Overtaking assistance system and method for assisting a driver during an overtaking manoeuvre

Abstract

The invention relates to an overtaking assistance system for a vehicle (f), comprising - a longitudinal guidance system (ACC) designed to carry out automated longitudinal guidance of the vehicle (F), - an overtaking situation detection unit (Ü-E) designed to detect an overtaking intention of the vehicle (F), - a combination detection unit (G-E) designed to detect a trailer (A) coupled to the vehicle (F), - a control unit (SE) designed, when an overtaking manoeuvre is carried out during automated longitudinal guidance of the vehicle and after previous detection of an overtaking intention, to bring about adaptation (asoll') of a predefined standard setpoint acceleration (asoll) taking into account the detection of a trailer (A) attached to the vehicle (F), wherein the standard setpoint acceleration (asoll) is predefined as a trailer-independent setpoint acceleration.

Description

[0001] 24-2167

[0002] 1

[0003] Overtaking assistance system and procedures for supporting a driver during an overtaking maneuver

[0004] The present invention relates to an overtaking assistance assistant and a method for supporting a driver during an overtaking maneuver by means of an overtaking assistance assistant. Furthermore, the present invention relates to a computer program and a computer-readable storage medium.

[0005] Numerous driver assistance systems are already known from the state of the art, supporting the driver in their driving tasks or at least partially or completely taking over these tasks. These systems are generally designed for "normal" vehicle use. The use of vehicle bodies or the coupling of trailers is currently only considered insofar as the functionality of the assistance systems may be restricted or the systems completely deactivated when the vehicle is towing a trailer.

[0006] DE102016207277 A1 discloses a method for enabling the adaptation of a driving function taking into account trailer information. EP 3 144 197 A1 describes an automatic limit of the speed setting of a cruise control when the vehicle is operating with a trailer.

[0007] The object of the present invention is to provide an overtaking assistance system and a method for supporting a driver during an overtaking maneuver while the vehicle is in operation, in particular with a trailer attached. In particular, the object of the present invention is to provide such an adaptation of driver assistance systems so that better and safer use of an overtaking assistance system can be ensured when towing a trailer.

[0008] This problem is solved according to the invention by an overtaking assistance assistant, by a method, by a computer program, and by a computer-readable storage medium with the features according to the independent claims. Advantageous embodiments of the present invention are specified in the dependent claims. 24-2167

[0009] 2

[0010] The term "overtaking assistance system" refers to a system that supports the driver during overtaking maneuvers while the vehicle is driving at least partially autonomously. For the purposes of this document, "automated driving" refers to driving with automated longitudinal and / or lateral control. Automated driving can, for example, involve extended periods of driving on the highway. The term "automated driving" encompasses automated driving at any level of automation. Examples of automation levels include 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.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.

[0011] The invention is based on a known overtaking aid for automated longitudinal control in assisted or semi-automated driving, in which, during automated longitudinal control in following mode (vehicle speed is regulated in such a way that a predetermined target distance to the target object ahead is maintained), an intention to overtake (e.g. by activation of the turn signal) is detected and, as a result, the distance to the (original) target object ahead is reduced during the lane change and then the vehicle is quickly accelerated to the predetermined target speed.

[0012] The invention is based on the finding that such acceleration occurs, for example, in cases where a vehicle with a coupled trailer (also called a vehicle combination) approaches a speed critical for the vehicle combination and / or a disturbance is caused by the 24-2167

[0013] 3

[0014] The intake and repulsion behavior of the air displaced by other objects may be unsuitable.

[0015] According to the invention, an overtaking assistance system for a vehicle is thus proposed, comprising

[0016] - a longitudinal guidance system designed for automated longitudinal guidance of the vehicle,

[0017] - an overtaking situation detection unit that is trained to detect an overtaking situation intention of the vehicle,

[0018] - a vehicle combination detection unit designed to detect a trailer coupled to the vehicle, and

[0019] - a control unit designed to initiate an adjustment of a predetermined standard target acceleration when executing an overtaking maneuver during automated longitudinal control of the vehicle and after prior detection of an overtaking situation intention, taking into account the detection of a trailer attached to the vehicle, wherein the standard target acceleration is specified as a trailer-independent target acceleration, in particular as a standard target acceleration for vehicle operation or an overtaking situation without a coupled trailer.

[0020] The standard target acceleration can be a fixed value or a variable value, which is specified in particular depending on predefined parameters.

