DE102007033887A1 - Controller for driver assistance system with recommendation for lane change has decision device for deciding about outputting of lane change signal to the driver taking into account further lane and vehicle detection results - Google Patents

Abstract

The system has a lane change detector for determining whether there is another lane (SP2) in the same direction of travel adjacent to the lane (SP1) currently occupied by the vehicle, a vehicle detector for detecting other vehicles on the further lane and a decision device for deciding about the outputting of a lane change signal to the driver taking into account detection results. Independent claims are also included for the following: (A) a driver assistance system (B) a computer program product for an inventive system (C) and a method of operating an inventive system.

Description

The The invention relates to a control device for a driver assistance system for a vehicle.

Under the concept of driver assistance systems (English: ADAS, Advanced Driver Assistance Systems) functions are summarized which to assist the driver of a motor vehicle. The aim of the driver assistance systems is often the increase safety by avoiding dangerous situations their emergence and the support of the driver for accident prevention in critical situations. Other goals are the increase of comfort through stress reduction and relief the driver in standard situations, facilitating orientation by situation-dependent prepared and driver-appropriate mediated Environment information, as well as the increase of driving pleasure.

Examples for driver assistance functions are traction control or traction control such as ABS (antilock braking system), ASR (traction control), ESP (Electronic Stability Program), EDS (Electronic Stability Program) Differential lock), as well as adaptive headlights, fade-in and dimming assist for driving lights, night vision systems, Cruise Control, Park Assist, Brake Assist, ACC (Adaptive Cruise Control) distance control, distance warning, turn assistant, traffic jam assistant, Lane Detection System, Lane Keeping Assist, Lane Keeping Assist, Lane Change Assistant, ISA (Intelligent Speed Adaptation), ANB (Automatic Emergency braking), curve assistant, tire pressure monitoring system, driver condition detection, Traffic sign recognition, Platooning.

Of the Invention is based on the object, an efficient control device for a driver assistance system, and a corresponding Driver assistance system, a method for operating a driver assistance system and to show a computer program product.

These Task is performed by a control device with the features of Claim 1, and by a driver assistance system, by a method and a computer program product with features of siblings Claims solved. Advantageous embodiments and further developments are the subject of dependent claims.

The Control device according to the invention comprises a Lane markers component to determine whether on one certain side next to the currently used by the vehicle lane another lane for the same direction of travel and a vehicle detection component for detecting from other vehicles on the other lane. Further is a decision component exists for deciding about the output of a signal to the driver of the vehicle under consideration of detection results of the lane detection component and the vehicle determination component, the signal having a Change from the lane currently used by the vehicle to the concerns further lane track.

Of the Lane Tracking Inquiry looks for driving situations, where not just one lane for a direction of travel is present, but two or more parallel lane tracks for this direction of travel. It also checks whether at least one of the optionally several further lanes for the same direction of travel on a given page, preferably the right side, with respect to the currently used Lane track is located. This exam makes sense in terms of to any applicable legal driving requirement. The vehicle with The driver assistance system moves on one of the several lane tracks. Various Road lanes for one direction of travel are marked by markings distinguishable from each other on the road surface.

Next the presence of the other lane lane on the particular side is also the presence of vehicles on this lane relevant. The relevance of these other vehicles is based on the Thoughts that the danger or meaningfulness of a Change from the currently used lane to the next lane depends on whether there are more vehicles on the other Lane, and possibly also at which positions these other vehicles are and what speeds they have.

The various components of the control device can be arranged in a common housing; z. B. can the control device a central control unit or Parts of a central control unit correspond. This may optionally further except explained Exercise functions. Furthermore, it is possible that Components of the control device arranged separately from each other and by lines or other communication links with each other are connected.

According to a further development of the invention, the control device has an input for receiving image information from a camera oriented in the forward direction of the vehicle, wherein the lane detection component is designed to determine lanes of lane tracks using the image information. For this purpose, in particular a known per se algorithm for evaluating the image information for Use come.

In Development of the invention, the control device over an input for receiving position information of a positioning system, such as Galileo or GPS, and via an entrance to the Receiving map information of a digital map, which z. B. can be stored by the driver assistance system. Of the Lane departure detection component is in this development further adapted to determine whether the particular page in addition to the ak currently driven by the vehicle lane track another Lane lane for the same direction is located below Use of location information and map information. In this way, knowing the current whereabouts be taken from the vehicle of the digital map, whether a lane on the specific page.

In Embodiment of the invention has the control device over an input for receiving sensor data from a forward direction of the Vehicle-oriented sensor, wherein the vehicle detection component is designed to detect in front of and / or behind the vehicle other vehicles on the other lane track using the sensor data. The sensor may be z. B. one of the driver assistance system also for an ACC functionality used sensor act, z. For example, a lidar or radar sensor. The presence of other vehicles in front of the vehicle can be taken directly from the sensor data; on behind the vehicle Other vehicles may be using the sensor data from the change of position of these vehicles in relation be closed on the own vehicle.

