Method for operating a vehicle assistance system with plausibility assessment of acceptance of an automated driving manouevre, 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: outputting, to a driver (14) of the vehicle (1), an offer to carry out an automated driving manoeuvre, wherein, when the automated driving manoeuvre is carried out, a steering system (9) is actuated for automated lateral guidance of the vehicle (1); checking whether the driver (14) has accepted the offer, wherein the acceptance is represented by a turning of the gaze direction (31) and / or of the head orientation towards a predetermined region (22, 23, 25, 26); detecting an operating action and / or a body posture of the driver (14) while the acceptance is being checked; assessing the acceptance as plausible if the operating action corresponds to a predetermined operating action and / or if the body posture corresponds to a predetermined posture; and outputting a control signal for carrying out the automated driving manoeuvre if the acceptance is assessed as plausible.

Description

[0001] 24-1770

[0002] 1

[0003] Method for operating a vehicle assistance system with plausibility check of an assumption of an automated driving maneuver, computing device and assistance system

[0004] 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 assistance system. In addition, the present invention relates to an assistance system comprising such a computing device.

[0005] Driver assistance systems capable of at least partially automated lateral control of the vehicle are known from the prior 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.

[0006] 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.

[0007] Furthermore, lane change assistance systems are known from the prior art, which 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 a control action is recognized, 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. In such lane change assistance systems, the 24-1770

[0008] 2

[0009] The driver's wish to change lanes is signaled by activating a corresponding control element, for example a turn signal lever, to trigger direction indicators visible outside the vehicle.

[0010] Especially with driver assistance systems according to SAE Level 2, the need to ensure that the driver remains sufficiently engaged in the driving task to intervene if necessary increases with higher levels of automation. Against this backdrop, systems are already known that, for example, use an interior camera to detect the driver's attention, as well as individual gestures and head movements, in order to derive an assessment of the driver's attention. The challenge now lies in achieving the most reliable and robust interpretation of driver behavior possible, in order to guarantee a significant statement about the driver's involvement in various driving situations and to avoid falsely detected attention levels.

[0011] It is therefore an object of the present invention to demonstrate a solution for improving automated driving maneuvers with regard to safety and comfort.

[0012] This problem is solved by the features of the independent claims. Further advantageous embodiments of the invention are specified in the dependent claims.

[0013] A method according to the invention serves to operate a vehicle assistance system. The method comprises issuing an offer to the driver of the vehicle to execute an automated driving maneuver, wherein, during the execution of the automated driving maneuver, a steering system for automated lateral control of the vehicle is activated. Furthermore, the method comprises checking whether the driver has accepted the offer, wherein acceptance is defined as directing the driver's gaze and / or head towards a predetermined area. The method also includes detecting an operating action and / or a body posture of the driver during the acceptance check. Finally, the method includes assessing the acceptance as plausible if the operating action corresponds to a predetermined operating action and / or if the body posture corresponds to a predetermined body posture.Furthermore, the procedure includes issuing a control signal to execute the automated driving maneuver if the assumption is deemed plausible. 24-1770.

[0014] 3

[0015] The process can be carried out using a computing unit of the assistance system. This computing unit can, for example, be at least one electronic control unit of the vehicle. The assistance system can support the driver or user of the vehicle in lateral control. In this context, the assistance system can execute an assistance function or an automated driving maneuver. In principle, various driving maneuvers can be performed using the assistance system. During the execution of the driving maneuver, the computing unit can output a control signal to the vehicle's steering system. It is also preferably provided that the assistance system also supports the driver in longitudinal control of the vehicle.

[0016] The automated driving maneuver can be prepared and executed using the computer unit. To assess the current traffic situation regarding the necessity of the maneuver, 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, specifically which lane they are currently in and their current speeds. The computer unit can receive this environmental data from at least one environmental sensor on the vehicle or the assistance system. This sensor could be a camera, radar sensor, lidar sensor, ultrasonic sensor, or similar device.

[0017] If the current traffic situation deems the execution of the automated driving maneuver necessary and / or advisable, the computing 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 driving maneuver to the driver. The output device can include a display and present the offer to the driver visually. The display can visualize the current traffic situation in the vicinity of the vehicle for the driver. For example, an image of the 24-1770 can be displayed.