[0021] The system proposed here allows the overtaking process to be adapted much better to the current vehicle situation (driving with or without a trailer attached).

[0022] The system is further configured to perform the aforementioned and various subsequently described activities. This is typically accomplished by means of one or more electronic control units. Each of the one or more control units can comprise one or more programmable processors that operate programmatically in accordance with the invention via one or more software programs.

[0023] Advantageously, the control unit of the overtaking assistance system can also be configured to initiate a reduction of the standard target acceleration specified for overtaking maneuvers when the overtaking maneuver is carried out during automated longitudinal control of the vehicle, if a 24-2167 coupled to the vehicle is present.

[0024] 4

[0025] a trailer is detected or the side surface of the vehicle, in particular of the vehicle and a trailer coupled to the vehicle, reaches or exceeds a predetermined side surface, whereby the standard target acceleration corresponds in particular to a predetermined target acceleration for vehicle operation without a coupled trailer or is used for this purpose.

[0026] In order to achieve an optimal change / reduction of the standard target acceleration for the situation and the vehicle combination, or optimal acceleration of the vehicle during the overtaking maneuver, the control unit of the overtaking assistance system is, in a further advantageous embodiment, designed to initiate an adjustment of the standard target acceleration, in particular a reduction of the standard target acceleration, based on at least one of the following pieces of information:

[0027] Information concerning a speed difference between the current speed and the specified target speed of the vehicle, especially at the time the overtaking maneuver is initiated,

[0028] Information concerning a speed difference between the current speed and a predetermined or determinable critical vehicle combination speed, wherein the critical vehicle combination speed can be fixed or determined based on available information about the vehicle combination and / or the driving situation.

[0029] Information regarding the size and / or dimensions and / or mass (empty weight or including loaded mass) of the coupled trailer, and / or

[0030] Information concerning the object to be overtaken and / or other objects in the vicinity, in particular information concerning the object class (e.g. truck, bus, automobile, two-wheeler) of the object to be overtaken and / or the position and / or object class of the other objects.

[0031] In order to detect an overtaking situation appropriately, the overtaking situation detection unit of the overtaking assistance system is advantageously designed to recognize an intended overtaking situation or an intention to overtake when, during a following driving situation with automated longitudinal control, a manually or automatically triggered signal for preparing an overtaking maneuver is detected, in particular when a manually or automatically triggered turn signal activation is detected. An automatically triggered signal or an automatically triggered turn signal activation can, for example, be provided by a device known from the prior art 24-2167

[0032] 5

[0033] Lane change or overtaking assistants can be triggered, which may be part of the longitudinal guidance system or a separate support function. Instead of activating the turn signal, the trigger signal can also be triggered by evaluating the traffic environment in conjunction with the driver's gaze direction, especially when the traffic environment suggests that an overtaking maneuver is generally possible and the driver indicates a desire to change lanes or overtake by looking in the side or rearview mirror. If the vehicle is equipped with a system that influences lateral guidance, especially a lane change or overtaking assistant, the subsequent lane change can also be automated.

[0034] If the vehicle is equipped with a system for performing a system-initiated lane change maneuver, the overtaking situation detection unit can also be designed to recognize an intended overtaking situation or an overtaking intention when the vehicle is in a following driving situation and the road conditions and / or traffic situation allow the execution of an automated overtaking maneuver (with or without visual confirmation).

[0035] In a further, particularly advantageous embodiment of the invention, the overtaking assistance system may include a situation recognition unit configured to classify a detected intended overtaking situation, and the control unit configured to prevent or suppress the execution of an (automated) overtaking maneuver depending on the result of the classification. The classification of the detected intended overtaking situation can be carried out by comparison with known overtaking situations, in particular using systems based on artificial intelligence. For the comparison, either known overtaking situations of the vehicle itself or situations of vehicles belonging to a fleet can be accessed. The classification or comparison can be performed on a control unit in the vehicle or outside the vehicle, e.g., in a so-called cloud.

[0036] Furthermore, at least two classification classes can be provided for the classification (overtaking possible without critical issues, overtaking restricted / not possible). Within the range of possible overtaking classes, there can also be several subclassifications, with the classes relating, for example, to possible adjustments of parameters during the overtaking process. Depending on the classification, the execution of an (automated) overtaking process with adjusted parameters can be 24-2167

[0037] 6

[0038] (e.g., reduced acceleration, different overtaking trajectory,...) can be executed or enabled, prevented or suppressed.