In Embodiment of the invention has the control device over an input for receiving sensor data from a sideways direction of the Vehicle-oriented sensor, wherein the vehicle detection component is designed to detect further located next to the vehicle Vehicles on the other lane track using the sensor data. The sensor may be z. B. to one of the driver assistance system also for a tote-angle functionality or act a lane change assistant used sensor, for. B. order a lidar or radar sensor. Detecting next to the vehicle located further vehicles is not limited only on vehicles located exactly at the same driving height, but also includes shortly before or behind the vehicle on the other Lane lane located vehicles.

In Embodiment of the invention has the control device over an input for receiving sensor data from one in the reverse direction the vehicle-aligned sensor, wherein the vehicle detection component is designed to detect behind the vehicle other vehicles on the other lane track using the sensor data. The sensor may be z. B. one of the driver assistance system also for a lane change assistant used sensor act, z. For example, a lidar or radar sensor.

In Embodiment of the invention has the control device over an input for receiving information from other vehicles, wherein the vehicle detection component is configured to detect from other vehicles on the further lane track using the received information. As part of this inter-vehicle communication can z. B. the own current position to other vehicles are transmitted.

one Embodiment of the invention according to the vehicle detection component is designed to determine distances between the Vehicle and the other vehicles and / or speeds the other vehicles. The speeds may be around absolute sizes or relative speeds act on the own vehicle. According to this Design is limited to the detection of vehicles on the other lane not only on the mere Detecting their presence, but extends to the Determine their position and / or their speed. This can especially for the other embodiments and developments hold true.

In Embodiment of the invention, the signal shows a recommendation for Change from the lane currently used by the vehicle to the other lane. In this case, the driver can decide if he is coming to the recommendation of a lane change or remains on its lane. Alternatively it is It is possible that the signal is an advance warning to the driver represents that the driver assistance system in the following autonomous Change the lane track will make.

According to an embodiment of the invention, the decision component is adapted to decide in favor of outputting a signal after checking a condition that there is another lane track on the designated side besides the lane currently being traveled by the vehicle, and within a certain distance in front of the vehicle no other vehicle is located on the further lane. In In this case, it is possible to rely solely on the presence of the lane and a safe distance to the front. In addition, it is possible to extend the tested condition such that within a certain distance behind the vehicle no other vehicle is on the other lane. In this case, attention is paid to the provision of a safety distance on the further lane track both forward and backward. It may also be decided in favor of outputting a signal if, within a certain distance behind the vehicle, another vehicle is on the lane of the vehicle, or if there is another vehicle behind the vehicle at a certain speed on the lane of the vehicle. In this case, attention is paid not only to the additional lane, but to the situation behind the vehicle on the currently used lane. A very fast or very close vehicle on its own lane should encourage a lane change.

Of the Decision component may be designed to decide about the output of a signal to the driver of the vehicle under consideration of the Existence of a driver's obligation to use a lane on the specific page. This z. B. considered that such duty, d. H. a right-hand drive or left-hand drive bid, location dependent or speed dependent or may be street type dependent.

The inventive driver assistance system comprises a control device of the type explained and one or a plurality of sensors for detecting sensor data for detecting other vehicles on the other lane.

The Computer program product according to the invention has the functionality of a lane departure survey component to determine whether to be on a particular page next to the current one from the vehicle traffic lane another lane for the same direction of travel is located, as well as about the functionality a vehicle detection component for detecting others Vehicles on the other lane, and over the Functionality of a decision component for deciding about the output of a signal to the driver of the vehicle under consideration of detection results of the lane detection component and the vehicle detection component, wherein the signal is a change from the roadway currently used by the vehicle to the other Road lane concerns. Under a computer program product can in the context of the present invention in addition to the actual Computer program (with its beyond the normal physical Interaction between program and arithmetic unit beyond technical effect), in particular a record carrier for the computer program, a file library, a configured one Arithmetic unit, but also for example a memory device or a server belonging to the computer program Files are stored, understood.

at the method according to the invention is determined whether on a particular page next to the current of the vehicle traveled lane track another lane for the same direction of travel, there are more vehicles on the further lane track is detected, and it will go over the output a signal to the driver of the vehicle decided in dependence from the presence of the other lane lane and detected Vehicles. Here the signal concerns a change from the current one from the vehicle used lane to the other lane.

The Computer program product according to the invention and the Inventive methods are particularly suitable for the control device according to the invention, this also applies to the embodiments and developments can. For this they can take further suitable steps or Include functionalities.

in the The following is the invention with reference to an embodiment explained in more detail. Showing:

1 a driving situation with two lanes and several vehicles,

2 : a section of a driver assistance system.

In 1 the two lanes SP1 and SP2 are shown. The prescribed direction of travel of the vehicles 1 . 2 . 3 and 4 is for both lanes SP1 and SP2 to the left, so that it is the lane track SP1 to the left and the lane SP2 to the right of the two tracks.

