the driver can be advised on how to improve the interaction.

[0026] In another embodiment, the complexity of the traffic situation in which the vehicle currently finds itself is determined, and the execution of the acceptance action is evaluated depending on the complexity of the traffic situation. For example, higher points or ratings can be achieved with increasing complexity of the traffic situation. In a less complex traffic situation, where only a slow-moving vehicle is overtaken in light traffic, fewer points can be achieved than in a complex traffic situation. Such a complex traffic situation might occur, for example, when several consecutive lane changes are required to reach an exit in heavy traffic.

[0027] Furthermore, it is advantageous to consider driver interaction when evaluating the execution of the acceptance action. This interaction includes operating a control, steering, and / or pedal operation. This allows for verification of whether the driver intervenes manually during partially automated driving and overrides the instructions of the assistance system. If the driver makes manual interventions, it can be assumed that the interaction between the driver and the assistance system can be improved. This can be taken into account during the evaluation, and / or the driver can be given a suggestion for improving the interaction. It can also be provided that driver behavior during manual driving or driving without assistance from the system is evaluated.Here, too, driver interactions such as steering wheel controls, turn signal lever operation, and / or pedal use can be taken into account. This assessment and / or corresponding feedback to the driver can further enhance safety. For example, safety can be improved in situations where a manual driver would nervously change lanes to supposedly get through traffic faster, by keeping the driver in their lane through appropriate explanations or guidance.

[0028] It may also be possible to determine the driver's attention based on attention data and to assess the driver's overall attention. This basic assessment of the driver's attention can be carried out, for example, if no lane change maneuver is currently required. In this case, glances at a smartphone and other signs of distraction can reduce the score. Appropriate feedback can also be provided to the driver on how to improve their behavior.

[0029] In another embodiment, the offer signal for issuing the offer is issued by the assistance system during hands-off operation, whereby the driver's attention is checked against attention data during hands-off operation. In other words, the automated lane-change maneuver can be offered to the driver when the vehicle is in so-called hands-off mode. During hands-off operation, the assistance system takes over automated lateral control to keep the vehicle within the lane. It thus provides, in particular, the function of a steering and lane-control assistant or an active lane-keeping assistant.

[0030] Preferably, in hands-off mode, the longitudinal control of the vehicle is also taken over by an adaptive cruise control (ACC). In particular, hands-off mode represents a function corresponding to Level 2 of the SAE J3016 standard.

[0031] Another aspect of the invention relates to a computing unit for a vehicle assistance system. The computing unit is configured to plan an automated lane-change maneuver into an available gap. Furthermore, the computing unit is configured to output an offer signal to a driver, prompting them to submit an offer for the automated lane-change maneuver. The computing unit is also configured to receive attention data, wherein the attention data describes the driver's gaze direction and / or head orientation. Finally, the computing unit is configured to determine whether an act of acceptance performed by the driver constitutes acceptance of the offer, wherein the act of acceptance describes a shift in gaze direction and / or head orientation towards an area associated with the available gap.Furthermore, the computer unit is configured to issue a steering signal to control the vehicle's steering system for the automated lane change maneuver, if the assumption is correct. Additionally, the computer unit is configured to evaluate the execution of the acceptance action and to communicate this evaluation to the driver.

[0032] An assistance system according to the invention for the automated lateral guidance of a vehicle comprises a computing device according to the invention. The computing device can be formed by at least one processor or by at least one electronic control unit. Furthermore, the assistance system can have at least one environmental sensor by means of which environmental data can be provided. As an environmental sensor, the assistance system can have a camera by means of which image data describing the vehicle's surroundings can be provided. Using the computing device, lane markings and / or other boundaries of the roadway or lanes can then be recognized in the image data. In addition, objects and other road users can be recognized in the image data. Furthermore, the assistance system can have at least one distance sensor as an environmental sensor, which can be designed as a radar sensor and / or as a lidar sensor.The sensor data from these distance sensors can be used, for example, to detect other road users and determine their speeds.

[0033] The assistance system can also include a driver monitoring device that provides attention data. This device can include an interior camera and corresponding light sources, particularly those emitting light in the infrared wavelength range. Based on this attention data, the computer can verify during hands-off operation whether the driver is attentive and focused on the traffic situation. Furthermore, the attention data can be used to check whether the driver is aware of the planned automated lane change maneuver and whether the driver has confirmed the automated lane change by looking at the vehicle. Based on this information, the computer or the assistance system can evaluate the execution of the acceptance action.

[0034] Furthermore, the assistance system can include an output device that can provide visual, acoustic, and / or haptic feedback to the driver. This output device can be activated by the computer unit following the transmission of the offer signal, so that the driver is presented with the offer or suggestion for the lane change maneuver. The output device can also provide the driver with an assessment and, if necessary, further instructions.

