Driving assistance system and driving assistance method for a vehicle

Abstract

The present disclosure relates to a driving assistance system (100) for a vehicle (10), comprising: - a detection module (110) configured to detect an imminent or initiated overtaking manoeuvre (UM) between the vehicle (10) and a foreign object (20); - an assessment module (120) configured to take at least one assessment criterion as a basis for carrying out an assessment in relation to an aerodynamic interaction during the overtaking manoeuvre (UM); and - a control module (130) configured to take the assessment carried out by the assessment module (120) as a basis for bringing about setting of a lateral distance between the vehicle (10) and the foreign object (20) during the overtaking manoeuvre (UM).

Description

[0001] 24-2045

[0002] Driver assistance system and driver assistance procedures for a vehicle

[0003] The present disclosure relates to a driver assistance system for a vehicle, a vehicle with such a driver assistance system, a driver assistance method for a vehicle, and a storage medium for executing the driver assistance method. The present disclosure relates in particular to trajectory adaptation during overtaking maneuvers.

[0004] State of the art

[0005] Driver assistance systems for automated driving are steadily gaining importance. Automated driving can be implemented with varying degrees of automation. Examples of these levels include assisted, partially automated, conditionally automated, highly automated, and fully automated driving. The five automation levels mentioned above correspond to SAE Levels 1 to 5 of the SAE J3016 standard (SAE - Society of Automotive Engineering) as of April 30, 2021. In fully automated driving (SAE Level 5), the system can perform all aspects of the dynamic driving task under any road and environmental conditions that a human driver can also handle.

[0006] An example of a driver assistance system is the lane change assistant, which can perform an automatic lane change or assist a driver with a manual lane change to overtake a vehicle in front. For this purpose, the lane change assistant uses data from environmental sensors that perceive the surroundings visually, both in the visible and invisible realms. These environmental sensors can include, for example, a camera, radar, and / or LiDAR.

[0007] However, common lane-change assistants are limited in that they lack a sufficient driving strategy to reliably determine whether overtaking the vehicle in front is possible with a stable trajectory. As a result, risky overtaking maneuvers can occur, which can compromise road safety.

[0008] Disclosure of the invention

[0009] One objective of this disclosure is to specify a driver assistance system for a vehicle, a vehicle with such a driver assistance system, a driver assistance procedure for a vehicle, and a storage medium for executing the driver assistance procedure, all of which enable a stable overtaking maneuver or an overtaking maneuver with a stable trajectory. Furthermore, one objective of this disclosure is to improve road safety.

[0010] This problem is solved by the subject matter of the independent claims. Advantageous embodiments are specified in the dependent claims.

[0011] According to an independent aspect of the present disclosure, a driver assistance system for a vehicle, in particular a motor vehicle, is specified. The driver assistance system comprises a detection module configured to detect an impending or (already) initiated overtaking maneuver between the vehicle and a foreign object; an evaluation module configured to perform an assessment with respect to an aerodynamic interaction during the overtaking maneuver based on at least one evaluation criterion; and a control module configured to initiate an adjustment of a lateral distance or offset between the vehicle and the foreign object during the overtaking maneuver based on the assessment module's evaluation.

[0012] According to the invention, the aerodynamic interaction between the vehicle and the other object during the overtaking maneuver is evaluated in order to determine a lateral distance for the overtaking maneuver. If the other object is, for example, a truck with a large side surface area and therefore a large air displacement, a high aerodynamic interaction between the vehicle and the other object can be assumed during the overtaking maneuver. Based on this assumption, the lateral distance for the overtaking maneuver can be increased so that a stable overtaking maneuver can be carried out. As a result, road safety can be improved.

[0013] In an illustrative example, a vehicle towing a caravan and equipped with an activated Level 2 system, which supports both longitudinal and lateral guidance, is traveling in the middle lane of a highway. While the vehicle is overtaking a truck in the right lane at the set speed of the adaptive cruise control (ACC), a strong crosswind occurs. The driver assistance system detects this situation and adjusts the vehicle's trajectory, shifting it slightly towards the left lane marking. This increased lateral distance significantly reduces the impact of the air displaced by the truck on the vehicle, so the driver does not perceive the aerodynamic disturbance and a critical situation is avoided.