[0018] 4

[0019] The display shows the vehicle and other road users in the vicinity. Lanes can also be shown.

[0020] Furthermore, the computer unit can receive driver attention data from a driver monitoring device. This driver monitoring device provides driver attention data describing the driver's current gaze direction and / or head orientation. The driver monitoring device can, for example, include an interior camera pointed at the driver. This camera can be located in the headliner or near the rearview mirror. Alternatively, it can be located in the instrument cluster.

[0021] The driver monitoring device can determine the driver's head position and orientation based on the detected nose. It can also determine the driver's pupil position and thus their gaze direction. Furthermore, it can detect whether the eyes are open or closed. The device may incorporate infrared light sources, allowing the head position and / or gaze direction to be determined even when the driver is wearing sunglasses or in dark environments. Additionally, the driver's posture and upper body orientation can be determined based on attention data and / or data from the driver monitoring device.

[0022] Based on data from the driver monitoring device, the driver's situational awareness regarding the upcoming automated driving 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, attention data is used to determine whether the driver is focusing their gaze and / or head position on at least a predetermined area.

[0023] If the driver directs their gaze and / or head towards at least a predetermined area, this can be interpreted as acceptance of the offer for the automated driving maneuver. This means, in particular, that the driver's situational awareness regarding the driving maneuver is assumed to be present if the driver looks at a defined area and thus observes the 24-1770

[0024] 5

[0025] The system secures the traffic area for the automated driving maneuver. The driver then bears full responsibility, particularly for the subsequent automated driving maneuver.

[0026] According to the present invention, the driver's acceptance is validated. For this purpose, the driver's operating actions and / or posture are monitored, and the acceptance is validated based on these actions and / or posture. During this validation process, a plausibility check can be performed, in which the acceptance is assessed as plausible or implausible. The driver's operating actions and / or posture can be determined, for example, using attention data or data from the interior camera. In particular, the operating actions and / or posture can be monitored during the verification of the offer acceptance or while monitoring the gaze direction and / or head orientation.It may also be provided that the operating actions and / or body posture are monitored for a predetermined period of time before and / or a predetermined period of time after the verification of the acceptance of the offer.

[0027] By additionally monitoring the driver's actions and / or posture, it can be determined whether the driver actually intended to accept the offer for the automated driving maneuver or whether the acceptance was accidental. This allows verification of whether the recorded driver action corresponds to a predetermined action and / or posture. Only when the evaluation of the action and / or posture confirms that the driver genuinely intended to accept the offer can the processing unit issue a control signal to execute the automated driving maneuver. The system can reduce the likelihood of falsely detected driver attention or acceptance by corroborating the detected head movement and / or gaze direction with other detectable gestures and actions.Overall, this can increase the safety and comfort for the driver when using the assistance system.

[0028] In one embodiment, the driver's hand position is detected as a body posture, and the acceptance is deemed plausible if the hands are resting on their hands. The driver's hand position can be detected using the driver monitoring device or the interior camera. If the driver's hands are resting on their hands during the acceptance of the offer, it can be assumed that the driver is in a 24-1770 position.

[0029] 6

[0030] The driver is not engaged in any other activity or operation and therefore intended to accept the offer through visual confirmation or head alignment. For example, acceptance can be considered plausible if at least one of the driver's hands is on the steering wheel, gearshift knob, storage compartment, or similar. If the assistance system enables hands-off operation, acceptance can be considered plausible if at least one hand is resting in the lap or on the thigh.

[0031] In another embodiment, body posture is detected as a rotation of the upper body and / or head, and the assumption is deemed implausible if a rotation of the upper body and / or head towards a passenger, towards controls in a door, and / or towards a central control element of the vehicle is detected. For example, body posture can reveal that the driver is conversing with a passenger and is turning towards or looking at them. This glance towards the passenger can then be distinguished from a glance into the predetermined area associated with a side mirror or side window on the passenger side. The driver's body posture or pose can also reveal that they are operating controls in the door or a central control element. In this case, the assumption can then be deemed implausible.