[0035] The assistance system's computer unit can control the vehicle's steering system to provide lateral control. This allows the vehicle to be kept within its lane, for example. The steering system can also be used to perform lane-change maneuvers. Preferably, the computer unit can also control a braking system and / or a drive motor to provide longitudinal control.

[0036] A vehicle according to the invention comprises an assistance system according to the invention. The vehicle is designed in particular as a passenger car.

[0037] Another aspect of the invention relates to a computer program comprising instructions that, when executed by the computing device, cause it to execute a method according to the invention and its advantageous embodiments. Furthermore, the invention relates to a computer-readable storage medium comprising instructions that, when executed by the computing device, cause it to execute a method according to the invention and its advantageous embodiments.

[0038] The preferred methods presented with reference to the inventive method

[0039] The embodiments and their advantages apply accordingly to the invention.

[0040] Computing device, for the computer-readable storage medium according to the invention, and for the assistance system according to the invention. Furthermore, the preferred embodiments and their advantages presented with reference to the method according to the invention also apply to the computer program according to the invention and to the vehicle according to the invention.

[0041] Further features of the invention will become apparent 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 in the figures alone, can be used not only in the combinations specified, but also in other combinations or on their own, without departing from the scope of the invention.

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

[0043] Fig. 1 shows a schematic representation of a vehicle which has an assistance system for automated lateral guidance of the vehicle;

[0044] Fig. 2 is a schematic representation of a traffic situation in which the vehicle according to Fig. 1 is located in a right-hand lane of a road and in which a truck is driving in front of the vehicle; and

[0045] Fig. 3 shows a schematic representation of possible areas into which the driver can look to confirm offers for automated lane change maneuvers.

[0046] Fig. 1 shows a top view of a vehicle 1, which in this case is a passenger car. The vehicle 1 includes an assistance system 2 by means of which automatic lane-changing maneuvers can be carried out with the vehicle 1. The assistance system 2 includes a computing unit 3, which can, for example, be formed by at least one electronic control unit of the vehicle 1.

[0047] Furthermore, the assistance system 2 includes at least one distance sensor 4 as an environment sensor. In the present example, the assistance system 2 includes four distance sensors 4, two of which are assigned to a front area 7 and two of which are assigned to a rear area 8. The distance sensors 4 are arranged in the respective corners of the rear area 8 and the front area 7 of the vehicle 1. The distance sensors 4 can, for example, be designed as radar sensors. The distance sensors 4 can be used to perform measurements to detect objects in the vicinity 5 of the vehicle 1. For the sake of clarity, the corresponding data lines between the distance sensors 4 and the computing unit 3 are not shown here.

[0048] Furthermore, the assistance system 2 includes a camera 6 as an environmental sensor, which can provide image data or environmental data describing the surroundings 5 ​​of the vehicle 1. The computing unit 3 can process the environmental data from the distance sensors 4 and the camera 6, thus enabling the detection of objects, other road users 18, lane markings 17, or the like in the surroundings 5.

[0049] Furthermore, the computing unit 3 is configured to control a steering system 9 of the vehicle 1, which is shown only schematically here. Controlling the steering system 9 enables lateral guidance of the vehicle 1 to keep it in a lane 15, 16 and / or during lane-changing maneuvers. By controlling the steering system 9, steerable wheels 10 of the vehicle 1 can be steered, thus providing lateral guidance during lane-changing maneuvers. The computing unit 3 can also preferably be used to control the drive motor and a braking system of the vehicle 1 to control the longitudinal guidance of the vehicle 1, particularly in the sense of an adaptive cruise control system.

[0050] Furthermore, the assistance system 2 includes a driver monitoring device 12, which can detect the attention of the driver of the vehicle 1. The driver monitoring device 12 can include an interior camera, which can detect the driver's gaze direction, head position, and / or body posture. The assistance system 2 also includes an output device 13, which can provide information to the driver. This information can be provided acoustically, visually, and / or haptically.

[0051] The computing unit 3 is also equipped to control the direction indicator 11 of the

[0052] To control vehicle 1, the computer unit 3 can transmit an activation signal to the direction indicators 11. As a result of this signal, the direction indicators 11 can be activated, causing them to flash. The direction indicators 11 can also be deactivated by a further signal. The direction indicators 11 can be controlled independently of any operating element, such as a turn signal lever, by the driver.

[0053] Fig. 2 shows the vehicle 1 according to Fig. 1 in an exemplary traffic situation. The vehicle 1 is located on a road 14 with a right lane 15 and a left lane 16. It is assumed that automated lane guidance is performed by the assistance system 2 while the vehicle 1 is driving. The assistance system 2 also enables a so-called hands-off mode. This means that the driver can take their hands off the steering wheel as long as the driver monitoring device 12 detects that the driver is attentive.