[0014] The detection module, the evaluation module, and the control module may include software components / algorithms designed to run on at least one processor and thereby perform the functionalities of the respective module. 24-2045

[0015] The recognition module and / or the evaluation module and / or the control module can be implemented in a single software and / or hardware module. Alternatively, the recognition module and / or the evaluation module and / or the control module can each be implemented in separate software and / or hardware modules.

[0016] Preferably, the foreign object is a vehicle, such as a car, a truck, a bus or a motorhome.

[0017] The aerodynamic interaction between a vehicle and an object, such as another vehicle, during an overtaking maneuver describes the interaction of the airflows generated by both objects. This aerodynamic interaction leads to changes in the airflow, which in turn generates forces such as suction, pressure waves, and lateral air blasts. These forces influence the vehicle's handling and the safety of the overtaking maneuver. Examples of aerodynamic interactions include, but are not limited to, changes in air pressure (suction and pressure waves), wake vortices, drag, and lateral forces ("buffering").

[0018] Preferably, the impending or initiated overtaking maneuver is an overtaking maneuver of the other object by the vehicle. In other words, the ego vehicle can overtake the other object. For example, the other object can be another vehicle traveling in the ego lane in front of the vehicle, which is to be overtaken. In some embodiments, the overtaking process includes at least one lane change by the vehicle to an adjacent lane, in which the other object is then overtaken. Optionally, after completion of the overtaking maneuver, a further lane change back to the original lane in front of the overtaken other object can occur.

[0019] The overtaking maneuver of the foreign object performed by the vehicle can be a manual or at least semi-automated overtaking maneuver. 24-2045

[0020] During a manual overtaking maneuver, the driver can at least temporarily take over the longitudinal and lateral control of the vehicle in order to carry out the overtaking process himself or manually.

[0021] During at least partially automated overtaking maneuvers, the vehicle, and in particular the driver assistance system, can take over at least partial longitudinal and / or lateral control of the vehicle in order to carry out the overtaking process at least partially automatically. In particular, the driver assistance system may, in some embodiments, include a lane change assistant or implement the functionalities of a lane change assistant. For this purpose, the driver assistance system may, in some embodiments, include an actuating element for a turn signal, which may be configured to automatically carry out the overtaking maneuver with the associated lane changes when actuated or triggered by a driver. The actuating element may be a turn signal lever and have multiple functions, namely activating the turn signal and triggering the automatic overtaking maneuver.

[0022] Preferably, the detection module is configured to recognize the impending or initiated overtaking maneuver of the foreign object by the vehicle (i.e., the ego vehicle overtaking the foreign object) based on a driver action. The driver action may include, for example, actuating the previously described control element for the lane change assistant, activating a turn signal, manually changing lanes, increasing speed, etc., but the present disclosure is not limited to these.

[0023] Preferably, the detection module is configured to recognize the impending or initiated overtaking maneuver of the foreign object by the vehicle (i.e., the ego vehicle overtaking the foreign object) based on at least one situational parameter. In particular, the detection module can determine whether the driver is expected to intend to overtake or remain permanently behind the foreign object. It should be understood that the detection module, based on the available data, makes a 24-2045

[0024] The detection module can assess the probability of an imminent overtaking maneuver. If the probability is equal to or greater than a threshold, the detection module, as described in this disclosure, can recognize that the overtaking maneuver is imminent. However, if the probability is equal to or less than the threshold, the detection module, as described in this disclosure, can determine that no overtaking maneuver is imminent.

[0025] In other embodiments, the impending or initiated overtaking maneuver can be an overtaking maneuver of the vehicle by the external object. In other words, the external object can overtake the ego vehicle. For example, the external object can be another vehicle traveling behind the ego vehicle in the ego lane, which is to be overtaken. In some embodiments, the overtaking process includes at least one lane change by the external object to an adjacent lane, in which the ego vehicle is then overtaken. Optionally, after completion of the overtaking maneuver, the external object can make another lane change back to the original lane in front of the overtaken ego vehicle.

