EP-4735313-A1 - COMPUTING DEVICE FOR AN ASSISTANCE SYSTEM OF A VEHICLE FOR CARRYING OUT AUTOMATED LANE CHANGE MANOEUVRES TAKING INTO ACCOUNT TRAFFIC BEHIND, ASSISTANCE SYSTEM, AND METHOD

Abstract

The invention relates to a computing device (3) for an assistance system (2) for the automated lateral guiding of a vehicle (1), wherein the computing device (3) is configured to: detect a traffic situation which requires an automated lane change manoeuvre; plan the automated lane change manoeuvre; output an offer signal for outputting an offer for the automated lane change manoeuvre to a driver at an offer time-point and/or a steering signal for controlling a steering system (9) of the vehicle (1) for carrying out the automated lane change manoeuvre at a line change time-point; receive surroundings data which describe other road users (18, 19) in surroundings (5) of the vehicle (1); based on the surroundings data, detect a road user (19) approaching the vehicle (1) from behind; determine a collision time between the road user (19) approaching from behind and the vehicle (1); and suppress the output of the offer signal and/or the steering signal if the collision time falls below a predefined first limit value.

Inventors

• Stiens, Kai
• Sauermann, Patrick
• BLASCHE, Moritz
• Fayad, Sami
• Fricke, Tim
• Gutbrod, Michael
• Heracles, Martin
• Niermann, Stephan
• Rieth, Dominik

Assignees

• Bayerische Motoren Werke Aktiengesellschaft

Dates

Publication Date

20260506

Application Date

20240624

Claims (10)

1. 1. Computing device (3) for an assistance system (2) for automated lateral guidance of a vehicle (1), wherein the computing device (3) is configured to: - to recognize a traffic situation that requires an automated lane change maneuver, - to plan the automated lane change maneuver, - to output an offer signal for issuing an offer for the automated lane change maneuver to a driver at an offer time and/or to output a steering signal for controlling a steering system (9) of the vehicle (1) to carry out the automated lane change maneuver at a lane change time, - to receive environmental data describing other road users (18, 19) in an environment (5) of the vehicle (1), and - to detect a road user (19) approaching the vehicle (1) from behind based on the surrounding data, characterized in that the computing device (3) is further configured to - to determine a collision time between the road user (19) approaching from behind and the vehicle (1) and - to suppress the output of the offer signal and/or the steering signal if the collision time falls below a predetermined first limit value.
2. 2. Computing device (3) according to claim 1, characterized in that the computing device (3) is designed to output a withdrawal signal for withdrawing an offer already issued if the collision time falls below a predetermined second limit value.
3. 3. Computing device (3) according to claim 1 or 2, characterized in that the computing device (3) is designed to plan the lane change maneuver to a target lane and to determine a probability that the road users approaching from behind (19) change into the destination lane.
4. 4. Computing device (3) according to claim 3, characterized in that the computing device (3) is designed to determine the probability based on a country-specific regulation for overtaking.
5. 5. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is set up to determine a course of a roadway (14) on the basis of the environmental data and/or on the basis of digital map data and to adapt the first limit value depending on the course of the roadway (14).
6. 6. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is configured to output the offer signal for outputting the offer during a hands-off operation by the assistance system (2) and/or to carry out the automated lane change maneuver during the hands-off operation, wherein a check of the driver's attention is carried out during the hands-off operation.
7. 7. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is configured to determine whether a situation awareness of the driver for the automated lane change maneuver is given as the acceptance for the offer, wherein the situation awareness describes the direction of the gaze and/or the head orientation towards an area assigned to a free gap.
8. 8. Computing device (3) according to one of the preceding claims, characterized in that the computing device (3) is designed to output an activation signal for automatically activating direction indicators (11) of the vehicle (1) if the offer is made.
9. 9. Assistance system (2) for automated lateral guidance of a vehicle (1), comprising a computing device (3) according to one of the preceding claims.
10. 10. Method for automated lateral guidance of a vehicle (1), comprising the steps: - Recognition of a traffic situation that requires an automated lane change maneuver, - Planning the automated lane change maneuver, - issuing an offer signal for issuing an offer for the automated lane change maneuver to a driver at an offer time and/or issuing a steering signal for controlling a steering system (9) of the vehicle (1) to carry out the automated lane change maneuver at a lane change time, - receiving environmental data describing other road users (18, 19) in an environment (5) of the vehicle (1), and - Detection of a road user (19) approaching the vehicle (1) from behind based on the surrounding data, characterized by - determining a collision time between the road user (19) approaching from behind and the vehicle (1) and - Suppressing the output of the offer signal and/or the steering signal if the collision time falls below a predetermined first limit value.