[0054] In the traffic situation shown in Fig. 2, vehicle 1 is in the right lane 15. Ahead of vehicle 1 in the direction of travel is another road user 18, a truck. It is assumed that vehicle 1 is set to a cruising speed of 120 km / h. It is also assumed that the other road user 18 is traveling at a significantly lower speed than vehicle 1, for example, 80 km / h. Therefore, a lane change from the right lane 15 to the left lane 16 is necessary to maintain the speed.

[0055] The required lane change is automatically detected by the assistance system 2. Furthermore, the assistance system 2 checks whether a lane change maneuver from the right lane 15 to the left lane 16 is possible. For this purpose, it uses sensor data from the surrounding sensors 4 and 6 to check whether a free gap 19 exists in lane 16 for the lane change maneuver. If a free gap 19 exists, the assistance system 2 then offers the driver an automated lane change maneuver from the right lane 15 to the left lane 16. For this purpose, the driver can be offered the automated lane change maneuver via the output device 13. In order for the automated lane change maneuver to be carried out by the assistance system 2, the driver must accept the offer. To accept the lane change maneuver, the driver must...To confirm, the driver must perform at least one predetermined acceptance action, for example, by looking in an exterior mirror 21, 22 and / or performing a shoulder check. This ensures that the driver is checking the lane change maneuver and / or the traffic area for the planned lane change maneuver.

[0056] The acceptance actions to be performed by the driver to confirm the lane change maneuver are illustrated below in conjunction with Fig. 3, which shows the interior 20 of vehicle 1. To confirm a lane change maneuver into a lane to the left of vehicle 1, the driver must look towards the left exterior mirror 21. Area 23 schematically designates this area, which is associated with the left exterior mirror 21. Alternatively or additionally, to confirm the lane change maneuver into the lane to the left of vehicle 1, the driver can look into area 24, which corresponds to a shoulder check through the left window 25. Specific angular ranges for the direction of view and / or the rotation of the head can be defined for areas 23 and 24. For example, area 24 can be assigned a minimum head rotation of 42° to the left.

[0057] If a lane change maneuver to a lane to the right of vehicle 1 needs to be confirmed, the driver must look towards the right-hand exterior mirror 22. Area 26 schematically designates this area, which is associated with the right-hand exterior mirror 22. Alternatively or additionally, to confirm the lane change maneuver to a lane to the right of vehicle 1, the driver can look towards the lane to the right of vehicle 1 in area 24, which corresponds to a shoulder check through the right-hand window 28. Corresponding viewing directions and / or head positions can also be specified for areas 26 and 27. Areas 23, 24, 26, and 27 are examples only. Further areas can also be specified.

[0058] It is desired to optimize the interaction between the driver and the assistance system 2 during the preparation and / or execution of the automated driving process.

[0059] To improve lane-changing maneuvers. In particular, the driver should be supported in carrying out the acceptance action. For this purpose, it is provided that the computing unit 3 is used to evaluate the acceptance action carried out by the driver and that the evaluation of this acceptance action is output to the driver via the output unit 13.

[0060] The evaluation of the execution of the acceptance action can be performed using the computing unit 3 or the control unit, which also calculates or provides the driver assistance function. Input variables for the evaluation can include the driver model, driver observation, all driver interactions with the vehicle 1, the current traffic situation, dedicated interfaces to the actual assistance function, or similar parameters. Outputs via the output unit 13 can generally consist of graphical and / or visual elements that engage the driver.

[0061] For example, before driving vehicle 1, the driver can activate a special game mode and will receive a suggestion to play a round when a suitable opportunity arises. Such an opportunity might occur, for instance, if the driver is on a suitable roadway, such as a motorway, and / or the other requirements for activating the assistance function are met. If the driver accepts, the lane change assistant described above can be extended so that the timing and quality of the driver's checks, specifically the glances into areas 23, 24, 26, and 27, are evaluated by the assistance system 2 or the computing unit 3.

[0062] For example, a successfully executed automated lane change maneuver can increase the score by the value gained. Furthermore, the driver can receive feedback via voice and / or permitted graphical representation, which also explains why they may not have achieved the maximum score.