[0026] Preferably, the driver assistance system comprises an environment detection module configured to detect the foreign object. The environment detection module can be configured to detect the foreign vehicle based on environmental data from the vehicle's environmental sensors. Preferably, the environmental sensors comprise at least one LiD AR system and / or at least one radar system and / or at least one camera and / or at least one ultrasonic system. The environmental sensors can provide the environmental data (also referred to as "surrounding data") that maps the vehicle's surroundings.

[0027] Preferably, the detection module is configured to detect the impending or initiated overtaking maneuver of the vehicle by the foreign object (i.e., the foreign object overtaking the ego vehicle) based on environmental data from the surrounding sensors. For example, certain driving maneuvers by the foreign object (e.g., a lane change, an increase in speed, etc.) and / or the activation of a 24-2045

[0028] The direction indicator of the foreign object may signal the impending or initiated overtaking maneuver. However, the present disclosure is not limited to this, and the impending or initiated overtaking maneuver can also be communicated to the vehicle, for example, via a communication link (e.g., Vehicle-to-X, V2X, or Vehicle-to-Vehicle, V2V).

[0029] Preferably, the evaluation module is configured to classify, based on at least one evaluation criterion, whether the other object is relevant to the aerodynamic interaction during the overtaking maneuver. In other words, a binary decision can be made as to whether the other object is relevant to the aerodynamic interaction during the overtaking maneuver. If the other object is classified as irrelevant (e.g., a motorcycle traveling at low speed), the lateral distance can be chosen to be smaller than if the other object is classified as relevant (e.g., a truck traveling at high speed). The lateral distance during the overtaking maneuver refers to the horizontal distance between the overtaking object and the object being overtaken in the adjacent lane. It should be understood that the "relevant / irrelevant" classification can be made in a binary fashion based on at least one evaluation criterion.The required lateral distance depends on at least one of the parameters explained later (e.g., speed, size, etc.). In particular, the expected influence on the ego vehicle (e.g., speed, frontal area, etc.) can be used to determine the necessary lateral distance if it has been classified as "relevant".

[0030] Preferably, the at least one evaluation criterion comprises at least one surface parameter of the foreign object, in particular a frontal area and / or a side surface of the foreign object. The larger the surface parameter of the foreign object, the greater the aerodynamic interaction during the overtaking maneuver, e.g., due to the large air displacement caused by the foreign object. Thus, foreign objects with large surface parameters can be classified as relevant, whereas foreign objects with small surface parameters can be classified as irrelevant. 24-2045

[0031] Additionally or alternatively, at least one evaluation criterion includes the weight of the foreign object. The greater the weight of the foreign object, the larger it generally is, and thus the greater the aerodynamic interaction during the overtaking maneuver. Therefore, foreign objects with a large weight can be classified as relevant, whereas foreign objects with a small weight can be classified as irrelevant.

[0032] Additionally or alternatively, at least one evaluation criterion includes a type of foreign object. For example, certain types, such as trucks, can cause a stronger aerodynamic interaction during overtaking maneuvers.

[0033] Additionally or alternatively, at least one evaluation criterion includes the speed of the other object. The greater the speed of the other object, the greater the aerodynamic interaction during the overtaking maneuver. This allows, for example, other objects traveling at high speeds to be classified as relevant, whereas those traveling at low speeds can be classified as irrelevant.

[0034] Additionally or alternatively, at least one evaluation criterion includes the speed of the (self-)vehicle. The higher the vehicle's speed, the greater the aerodynamic interaction during the overtaking maneuver.

[0035] Additionally or alternatively, at least one evaluation criterion includes a speed difference between the speed of the other object and the speed of the vehicle. The greater the speed difference, the greater the aerodynamic interaction during the overtaking maneuver.