[0032] In another embodiment, the act of operating the vehicle is defined as the activation of a control element, and the assumption is deemed implausible if a predetermined control element is activated by the driver. In principle, the activation of various control elements in the vehicle can be detected. For example, if the driver activates controls unrelated to the automated driving maneuver during the activation process, it can be assumed that the driver is not focusing their attention on the maneuver to be performed, but rather on another activity. This could be the case, for instance, if the driver activates a navigation system control or a window regulator during the activation process. In this case, the assumption can be deemed implausible.However, if the driver activates the turn signals, for example by operating the control element, the assumption may be considered plausible.

[0033] It may also be stipulated that the driver's use of a mobile device is checked during the acceptance process and that the operation of a mobile24-1770

[0034] 7

[0035] The device used is taken into account during the plausibility check. For example, if the driver is using or looking at a smartphone as a mobile device, it can be assumed that the driver is not focusing their attention on the upcoming driving maneuver. In this case, the assumption can also be deemed implausible.

[0036] In another embodiment, it is checked whether the driver's line of sight deviates from the predetermined area for at least a predetermined period of time, and this deviation is taken into account during plausibility checks. Thus, it can be specifically verified whether the driver's line of sight is directed at the predetermined area or whether it deviates, at least temporarily.

[0037] In particular, it can be checked whether the driver's line of sight deviates from the predetermined area in a vertical direction or in the direction of the vehicle's height. For example, it can be detected that the driver is not looking in the predetermined area assigned to a side mirror or a side window on the driver's side, but rather towards the window controls. In this case, too, the assumption can be deemed implausible.

[0038] Furthermore, it is advantageous if the opening of the driver's eyelids is also recorded and taken into account during plausibility checks.

[0039] For example, the assumption can only be considered plausible if the driver's eyes are clearly identified as open. This ensures that the driver intends to accept the offer for the automated driving maneuver through a predetermined eye-confirmation. Furthermore, known methods can be used to determine the driver's fatigue and / or attention level based on the opening of their eyelids. If the driver is characterized as inattentive or tired, for instance, the assumption can be deemed implausible.

[0040] Furthermore, it is advantageous to check for the presence of additional occupants in the vehicle and to consider their presence during plausibility checks. The presence of additional occupants in the vehicle can be detected, for example, using attention data or images from the interior camera. In particular, the location of these additional occupants within the vehicle is also determined. Alternatively or additionally, data from seat occupancy sensors and / or interior microphones can be used to detect the presence of occupants. Based on the information about whether there are additional occupants in the vehicle, the system can then...

[0041] 8

[0042] If the vehicle is present and / or where these occupants are sitting in the vehicle, it can then be further verified whether the driver wanted to accept the offer or turned to an occupant.

[0043] Preferably, the automated driving maneuver is a lane change. It can also be a turning maneuver, in which the vehicle turns from one lane to another. The automated driving maneuver can also involve maneuvering the vehicle onto an exit ramp from a road or lane. The automated driving maneuver can also involve maneuvering the vehicle onto a deceleration lane. It can also involve maneuvering the vehicle from an acceleration lane onto a roadway. The automated driving maneuver can involve maneuvering the vehicle into or out of a roundabout. Furthermore, the automated driving maneuver can involve the vehicle at least partially traversing a roundabout.

[0044] If the computer system or assistance system detects that the assumption was deemed implausible or that the driver was considered inattentive, a corresponding message can be issued to the driver. Such a message can ensure transparency regarding the system's behavior and thus also promote more attentive and responsive driving.

[0045] The invention further relates to a computing device for a vehicle assistance system. The computing device is configured to issue an offer to the driver of the vehicle to execute an automated driving maneuver, wherein, during the execution of the automated driving maneuver, the computing device controls a steering system for automated lateral control of the vehicle. In addition, the computing device is configured to check whether the driver has accepted the offer, wherein acceptance is defined as directing the driver's gaze and / or head towards a predetermined area. Furthermore, the computing device is configured to detect any operating action and / or body posture of the driver during the acceptance check.Furthermore, the computing device is configured to assess the assumption as plausible if the operating action corresponds to a predetermined operating action and / or if the body posture corresponds to a predetermined body posture. In addition, the 24-1770.