[0039] Since speed can have an impact on the stability of vehicles with trailers (so-called combinations) during overtaking situations, the situation recognition unit of the overtaking assistance system is advantageously designed to determine a classification of the detected intended overtaking situation with regard to the potential danger to the vehicle or other road users during a possible overtaking maneuver, taking into account other road users and / or a determinable predetermined or determinable critical combination speed. Depending on the classification, the overtaking maneuver can then be carried out with adapted parameters (e.g., lower acceleration, different overtaking trajectory, etc.) or can be enabled, prevented, or suppressed.

[0040] In a further advantageous embodiment, if longitudinal control is not active at the time of the intended overtaking maneuver, the control unit is designed to issue a driver warning when an overtaking maneuver is carried out while the automated longitudinal control of the vehicle is inactive and after prior detection of an intended overtaking situation, depending on the result of the classification of the intended overtaking situation. Thus, even during manual driving without automated longitudinal control, a corresponding visual, acoustic, and / or haptic warning can ensure that the driver is informed that a hazard could arise when carrying out the overtaking maneuver, especially at a constant speed. In addition to the driver warning, the driver can also be provided with information on which driving adjustments can be made to enable a safe overtaking maneuver (e.g.,...).Reduction of the target acceleration, etc.).

[0041] Analogous to the overtaking aid assistant according to the invention, a further aspect of the invention relates to a method for supporting a driver during an overtaking maneuver by means of an overtaking aid assistant, comprising the steps of:

[0042] Detection of active automated longitudinal control of the vehicle, detection of an overtaking situation intention of the vehicle or driver, detection of a trailer coupled to the vehicle, when executing an overtaking maneuver during automated longitudinal control of the vehicle and after prior detection of an overtaking situation intention, initiating an adjustment of a specified standard target acceleration under 24-2167

[0043] 7

[0044] Consideration of the detection of a trailer attached to the vehicle, whereby the standard target acceleration is specified as a trailer-independent target acceleration, in particular as a standard target acceleration for vehicle operation or an overtaking situation without a coupled trailer.

[0045] A computing device according to the invention for a vehicle is configured to carry out a method according to the invention and advantageous embodiments thereof. The computing device can, for example, be designed as an electronic control unit comprising one or more programmable processors.

[0046] Another aspect concerns a computer program, comprising instructions which, when the program is executed by a computing device, cause it to execute a method according to the invention and its advantageous embodiments.

[0047] Furthermore, the invention relates to a computer-readable storage medium according to the invention, which comprises instructions which, when executed by a computing device, cause it to execute a method according to the invention and its advantageous embodiments.

[0048] The preferred embodiments and their advantages presented with reference to the overtaking assistance system according to the invention apply accordingly to the method according to the invention, the computing device according to the invention, the computer program according to the invention and the computer-readable storage medium.

[0049] 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.

[0050] It is pointed out that additional features of a patent claim dependent on an independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, may constitute a separate invention independent of the combination of all features of the independent patent claim, which may be the subject of an independent claim, a divisional application or a 24-2167

[0051] 8

[0052] Subsequent filing is possible. This applies equally to technical teachings described in the description that may constitute an invention independent of the features of the independent patent claims, such as the classification of intended overtaking maneuvers, an overtaking maneuver to be carried out depending on the classification, the analogous application of the method to vehicles (without a trailer) whose side surface exceeds a predetermined side surface, and / or triggering a driver warning upon detection of an intended overtaking situation that could lead to a critical overtaking maneuver with inactive or non-existent automated longitudinal guidance.

[0053] The invention will now be explained in more detail with reference to preferred embodiments and the accompanying drawings. These show:

[0054] Fig. 1 shows a schematic representation of a vehicle comprising an overtaking assistance system according to the invention,

[0055] Fig. 2 shows a schematic representation of an embodiment of an overtaking assistance system according to the invention.

[0056] Fig. 3 shows a schematic flow chart of an embodiment of a method according to the invention for assisting a driver during an overtaking maneuver, and

[0057] Fig. 4 shows a traffic scenario with a vehicle that includes an overtaking assistance system according to the invention.

[0058] In the figures, identical or functionally equivalent elements are given the same reference symbols.