[0036] Preferably, the control module is further configured to initiate the adjustment of the lateral distance between the vehicle and the foreign object during the overtaking maneuver based on at least one circumstance parameter. For example, based on the at least one circumstance parameter, a lateral distance can be selected if the foreign object is classified as relevant with regard to the aerodynamic interaction during the overtaking maneuver, as described above.

[0037] Preferably, the at least one circumstance parameter comprises at least one area parameter of the (ego) vehicle, in particular a frontal area and / or a side area of ​​the vehicle. For example, the lateral distance can be chosen to be larger the larger the area parameter of the vehicle is.

[0038] Additionally or alternatively, at least one parameter includes the vehicle's speed. For example, the lateral distance can be chosen to be greater the higher the vehicle's speed.

[0039] Additionally or alternatively, at least one circumstance parameter includes the length of the vehicle; for example, the lateral distance can be chosen to be greater the longer the vehicle is.

[0040] Additionally or alternatively, at least one parameter includes the length of the external object. For example, the lateral distance can be chosen to be larger the longer the external object is.

[0041] Additionally or alternatively, at least one parameter includes the speed of the foreign object. For example, the lateral distance can be chosen to be larger the greater the speed of the foreign object.

[0042] Additionally or alternatively, at least one parameter includes the vehicle's speed. For example, the lateral distance can be chosen to be greater the higher the vehicle's speed.

[0043] Additionally or alternatively, at least one circumstance parameter includes a speed difference between the speed of the foreign object and a 24-2045

[0044] Vehicle speed. For example, the lateral distance can be chosen to be greater the greater the speed difference.

[0045] Additionally or alternatively, at least one parameter includes wind conditions. For example, the lateral distance can be increased the stronger the wind, such as a crosswind. Furthermore, the influence of structures, such as bridges, on wind conditions can also be taken into account (e.g., the current wind status at a bridge can be queried via V2X).

[0046] Additionally or alternatively, at least one of the parameters includes a road surface condition. For example, the lateral distance can be chosen to be larger the worse the road surface condition is (e.g., ruts, unevenness, potholes, etc.).

[0047] Preferably, the control module is configured to adjust the lateral distance between the vehicle and the other object during an overtaking maneuver such that the vehicle at least partially crosses a lane marking. For example, the vehicle can at least partially cross a lane marking for a left-hand lane while overtaking the other object in the right-hand lane. If, for example, the desired lateral distance is too large and a lateral shift within the vehicle's own lane is insufficient, it can be checked whether partially crossing the lane marking is possible without risk of collision. Otherwise, a complete lane change can be initiated.

[0048] Preferably, the control module is configured to initiate the adjustment of the lateral distance between the vehicle and the foreign object during the overtaking maneuver in such a way that the vehicle adjusts the lateral distance by means of automated lateral guidance, for example within the ego lane or by at least partially crossing a lane marking.

[0049] In some embodiments, automated lateral guidance of the vehicle can be performed, for example to change from a primary lane to a secondary lane, so that a 24-2045

[0050] Overtaking the other vehicle in the adjacent lane is carried out with the specified lateral distance. Optionally, a further lane change back to the original lane can be performed after overtaking.

[0051] Preferably, the control module is configured to initiate the adjustment of the lateral distance between the vehicle and the foreign object during the overtaking maneuver in such a way that a user interface module issues a user message to a driver of the vehicle, wherein the user message relates to or specifies the lateral distance to be set.

[0052] Preferably, the user interface module is configured to output the user instruction to the driver visually and / or audibly and / or haptically.

[0053] The user interface module can comprise at least one first output device for displaying the visual user instruction. In some embodiments, the at least one first output device can comprise at least one display device for displaying the visual lane change recommendation. The at least one display device can comprise a display, in particular an LCD display, a plasma display, or an OLED display. Additionally or alternatively, the at least one display device can comprise a projection device configured to display information directly in the driver's field of vision, in particular to project it onto a windshield.

[0054] The user interface module can include at least one second output device for outputting the acoustic user instruction. In some embodiments, the at least one second output device can include at least one loudspeaker, in particular at least one vehicle interior loudspeaker, for outputting the acoustic user instruction.