[0046] 9

[0047] The computing device is set up to output a control signal to carry out the automated driving maneuver if the assumption is deemed plausible.

[0048] An assistance system for a vehicle according to the invention comprises a computing device according to the invention. The computing device of the assistance system can control the vehicle's steering system to provide lateral control. This allows the vehicle, for example, to be kept within its lane. Furthermore, the steering system can be controlled to execute the driving maneuver. Preferably, the computing device can also control a braking system and / or a drive motor to provide longitudinal control of the vehicle. The assistance system can also include a driver monitoring device that provides attention data. In addition, the assistance system can include an output device that can provide visual, acoustic, and / or haptic feedback to the driver.

[0049] A vehicle according to the invention comprises an assistance system according to the invention. The vehicle is designed in particular as a passenger car.

[0050] 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.

[0051] The preferred embodiments and their advantages presented with reference to the method according to the invention apply accordingly to the computing device according to the invention, to the assistance system according to the invention, to the vehicle according to the invention, to the computer program according to the invention, and to the computer-readable storage medium according to the invention.

[0052] 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, are not only present in the combinations specified, but also in other combinations.24-1770

[0053] 10

[0054] Can be used in combinations or on their own without leaving the scope of the invention.

[0055] The invention will now be explained in more detail with reference to preferred embodiments and the accompanying drawings. These show:

[0056] Fig. 1 shows a schematic representation of a vehicle which has an assistance system for automated lateral guidance of the vehicle;

[0057] Fig. 2 is a schematic representation of a driver inside the vehicle, with the driver looking in an exterior mirror of the vehicle to confirm the offer for the automated driving maneuver; and

[0058] Fig. 3 shows a schematic representation of possible areas into which the driver can look to confirm automated driving maneuvers.

[0059] 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 automated driving 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.

[0060] 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 in order to detect objects in the environment 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.

[0061] Furthermore, the assistance system 2 includes a camera 6 as an environment sensor, by means of which image data or environment data describing the environment 5 of the vehicle 1 are acquired, 24-1770

[0062] 11

[0063] can be provided. Using the computing unit 3, the environmental data from the distance sensors 4 and the camera 6 can be processed, and thus, for example, objects, other road users, road markings or the like in the environment 5 can be detected.

[0064] 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 and / or during driving maneuvers. Controlling the steering system 9 allows steerable wheels 10 of the vehicle 1 to be steered, thus providing lateral control during automated driving maneuvers. The computing unit 3 can also preferably 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.

[0065] Furthermore, the assistance system 2 includes a driver monitoring device 12, which can detect the attention of the driver 14 of the vehicle 1. The driver monitoring device 12 can include an interior camera, which can detect the driver 14'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 14. This information can be provided acoustically, visually, and / or haptically.

[0066] The computer unit 3 is also configured to control the direction indicators 11 of the vehicle 1. For this purpose, an activation signal can be transmitted from the computer unit 3 to the direction indicators 11. As a result of this control signal, the direction indicators 11 can be activated, so that a flashing signal is emitted by the direction indicators 11. The direction indicators 11 can also be deactivated again by a further control signal.

[0067] The direction indicators 11 can be controlled independently of the operation of a control element, for example a turn signal lever, by the driver 14.

[0068] Based on the measurements from the environmental sensors, i.e., the distance sensors 4 and the camera 6, the speeds from 24-1770 can be calculated using the computing unit 3.

[0069] 12

[0070] Other road users can be identified. Furthermore, based on data from the environmental sensors 4, 6 and / or digital map data, together with a satellite-based positioning system, the current lane of a road can be determined. Using this information, the computer unit 3 can determine whether an automated driving maneuver is necessary or advisable for the current traffic situation.

[0071] Assistance system 2 enables automated driving maneuvers. During these maneuvers, the driver of vehicle 1 is supported in controlling the vehicle's lateral movement. This automated maneuver can be an automated lane change, an automated turning maneuver, or even driving through, entering, or exiting a roundabout.