[0063] When evaluating the execution of the acceptance action, it can be checked, for example, whether the driver performs the acceptance action within a predetermined time window. In particular, it can be checked whether the driver accepts the lane change offer in a timely manner. In the traffic situation shown in Fig. 2, for example, the acceptance action is not performed in a timely manner if vehicle 1 collides with the other road user 18 and the speed of vehicle 1 has to be reduced by means of the assistance system 2. Furthermore, when evaluating the execution of the acceptance action, it can be checked whether the driver looks into at least one of the areas 23, 24, 26, 27, which are assigned to the free gap 19, for a predetermined minimum duration during the acceptance action. It can also be checked whether the driver looks into areas 23, 24, 26, 27 in a specific sequence.Furthermore, the assessment can take into account whether the driver looks into areas 23, 24, 26, and 27 or secures the traffic area before issuing the offer. The complexity of the traffic situation can also be considered when evaluating the execution of the acceptance action. For example, a distinction can be made between a less complex traffic situation, such as the one illustrated in Fig. 2, and a complex traffic situation, in which, for example, several lane changes must be performed in heavy traffic.

[0064] By evaluating the execution of the acceptance action and providing possible suggestions to the driver on how to improve the execution, the interaction between driver and assistance system 2 can be improved in a playful way.

[0065] Reference symbol list

[0066] vehicle

[0067] Assistance system

[0068] Computer facility

[0069] Distance sensor

[0070] Vicinity

[0071] camera

[0072] Front area

[0073] rear area

[0074] Steering system

[0075] Wheels

[0076] Direction indicators

[0077] Driver monitoring device

[0078] Output device

[0079] Street

[0080] lanes

[0081] lanes

[0082] Road markings

[0083] road users

[0084] gap

[0085] interior

[0086] Exterior mirrors

[0087] Exterior mirrors

[0088] Area

[0089] Area

[0090] Vehicle window

[0091] Area

[0092] Area

[0093] Vehicle window

Claims

Claims 1. Method for operating an assistance system (2) of a vehicle (1) comprising the steps: - Planning an automated lane change maneuver into a free gap (19), - Issuing an offer signal to issue an offer for the automated lane change maneuver to a driver, - Receiving attention data, where the attention data describes a gaze direction and / or head orientation of the driver, - Determine whether an act of acceptance performed by the driver constitutes acceptance of the offer, where the act of acceptance describes a turning of the gaze direction and / or the head orientation towards one of the areas (23, 24, 26, 27) assigned to the free gap (19), - Outputting a steering signal to control a steering system (9) of the vehicle (1) to perform the automated lane change maneuver, if it is assumed that - Evaluating the execution of the acceptance procedure and - Issuing the assessment of the execution of the acceptance action to the driver.

2. Method according to claim 1, characterized in that the area (23, 24, 26, 27) assigned to the free gap (19) is determined in such a way that it includes the direction of gaze and / or the head orientation when looking in one of the external mirrors (21, 22) facing the free gap (19) and / or when looking over the shoulder at the free gap (19), wherein the view in the external mirror (21, 22) and / or the shoulder look is taken into account when evaluating the execution of the acceptance action.

3. Method according to claim 1 or 2, characterized in that, in order to evaluate the performance of the acceptance act, a time of performance of the acceptance act and / or a duration during which the acceptance act is performed by the driver is checked.

4. Method according to one of the preceding claims, characterized in that, in order to evaluate the execution of the acceptance action, it is checked whether the acceptance action is carried out by the driver before issuing an offer signal.

5. Method according to one of the preceding claims, characterized in that, in order to evaluate the execution of the acceptance action, a change in the longitudinal guidance of the vehicle (1) is checked before the automated lane change maneuver is carried out.

6. Method according to one of the preceding claims, characterized in that the complexity of a traffic situation in which the vehicle (1) is currently located is determined and the execution of the acceptance action is evaluated depending on the complexity of the traffic situation.

7. Method according to one of the preceding claims, characterized in that, for the purpose of evaluating the execution of the acceptance action, a driver interaction by the driver is taken into account, wherein the driver interaction comprises an actuation of a control element, a steering intervention and / or an actuation of a pedal.

8. Method according to one of the preceding claims, characterized in that the offer signal for issuing the offer during a hands-off operation is issued by the assistance system (2), wherein during the hands-off operation the driver's attention is checked using the attention data.

9. Computing device (3) for an assistance system (2) of a vehicle (1), wherein the computing device (3) is configured to: - to plan an automated lane change maneuver into a free gap (19), - to issue an offer signal to a driver to issue an offer for the automated lane change maneuver, - To receive attention data, where the attention data describes a gaze direction and / or head orientation of the driver, - to determine whether an act of acceptance performed by the driver constitutes acceptance of the offer, wherein the act of acceptance describes a turning of the gaze direction and / or the head orientation towards one of the areas (23, 24, 26, 27) associated with the free gap (19), - to issue a steering signal to control a steering system (9) of the vehicle (1) to carry out the automated lane change maneuver, if it is assumed that - to assess the execution of the acceptance procedure and - to issue the assessment of the execution of the acceptance action to the driver.

10. Assistance system (2) for automated lateral guidance of a vehicle (1), comprising a computing device (3) according to one of the preceding claims.

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