[0055] The user interface module may include at least one third output device for outputting the haptic user cue or may be equipped with at least one third 24-2045

[0056] The output device must be connected and controlled to deliver the haptic user feedback. At least one third output device can, for example, include a vibration mechanism in a steering wheel and / or a seatbelt tensioner in a driver's seat.

[0057] In some embodiments, the user interface module may comprise or be a central information output and input device of an infotainment system, such as a head unit, a pillar-to-pillar display, or a head-up display. Preferably, the user interface module is permanently installed in the vehicle.

[0058] According to another independent aspect of the present disclosure, a vehicle, in particular a motor vehicle, is specified. The vehicle comprises the driver assistance system according to the embodiments of the present disclosure.

[0059] The term "vehicle" includes cars, trucks, vans, buses, motorhomes, motorcycles, etc., used for the transport of people, goods, etc. In particular, the term includes motor vehicles for passenger transport.

[0060] Preferably, the driver assistance system is configured for automated driving, in particular for automated lateral control and optionally automated longitudinal control of the vehicle. For example, the driver assistance system can be a lane change assistant that can perform automated lane changes for an overtaking maneuver and optionally also the overtaking maneuver itself.

[0061] In this document, the term "automated driving" refers to driving with automated longitudinal and / or automated lateral control of the vehicle. Automated driving can, for example, involve extended periods of driving on the highway or time-limited driving during parking maneuvers. The term "automated driving" encompasses automated driving at any level of automation. Examples of automation levels are assisted, partially automated, conditionally automated, highly automated, and fully automated driving (each with an increasing degree of automation). The five automation levels mentioned above correspond to SAE Levels 1 to 5 of the SAE J3016 standard (SAE - Society of Automotive Engineering) as of April 30, 2021.

[0062] In assisted driving (SAE Level 1), the system performs longitudinal or lateral control in certain driving situations. In partially automated driving (SAE Level 2), the system takes over longitudinal and lateral control in certain driving situations, although the driver must continuously monitor the system, as with assisted driving. In conditionally automated driving (SAE Level 3), the system takes over longitudinal and lateral control in certain driving situations without the driver needing to continuously monitor the system; however, the driver must be able to take over vehicle control within a certain timeframe if requested by the system. In highly automated driving (SAE Level 4), the system takes over vehicle control in certain driving situations, even if the driver does not respond to a request to intervene, thus eliminating the driver as a fallback option.In fully automated driving (SAE Level 5), the system can perform all aspects of the dynamic driving task under any road and environmental conditions that can also be mastered by a human driver.

[0063] Furthermore, the term "at least partially automated driving or maneuvering" within this document is understood to encompass partially automated, conditionally automated, highly automated, and fully automated driving. In other words, the term "at least partially automated driving" refers to a level of automation from SAE Level 2 onwards.

[0064] However, the embodiments of the present disclosure are not limited to automated driving. In alternative embodiments, the driver assistance system can be used with at least one output device 24-2045

[0065] Provide driver instructions regarding the overtaking maneuver, in particular the lateral distance to be maintained, when the vehicle is driven manually.

[0066] According to a further independent aspect of the present disclosure, a driver assistance method for a vehicle, in particular a motor vehicle, is specified. The driver assistance method comprises detecting, by a detection module, an impending or initiated overtaking maneuver between the vehicle and a foreign object; performing, by an evaluation module, an evaluation with respect to an aerodynamic interaction during the overtaking maneuver based on at least one evaluation criterion; and causing, by a control module, an adjustment of a lateral distance between the vehicle and the foreign object during the overtaking maneuver based on the evaluation of the evaluation module.

[0067] The driver assistance procedure for a vehicle can implement the aspects of the driver assistance system described in this document.

[0068] According to another independent aspect of the present disclosure, a software (SW) program is specified. The SW program can be configured to run on one or more processors and thereby execute the driver assistance procedure for a vehicle described in this document.

[0069] According to another independent aspect of the present disclosure, a storage medium is specified. The storage medium may include a software program configured to run on one or more processors and thereby execute the driver assistance procedure for a vehicle described in this document.