[0072] If the computer unit 3 detects that an automated driving maneuver is required, the output unit 13 can offer the driver the automated driving maneuver. Using the data from the driver monitoring unit 12, the computer unit 3 can verify whether the driver has accepted the offer, whereby acceptance is defined as directing the driver's gaze and / or head towards a predetermined area 22, 23, 25, 26. Furthermore, the data from the driver monitoring unit 12 is used to record the driver's operating actions and / or body postures, at least during the acceptance of the offer. The acceptance is then validated based on the driver's operating actions and / or body postures 14.

[0073] The following describes the function of assistance system 2 using an automated lane change maneuver as an example. First, assistance system 2 can automatically detect the required lane change and check whether a free gap exists in the target lane for the maneuver. If a free gap is found, the driver 14 can be offered the automated lane change maneuver via output device 13.

[0074] Fig. 2 shows the driver 14, who is located in an interior 15 of the vehicle 1. The vehicle 1 is currently being maneuvered in hands-off mode using the assistance system 2,24-1770

[0075] 13

[0076] so that the driver 14 can comfortably position his hands 16 and does not have to place his hands 16 on the steering wheel 17. By means of the driver monitoring device 13, which can be located in the area of ​​the interior mirror 18, the direction of gaze 31, the orientation of the head 19 and / or the body posture of the driver 14 can be detected.

[0077] In the example shown, driver 14 is offered a lane change maneuver to the adjacent left lane by means of assistance system 2. To confirm the automated driving maneuver or the automated lane change maneuver, driver 14 must secure the lane change maneuver or the traffic area for the planned lane change maneuver. For this purpose, driver 14 is required to direct their gaze 31 towards the free gap in the left lane.

[0078] To confirm the lane change maneuver, the driver 14 must look in the exterior mirror 20 and / or perform a shoulder check. This is shown in Fig.

[0079] Figure 3 illustrates the interior 15 of vehicle 1. To confirm a lane change maneuver to a lane to the left of vehicle 1, the driver 14 must look towards the left exterior mirror 20. Area 22 schematically marks this area, which is associated with the left exterior mirror 20. Alternatively or additionally, to confirm the lane change maneuver to the lane to the left of vehicle 1, the driver 14 can look towards area 23, which describes a shoulder check through the left window 24. If a lane change maneuver to a lane to the right of vehicle 1 is to be confirmed, the driver 14 must look towards the right exterior mirror 21. Area 25 schematically marks this area, which is associated with the right exterior mirror 21.To confirm the lane change maneuver to a lane to the right of vehicle 1, the driver can alternatively or additionally look at the lane to the right of vehicle 1 in area 26, which describes a shoulder check through the right vehicle window 27.

[0080] As already explained, to verify the plausibility of the acceptance, the driver's actions and / or body postures during the acceptance process are recorded. Thus, in the example of Fig. 2, it is possible to distinguish, for instance, whether the driver 14 actually intended to look in the side mirror 20 to accept the offer, or whether the driver 14 is looking at a control element 28 (shown only schematically) in the door area, or is currently operating this control element 28. For plausibility verification, the driver's gaze direction 31 can be precisely determined, or it can be checked whether the driver 14 is looking in the side mirror 20 or at the control element 28. In addition, the position of the hands 16 can be recorded as a body posture. Thus, it is possible, for example, to distinguish whether the driver 14 has placed his hands 16 down as shown in Fig. 2, or whether the driver 14 is operating the control element 28 with one hand 16. Here, an orientation or...Rotation of the driver's upper body 14 must be taken into account.

[0081] When assuming a lane change maneuver to an adjacent right-hand lane, the plausibility check can, for example, involve verifying whether the driver (14) is conversing with another occupant in the passenger seat or is currently turning towards them. It can also be checked whether the driver (14) is looking at or operating a central control (29), a control in the area of ​​the center console (30), or the like. In general, the driver's level of attention, the opening of their eyelids, or similar indicators can also be taken into account.