[0059] Fig. 1 shows a schematic representation of a vehicle F comprising an overtaking assistance system according to the invention. Fig. 1 depicts a front-facing environmental sensor system F-US (from the driver's perspective), a left-facing side-facing environmental sensor system L-US, a right-facing side-facing environmental sensor system R-US, and a rear-facing rear-facing environmental sensor system H-US. The front and rear-facing environmental sensors F-US and H-US each comprise several ultrasonic sensors and preferably one or more cameras. Optionally, radar and / or lidar sensors may also be present. The side-facing environmental sensors L-US and R-US each comprise one or more ultrasonic sensors and preferably one or more cameras. The environmental information from the environmental sensors F-US, L-US, R-US, and H-US is received by an electronic control unit for automated driving AF-ECU. [24-2167]

[0060] The AF-ECII electronic control unit for automated driving controls an electronic head unit (HU) and receives information from it. The head unit (HU) in turn controls a central touchscreen display (CID) in the vehicle cockpit and receives input signals made via the CID. The AF-ECU for automated driving controls a transmission control unit (EPS), a steering control unit (EPS), and an engine control unit (DME).

[0061] Furthermore, the vehicle is equipped with an electronic clutch unit K, which sends signals to the automated driving control unit AF-ECU.

[0062] The automated driving control unit AF-ECU is designed to support driving with automated longitudinal and / or lateral guidance at any desired level of implementation. Furthermore, the automated driving control unit AF-ECU includes at least essential functionalities of various driver assistance systems, such as the functionalities of an overtaking assistance system according to the invention, which is described in more detail in Fig. 2.

[0063] Fig. 2 shows a schematic representation of an embodiment of an overtaking assistance system according to the invention. The assistance system comprises a distance-related longitudinal guidance system (ACC) designed for the automated longitudinal guidance of the vehicle F, taking into account a predefinable (manually by the driver or automatically) target speed and a distance to be maintained to a target object ahead, wherein the input signals necessary for longitudinal guidance are available or determined by evaluating sensor signals, input signals or signals provided otherwise.

[0064] Furthermore, the assistance system includes an overtaking situation detection unit (Ü-E), which is designed to detect an overtaking intention of the vehicle F. Specifically, the overtaking situation detection unit (Ü-E) is designed to recognize an overtaking intention – in particular by means of suitable onboard sensors or via a V2X interface – when, during a following driving situation in which an object is located in front of the vehicle F, a manually or automatically triggered signal for preparing an overtaking maneuver is detected. The trigger signal can be triggered, for example, by the activation of the turn signal or by visual confirmation of an automatically prepared overtaking maneuver. The overtaking situation detection unit (Ü-E) is equipped with 24-2167 to determine and receive the necessary signals from which an overtaking intention can be determined.

[0065] 10 corresponding to other units, such as a turn signal unit of the vehicle F or an interior monitoring unit.

[0066] Furthermore, the overtaking assistance system includes a trailer recognition unit (TRU) designed to detect when a trailer is coupled to the vehicle. Additionally, the TRU can collect information regarding trailer size, dimensions, and / or weight via suitable interfaces to other units, or determine and provide this information from input data provided for payment.

[0067] Furthermore, the overtaking assistance system includes a situation recognition unit (Sit) which is designed to classify the overtaking situation (with regard to criticality) when an overtaking intention is detected, e.g., using suitable AI systems. The situation recognition unit (Sit) accesses existing data from previous overtaking situations of the vehicle and / or the vehicle fleet, in particular through a connection to a cloud. Additionally, the situation recognition unit (Sit) can access or determine information (IV) concerning other road users (position, (relative) speed, object class) and a critical vehicle-to-vehicle speed (vG) and, taking this information (IV) and vG into account, determine a classification of the detected intended overtaking situation with regard to the potential danger to the vehicle or other road users.

[0068] Finally, the overtaking assistance system includes a control unit (SE) which exchanges data with the adaptive cruise control (ACC), the overtaking situation detection unit (Ü-E), the trailer detection unit (GE), and the situation detection unit (Sit). The control unit SE is designed to, when executing an overtaking maneuver after prior detection of an overtaking situation intention during automated longitudinal control of the vehicle, and taking into account the detection of a trailer attached to the vehicle, adjust a predefined standard target acceleration (asoll), in particular a reduction, based on the available information from the ACC, the overtaking situation detection unit (Ü-E), the trailer detection unit (GE), the situation detection unit (Si), and possibly other data. The original standard target acceleration (asoll) is specified as a trailer-independent target acceleration. 24-2167

[0069] 11

[0070] Furthermore, the control unit SE is designed to initiate an adjustment of the standard target acceleration asoll, in particular a necessary reduction of the standard target acceleration asoll, based on at least one of the following pieces of information:

[0071] Information concerning a speed difference dv1 between the current speed and the target speed of vehicle F, in particular at the time of initiating the overtaking maneuver; information concerning a speed difference dv2 between the current speed and a predetermined or determinable critical combination speed VG.