[0070] According to another independent aspect of the present disclosure, software with program code is specified. The software is designed to carry out the driver assistance procedure for a vehicle when the software runs on one or more software-controlled devices. 24-2045

[0071] According to another independent aspect of the present disclosure, a system is specified. The system comprises one or more processors; and at least one memory connected to the one or more processors and containing instructions that can be executed by the one or more processors to perform the driver assistance procedure described in this document for a vehicle.

[0072] A processor or processor module is a programmable computing unit, i.e., a machine or an electronic circuit that controls other elements according to given instructions and thereby advances an algorithm (process).

[0073] Brief description of the drawings

[0074] Examples of the manifestation of the revelation are shown in the figures and are described in more detail below. They show:

[0075] Figure 1 schematically shows a vehicle with a driver assistance system according to embodiments of the present disclosure,

[0076] Figure 2 schematically shows an overtaking maneuver according to embodiments of the present disclosure, and

[0077] Figure 3 shows a flowchart of a driver assistance procedure according to embodiments of the present disclosure.

[0078] Implementations of the revelation

[0079] Unless otherwise noted, the same reference symbols are used for identical and equivalent elements. 24-2045

[0080] Figure 1 schematically shows a vehicle 10 with a driver assistance system 100 according to embodiments of the present disclosure. Figure 2 schematically shows an overtaking maneuver UM with a lane change SW according to embodiments of the present disclosure.

[0081] The driver assistance system 100 comprises a detection module 110, which is configured to detect an impending or (already) initiated overtaking maneuver UM between the vehicle 10 and a foreign object 20; an evaluation module 120, which is configured to perform an evaluation with regard to an aerodynamic interaction during the overtaking maneuver based on at least one evaluation criterion; and a control module 130, which is configured to initiate an adjustment of a lateral distance or offset between the vehicle 10 and the foreign object 20 during the overtaking maneuver UM based on the evaluation of the evaluation module.

[0082] The foreign object 20 can be a vehicle, such as a car, a truck, a bus or a motorhome, but the present disclosure is not limited to this.

[0083] In the example shown in Figure 2, the impending or initiated overtaking maneuver is a maneuver by the vehicle to overtake the other object. In other words, the ego vehicle 10 can overtake the other object 20. For example, the other object 20 could be another vehicle traveling in the ego lane in front of vehicle 10, which is to be overtaken. In some embodiments, the overtaking process includes at least one lane change SW of vehicle 10 to an adjacent lane, in which the other object 20 is then overtaken. Optionally, after completion of the overtaking maneuver, a further lane change back to the original lane in front of the overtaken other object 20 can occur.

[0084] The overtaking maneuver of the foreign object 20 performed by vehicle 10 can be a manual or at least semi-automated overtaking maneuver. 24-2045

[0085] In some embodiments, the detection module 110 is configured to detect the impending or initiated overtaking maneuver of the foreign object 20 by the vehicle 10 (i.e., the ego vehicle overtakes the foreign object) based on a driver action. The driver action may include, for example, actuating an operating element for a lane change assistant, activating a turn signal, manually changing lanes, increasing speed, etc., but the present disclosure is not limited to these.

[0086] In other embodiments (not shown), the impending or initiated overtaking maneuver can be an overtaking maneuver of the vehicle by the foreign object. In other words, the foreign object can overtake the ego vehicle.

[0087] In some embodiments, the evaluation module 120 is configured to classify, based on at least one evaluation criterion, whether the foreign object 20 is relevant to the aerodynamic interaction during the overtaking maneuver UM or not. In other words, a binary decision can be made as to whether the foreign object 20 is relevant to the aerodynamic interaction during the overtaking maneuver UM or not. If the foreign object 20 is classified as not relevant (e.g., a motorcycle traveling at low speed), the lateral distance can be chosen to be smaller than if the foreign object 20 is classified as relevant (e.g., a truck traveling at high speed). The lateral distance during the overtaking maneuver UM refers to the horizontal distance between the overtaking object and the overtaken object in the adjacent lane.