Description

COMPUTING DEVICE FOR A VEHICLE ASSISTANCE SYSTEM FOR CARRYING OUT AUTOMATED LANE CHANGE MANEUVERS TAKING REVERSING TRAFFIC INTO ACCOUNT, ASSISTANCE SYSTEM AND METHOD The present invention relates to a computing device for an assistance system of a vehicle. The present invention also relates to an assistance system for a vehicle. The present invention also relates to a method for the automated lateral guidance of a vehicle. Assistance systems are known from the state of the art with which at least partially automated lateral guidance of the vehicle can be carried out. Such assistance systems with partially automated lateral guidance support the driver by taking over the steering task. Unlike lane-keeping assistance systems, this support is not only limited to situational interventions, such as lane departure, but also supports the driver in lane guidance on an ongoing basis. When the assistance system is in operation, lane markings and/or a trajectory driven by the vehicle in front are usually recorded and used as the basis for the trajectory of the ego vehicle to be planned. Some of these well-known assistance systems for partially automated lateral guidance allow the driver to temporarily remove their hands from the steering wheel. This is also referred to as a tolerated hands-off state. However, after a relatively short time when the assistance system is in operation, the driver is reminded of the driving task by means of visual and/or acoustic signals and is asked to put their hands back on the steering wheel. In addition, lane change assistance systems are known from the state of the art, which support the driver in lane changing maneuvers. In known lane change assistance systems with automated or automatic lane change function, the driver typically indicates a lane change request by means of a specific operating action. If such an operating 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 In lane change assistance systems, the driver's desire to change lane is usually signaled by operating a corresponding control element, such as a turn signal lever, to trigger direction indicators visible outside the vehicle. Lane change assistance systems are also known from the state of the art, which suggest an automated lane change maneuver to the driver. For example, the systems can recognize that a lane change is sensible or necessary. This can be the case, for example, if a slower road user is to be overtaken. If the lane change suggested by the lane change assistance system is confirmed by the driver, the automated lane change maneuver can be carried out using the lane change assistance system. Lane change assistance systems are also known from the state of the art, which automatically plan a lane change maneuver and then carry it out without confirmation from the driver. Automated lane change maneuvers or lane change suggestions with driver confirmation as part of a Level 2 assistance function require active monitoring by the driver. Particularly in the case of vehicles approaching from behind with high differential speeds, as occurs on the highway, for example, a conservative design of the system helps to avoid critical situations and corresponding driver interventions. A special situation arises when the ego vehicle is itself overtaken by another vehicle shortly before an overtaking maneuver. A road user approaching quickly from behind can approach in any lane. In addition, such road users approaching quickly from behind can potentially change lanes once or several times very close behind the ego vehicle in order to overtake the vehicle. This makes it more challenging for the driver of the vehicle to safeguard the automated lane change, as, for example, different areas must be observed at the right time in order to correctly assess the situation. It is the object of the present invention to show a solution how a lane change assistance system of the type mentioned above can be operated more safely. This object is achieved according to the invention by a computing device, by an assistance system and by a method having the features according to the independent claims. Advantageous developments of the present invention are specified in the dependent claims. A computing device according to the invention for an assistance system for automated lateral guidance of a vehicle is designed to recognize a traffic situation that requires an automated lane change maneuver. In addition, the computing device is designed to plan the automated lane change maneuver. Furthermore, the computing device is designed to output an offer signal for issuing an offer for the automated lane change maneuver to a driver at an offer time and/or to output a steering signal for controlling a steering system of the vehicle to carry out the automated