[0072] - Trailer information IA concerning trailer size and / or trailer dimensions and / or trailer mass of the coupled trailer, and / or information concerning the object to be overtaken, in particular information concerning the object class OK of the object to be overtaken.

[0073] This (and other) available information can be evaluated as follows: Reduction of the target acceleration asoll of vehicle F depending on the difference dv1 between current speed and the target speed of vehicle F, reduction of the target acceleration asoll of vehicle F depending on the difference dv2 between the current actual speed and the critical combination speed vG, reduction of the target acceleration asoll depending on trailer size, mass and / or dimensions of the trailer or the entire combination, reduction of the target acceleration asoll depending on the object to be overtaken or the object class OK or the wind displacement caused by the object (large truck with high wind displacement or just a motorcycle).

[0074] In another embodiment of the SE control unit, it is intended to prevent an automated overtaking maneuver or suppress a system-initiated lane change maneuver, depending on the environmental situation, if the vehicle F is located or will be located in the middle between two vehicles (with potentially large air displacement and thus a high interference potential) (e.g., if the vehicle is itself overtaken during the overtaking maneuver, or overtaken from both sides simultaneously). 24-2167

[0075] 12

[0076] Automated lane changes can be prevented by disabling or at least temporarily deactivating an assistance system designed for automated lane changes.

[0077] If an adjustment of the target acceleration is made or an automated lane change is prevented due to the overtaking situation or the trailer situation, the control unit SE sends a visual message to the driver, which can be displayed, for example, on the touch-sensitive screen CID located in vehicle F.

[0078] Figure 3 shows a schematic flowchart of an embodiment of a method according to the invention for assisting a driver during an overtaking maneuver. The following sub-steps are performed in step 100:

[0079] Detection of active automated longitudinal control ACC of vehicle F, detection of an overtaking situation intention of vehicle F, and detection of a trailer coupled to vehicle F.

[0080] If the above situations are detected cumulatively, in the next step 200, when the overtaking maneuver is carried out during automated longitudinal control of the vehicle, an adjustment of the standard target acceleration specified for an overtaking maneuver is initiated. Further possible embodiments of the method according to the invention can be found in the above description of the overtaking assistance system according to the invention.

[0081] Finally, Fig. 4 shows a traffic scenario with a vehicle F equipped with an overtaking assistance system according to the invention. Vehicle F, to which a trailer A is coupled, is driving with active automated longitudinal control according to Level 2 (target speed = 130 km / h) on a 3-lane motorway AB in the right lane behind a slower-moving truck. A van T is approaching from behind in the left lane. Since the middle lane is clear, the driver of vehicle F wants to overtake the truck and indicates his intention to overtake by activating the left turn signal BI.

[0082] The vehicle F, equipped with the overtaking assistance system according to the invention, which in addition to automated longitudinal guidance is equipped with a so-called overtaking aid during automated longitudinal operation (the vehicle carries out the overtaking maneuver independently after being requested by the driver), checks after activation of the turn signal whether the acceleration of the vehicle F to the specified target or set speed would potentially bring the vehicle combination into a region of the critical combination speed vG and whether the truck to be overtaken has a high potential to disrupt the stability of the combination and / or whether a parallel overtaking by the transporter T will take place at the same time in the left lane.

[0083] Due to the current traffic situation (van in the left lane, truck causing significant wind displacement), the overtaking situation is classified as potentially critical for vehicle F. Based on this classification, the overtaking assistance system suppresses the overtaking maneuver by temporarily deactivating the overtaking aid due to the anticipated risk to the stability of the vehicle combination and displays this to the driver via a corresponding indicator in vehicle F.

[0084] The invention presented here can improve the safety of vehicle combinations during lane changes or overtaking maneuvers when using automated driving functions. In particular, the invention can maintain the benefits of driver assistance systems that support the driver in their driving task.