[0088] The at least one evaluation criterion may include: at least one area parameter of the foreign object 20, in particular an end face and / or a side face of the foreign object; and / or a weight of the foreign object 20; and / or a type of the foreign object 20; and / or a speed of the foreign object 20; and / or a speed of the vehicle 10; and / or a speed difference between a speed of the foreign object 20 and a speed of the vehicle 10.

[0089] In some embodiments, the control module 130 is further configured to initiate the adjustment of the lateral distance between the vehicle 10 and the foreign object 20 during the overtaking maneuver UM based on at least one circumstance parameter. For example, based on the at least one circumstance parameter, a lateral distance can be selected and / or further adjusted depending on the situation if the foreign object 20 is classified as relevant with regard to the aerodynamic interaction during the overtaking maneuver UM, as described above.

[0090] The at least one position parameter can comprise: at least one area parameter of the vehicle 10, in particular a frontal area and / or a side area of ​​the vehicle 10; and / or a speed of the vehicle 10; and / or a length of the vehicle 10; and / or a length of the foreign object 20; and / or a speed of the foreign object 20; and / or a speed of the vehicle 20; and / or a speed difference between a speed of the foreign object 20 and a speed of the vehicle 10; and / or

[0091] Wind conditions; and / or road surface conditions

[0092] In some embodiments, the control module 130 is further configured to adjust the lateral distance between the vehicle 10 and the foreign object 20 during the overtaking maneuver UM such that the vehicle 10 at least partially crosses a lane marking FSM. For example, the vehicle 10 can at least partially cross a lane marking FSM to a left-hand side lane while overtaking the foreign object 20 in the right-hand side lane. If, for example, the desired lateral distance is too large and a lateral 24-2045

[0093] If shifting within the designated lane is insufficient, it can be checked whether partially crossing the lane marking is possible without risk of collision. Otherwise, a complete lane change can be initiated.

[0094] In some embodiments, the control module 130 is configured to initiate the adjustment of the lateral distance between the vehicle 10 and the foreign object 20 during the overtaking maneuver UM in such a way that the vehicle 10 adjusts the lateral distance by means of automated lateral guidance, for example within the ego lane or by at least partially crossing the lane marking FSM.

[0095] In other embodiments, the control module 130 can be configured to initiate the adjustment of the lateral distance between the vehicle 10 and the foreign object 20 during overtaking maneuver UM in such a way that a user interface module issues a user message to a driver of the vehicle 10, the user message relating to or indicating the lateral distance to be set.

[0096] Figure 3 schematically shows a flowchart of a driver assistance system 300 according to embodiments of the present disclosure. The driver assistance system 300 can be implemented by corresponding software that can be executed by one or more processors (e.g., a CPU).

[0097] The driver assistance procedure 300 comprises, in block 310, the detection, by a detection module, of an impending or initiated overtaking maneuver between the vehicle and a foreign object; in block 320, the execution, by an evaluation module, of an evaluation with regard to an aerodynamic interaction during the overtaking maneuver based on at least one evaluation criterion; and in block 330, the initiation, by a control module, of an adjustment of a lateral distance between the vehicle and the foreign object during the overtaking maneuver based on the evaluation of the evaluation module. 24-2045

[0098] According to the invention, the aerodynamic interaction between the vehicle and the other object during the overtaking maneuver is evaluated in order to determine a lateral distance for the maneuver. If the other object is, for example, a truck with a large side surface area and therefore a large air displacement, a high aerodynamic interaction between the vehicle and the other object can be assumed during the overtaking maneuver. Based on this assumption, the lateral distance for the overtaking maneuver can be increased so that a stable overtaking maneuver can be carried out. As a result, road safety can be improved.

[0099] Although the invention has been further illustrated and explained in detail by means of preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived from them by a person skilled in the art without departing from the scope of protection of the invention. It is therefore clear that a multitude of possible variations exist. It is also clear that the embodiments mentioned as examples are truly only examples and are not to be understood in any way as limiting, for example, the scope of protection, the possible applications, or the configuration of the invention.Rather, the preceding description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete terms, whereby the person skilled in the art, with knowledge of the disclosed inventive concept, can make various changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without leaving the scope of protection defined by the claims and their legal equivalents, such as further explanations in the description.