[0082] Only when the acceptance of the offer is deemed plausible can the steering system 9 of vehicle 1 be controlled by means of the computing device 3 and the lane-change maneuver be carried out.15

[0083] Reference symbol list

[0084] vehicle

[0085] Assistance system

[0086] Computer facility

[0087] Distance sensor

[0088] Environment

[0089] camera

[0090] Front area

[0091] rear area

[0092] Steering system

[0093] Wheels

[0094] Direction indicator, driver monitoring device, output device

[0095] driver

[0096] interior

[0097] hands

[0098] steering wheel

[0099] Interior mirror

[0100] Head

[0101] Exterior mirrors

[0102] 1 exterior mirror

[0103] Area

[0104] Area

[0105] Vehicle window

[0106] Area

[0107] Area

[0108] Vehicle window

[0109] Control element

[0110] 9 Control element

[0111] 0 Center console

[0112] 1. Viewing direction

Claims

16 Claims 1. Method for operating an assistance system (2) of a vehicle (1) comprising the steps: - Issuing an offer to a driver (14) of the vehicle (1) to perform an automated driving maneuver, wherein, during the performance of the automated driving maneuver, a steering system (9) is controlled for automated lateral guidance of the vehicle (1), - Checking whether the driver (14) has accepted the offer, whereby acceptance describes a turning of the gaze (31) and / or the head orientation towards a predetermined area (22, 23, 25, 26), - Detecting an operating action and / or a body posture of the driver (14) during the acceptance check, - Assess the assumption as plausible if the operating action corresponds to a predetermined operating action and / or if the body posture corresponds to a predetermined body posture, and - Outputting a control signal to execute the automated driving maneuver if the assumption is deemed plausible.

2. Method according to claim 1 , characterized by the fact that The position of the hands (16) of the driver (14) is recorded as body posture and the assumption is deemed plausible if the hands (16) are resting.

3. Method according to claim 1 or 2, characterized by the fact that as body posture a rotation of the upper body and / or head (19) is detected and the assumption is deemed implausible if a rotation of the upper body and / or head (19) towards a passenger, towards controls (28) in a door and / or towards a central control element (29) of the vehicle (1) is detected.

4. Method according to any one of the preceding claims, characterized by the fact that as the operating action is the actuation of a control element (28) of the vehicle24-1770 17 (1) is detected and the assumption is not deemed plausible if a predetermined control element (28) is operated by the driver (14).

5. Method according to any one of the preceding claims, characterized by the fact that It is checked whether the direction of gaze (31) of the driver (14) deviates from the predetermined area (22, 23, 25, 26) for at least a predetermined period of time and whether the deviation of the direction of gaze (31) is taken into account during plausibility checks.

6. Method according to any one of the preceding claims, characterized by the fact that Additionally, the opening of the driver's eyelids (14) is recorded and the opening of the eyelids is taken into account during plausibility checks.

7. Method according to any one of the preceding claims, characterized by the fact that the presence of other occupants in the vehicle (1) is checked and the presence of other occupants is taken into account during plausibility checks.

8. Method according to any one of the preceding claims, characterized by the fact that when the automated driving maneuver is a lane change maneuver, a turning maneuver, the vehicle (1) is maneuvered onto an exit from a road or the vehicle (1) is maneuvered out of a roundabout.

9. Computing device (3) for an assistance system (2) of a vehicle (1), wherein the computing device (3) is configured to: - to issue an offer to a driver (14) of the vehicle (1) to perform an automated driving maneuver, wherein the computing device (3) controls a steering system (9) for automated lateral guidance of the vehicle (1) during the execution of the automated driving maneuver, - to check whether the driver (14) has accepted the offer, wherein acceptance describes a turning of the gaze direction (31) and / or the head orientation towards a predetermined area (22, 23, 25, 26), - to record an operating action and / or body posture of the driver (14) during the acceptance check,24-1770 18 - to assess the assumption as plausible if the operating action corresponds to a predetermined operating action and / or if the body posture corresponds to a predetermined body posture, and - to issue a control signal to carry out the automated driving maneuver if the assumption is deemed plausible.

10. Assistance system (2) for a vehicle (1) comprising a computing device (3) according to claim 9.

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