Claims

24-2167 14 Claims 1. Overtaking assistance system for a vehicle (F), comprising a longitudinal control system (ACC) configured for automated longitudinal control of the vehicle (F), an overtaking situation detection unit (Ü-E) configured for detecting an overtaking intention of the vehicle (F), a trailer detection unit (GE) configured for detecting a trailer (A) coupled to the vehicle (F), and a control unit (SE) configured to initiate an adjustment (asoH') of a predetermined standard target acceleration (asoll) when executing an overtaking maneuver during automated longitudinal control of the vehicle and after prior detection of an overtaking intention, taking into account the detection of a trailer (A) attached to the vehicle (F), wherein the standard target acceleration (asoll) is defined as a trailer-independent target acceleration, in particular as the standard target acceleration (asoll) for vehicle operation.An overtaking situation without a trailer attached is specified.

2. Overtaking assistance system according to claim 1, characterized in that the control unit (SE) is configured to initiate a reduction (asoll') of the standard target acceleration (asoll) when executing the overtaking maneuver during automated longitudinal guidance, if a trailer (A) coupled to the vehicle (F) is detected or the side surface of the vehicle, in particular of the vehicle and a trailer coupled to the vehicle, reaches or exceeds a predetermined side surface.

3. Overtaking assistance system according to one of the preceding claims, characterized in that the control unit (SE) is configured to initiate an adjustment (asoll') of the standard target acceleration (asoll), in particular a reduction of the standard target acceleration (asoll) based on at least one of the following pieces of information: 24-2167 15 Information concerning a speed difference (dv1) between the current speed and the target speed of the vehicle (F), especially at the time of initiating the overtaking maneuver, Information concerning a speed difference (dv2) between current speed and a predetermined or determinable critical combination speed (vG), - Trailer information (IA) concerning trailer size and / or trailer dimensions and / or trailer mass of the coupled trailer (A), and / or information concerning the object to be overtaken, in particular information concerning the object class (OK) of the object to be overtaken.

4. Overtaking assistance system according to one of the preceding claims, characterized in that the overtaking situation detection unit (OT) is designed to recognize an intention to overtake when, during a following driving situation, a manually or automatically triggered signal for the preparation of an overtaking maneuver is detected, in particular when a turn signal activation is detected.

5. Overtaking assistance system according to one of the preceding claims, wherein the vehicle (F) comprises a system for executing a system-initiated lane change maneuver, characterized in that the overtaking situation recognition unit (Ü-E) is configured to recognize an intention to overtake when the vehicle (F) is in a following driving situation during automated longitudinal control and the road conditions and / or traffic situation would allow the execution of an automated overtaking maneuver.

6. Overtaking assistance system according to one of the preceding claims, characterized in that the overtaking assistance system comprises a situation recognition unit (Sit) which is configured to classify a detected intended overtaking situation, and the control unit (SE) is configured to prevent or suppress the execution of an overtaking process, in particular an automated one, depending on the result of the classification.

7. Overtaking assistance system according to claim 6, characterized in that the situation recognition unit (Sit) is designed, taking into account other road users and / or a determinable predetermined or determinable critical combination speed (vG), to assess the potential danger to the vehicle (F) or other road users in the event of a possible 24-2167 16 To determine the applicable classification of the recognized intended overtaking situation during the overtaking process.

8. Overtaking assistance system according to claim 6 or 7, characterized in that the control unit (SE) is configured to initiate a driver warning when an overtaking maneuver is carried out during an inactive automated longitudinal guidance of the vehicle and after prior detection of an overtaking situation intention, depending on the result of the classification of the intended overtaking situation.

9. Method for assisting a driver during an overtaking maneuver by means of an overtaking assistance assistant, comprising the steps: Detecting an active automated longitudinal control of the vehicle (100), detecting an intended overtaking situation of the vehicle (100), detecting a trailer coupled to the vehicle (100), when performing an overtaking maneuver during automated longitudinal control of the vehicle and after prior detection of an overtaking intention, initiating an adjustment of a predetermined standard target acceleration taking into account the detection of a trailer attached to the vehicle, wherein the standard target acceleration is specified as a trailer-independent target acceleration, in particular as a standard target acceleration for vehicle operation or an overtaking situation without a coupled trailer (200).

10. Computer program comprising instructions which, when the program is executed by a computing device, cause it to execute a method according to claim 9.

11. Computer-readable storage medium comprising instructions which, when executed by a computing device, cause it to execute a method according to claim 9.

Images