Claims

24-2045 Patent claims 1. Driver assistance system (100) for a vehicle (10), comprising: a detection module (110) configured to detect an impending or initiated overtaking maneuver (UM) between the vehicle (10) and a foreign object (20); an evaluation module (120) configured to perform an evaluation with respect to an aerodynamic interaction during the overtaking maneuver (UM) based on at least one evaluation criterion; and a control module (130) configured to initiate an adjustment of a lateral distance between the vehicle (10) and the foreign object (20) during the overtaking maneuver (UM) based on the evaluation of the evaluation module (120).

2. Driver assistance system (100) according to claim 1, wherein the impending or initiated overtaking maneuver (UM) is an overtaking maneuver of the foreign object (20) by the vehicle (10), or wherein the impending or initiated overtaking maneuver is an overtaking maneuver of the vehicle (10) by the foreign object (20).

3. Driver assistance system (100) according to claim 1 or 2, wherein the evaluation module (120) is configured to classify, based on the at least one evaluation criterion, whether the foreign object (20) is relevant with regard to the aerodynamic interaction during the overtaking maneuver (UM) or not.

4. Driver assistance system (100) according to one of claims 1 to 3, wherein the at least one evaluation criterion comprises: at least one area parameter of the foreign object (20), in particular an end face and / or a side face of the foreign object (20); and / or a weight of the foreign object (20); and / or a type of the foreign object (20); and / or a speed of the foreign object (20); and / or a speed of the vehicle (10); and / or 24-2045 a speed difference between a speed of the foreign object (20) and a speed of the vehicle (10).

5. Driver assistance system (100) according to one of claims 1 to 4, wherein the control module (130) is further configured to cause the adjustment of the lateral distance between the vehicle (10) and the foreign object (20) during the overtaking maneuver (UM) based on at least one circumstance parameter, in particular wherein the at least one circumstance parameter comprises: at least one area parameter of the vehicle (10), in particular a frontal area and / or a side area of ​​the vehicle (10); and / or a speed of the vehicle (10); and / or a length of the vehicle (10); and / or a length of the foreign object (20); and / or a speed of the foreign object (20); and / or a speed of the vehicle (10); and / or a speed difference between a speed of the foreign object (20) and a speed of the vehicle (10); and / or Wind conditions; and / or road surface conditions.

6. Driver assistance system (100) according to one of claims 1 to 5, wherein the control module (130) is configured to cause the adjustment of the lateral distance between the vehicle (10) and the foreign object (20) during the overtaking maneuver (UM) such that the vehicle (10) at least partially crosses a lane marking (FSM).

7. Driver assistance system (100) according to one of claims 1 to 6, wherein the control module (130) is configured to cause the adjustment of the lateral distance between the vehicle (10) and the foreign object (20) during the overtaking maneuver (UM) such that: the vehicle (10) adjusts the lateral distance by means of automated lateral guidance; or 24-2045 a user interface module issues a user instruction to a driver of the vehicle (10), the user instruction relating to the lateral distance to be set.

8. Vehicle (10), in particular motor vehicle, comprising the driver assistance system (100) according to any one of claims 1 to 7.

9. Driver assistance procedures (300) for a vehicle (10), comprising: Detection (310), by a detection module (HO), of an impending or initiated overtaking maneuver (UM) between the vehicle (10) and a foreign object (20); Perform (320), by means of an evaluation module (120), an evaluation in respect of an aerodynamic interaction during the overtaking maneuver (UM) based on at least one evaluation criterion; and Initiate (330), by means of a control module (130), a setting of a lateral distance between the vehicle (10) and the foreign object (20) during the overtaking maneuver (UM) based on the evaluation of the evaluation module (120).

10. Storage medium comprising a software program configured to run on one or more processors and thereby to execute the driver assistance method (300) according to claim 9.

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