• • Sind außerhalb geschlossener Ortschaften für eine Fahrrichtung drei oder mehrere Fahrbahnspuren vorhanden, so darf neben der rechten Fahrbahnspur auch die zweite Fahrbahnspur von rechts dort durchgängig befahren wer den, wo – auch nur hin und wieder – rechts davon ein Fahrzeug hält oder fährt.
• • In geschlossenen Ortschaften können Kraftfahrzeuge bis zu 3.5 Tonnen zulässiger Gesamtmasse die Fahrbahnspur frei wählen.

It is assumed that except for overtaking maneuvers there is a fundamental obligation to use the right-hand lane SP2. In Germany, the legal driving requirement is regulated in the Highway Code. It says that roads must be driven as far as possible to the right. Exceptions to the obligation to use the right lane SP2 are in Germany the following:

• • Are there three or more lanes for one direction of travel outside built-up areas Traces available, so next to the right lane track and the second lane track from the right there consistently driven to who, where - even now and then - to the right of a vehicle holds or drives.
• • In built-up areas, vehicles up to 3.5 tonnes gross vehicle weight can freely choose the lane.

Especially On highways, vehicles often use the left lane SP1, although the right lane SP2 is free or there are vehicles drive at a very large distance from each other. overtaking Vehicles on the left lane SP1 are affected by these "loiterers" hindered, from which dangerous situations can develop. For example, it is on the left lane SP1 Vehicle whose driver is careless, so he noticed from this Reason his offense against the legal driving requirement only then, when overtaking from a vehicle approaching from behind would like to be noted, for. B. by fading the headlight. By a caused thereby deterrent action The inattentive driver may experience an accident.

1 shows the situation that the vehicle is 1 , which with a fragmentary in 2 displayed driver assistance system is located on the left lane SP1. From behind, the vehicle is approaching 2 which wants to overtake. On the right lane SP2 is in front of the own vehicle 1 the vehicle 3 and behind the own vehicle 1 the vehicle 4 ,

The driver assistance system of the own vehicle 1 has a control device S, which can output information to the driver via an interface I. Via the human-machine interface I, a recommendation can be made to the driver to change to the right-hand lane SP2. The information transfer to the driver can be done in various ways, for. B. acoustically, z. B. by an advisory tone or a voice message, and / or visually, z. B. by lighting up the turn signal indicator "right" in the instrument cluster, and / or haptic, eg., By short light steering pulse to the right.

Before such a recommendation to change to the right lane lane SP2 is issued, the control device S decides whether to such change is safe. For this purpose, the control device S is on the systems SYS1, SYS2, SYS3, SYS4 and SYS5 are connected, which you the information IN1 or IN2 or IN3 or IN4 or IN5 to Make available. Based on an evaluation of the information IN1, IN2, IN3, IN4, IN5, the control device S decides whether to give the driver a recommendation to the lane change is.

In a basic variant, the control device S uses only the information IN1 and IN2. The information IN1 is information about whether to the right of the currently traveled lane SP1 another lane SP2 for the same direction is present. The system SYS1 can, for. B. include a camera for lane detection, which detects the lane lane markings. The detection range B1 of such a camera is in 1 shown schematically. Using an image processing or lane detection algorithm suitable for this purpose, the images recorded by the camera are evaluated and the lane boundary and / or the lane marking are thereby detected. Due to this detection, the course of road boundary and / or lane marking with respect to the own vehicle 1 known. For this purpose, known methods can be used, for. As described in the document WO 2007/002964 A2 , The SYS1 system can also be used for other driver assistance functions such as Lane Keeping Assist, Lane Keeping Assist, Lane Change Assist.

Is the lane marking to the right of your own vehicle 1 pulled through or is a roadside, z. B. as grassy or earthy area detected, so decides the control device S, that the own vehicle 1 already on the extreme right lane SP2. This means that the legal driving requirement is already complied with, so that there is no recommendation for the driver to change to a lane SP2 on the right. On the other hand, the lane marking is to the right of the own vehicle 1 dashed, the own vehicle is not on the rightmost lane SP2. A lane change to the right could be useful. This will be checked using more information.

alternative or in addition to camera-based lane detection a satellite-based global positioning system such as B. Galileo or GPS are used to determine whether to the right of the currently used lane SP1 another Lane SP2 is present. For this purpose, the system SYS1 a Receiver of the positioning system and a digital Card include, the digital card information about includes the available lanes.

The information IN2 is information about the distance from the own vehicle 1 away a preceding vehicle 3 located on the right lane SP2. The system SYS2 can z. B. an Ab level measurement sensors include, for example, a lidar sensor, radar sensor, laser scanner, a stereo camera, a monocamera. The detection range B2 of such a sensor is in 1 shown schematically. As in 1 can be seen, the detection range of the sensor is so large that not only the own, but also the adjacent lane track is detected. The sensor can z. B. also for an ACC (Adaptive Cruise Control, Abstandsregeltempomat) are used.

Since the information IN2 also includes vehicles on the same lane SP1 as the own vehicle 1 must concern, in addition to the distance between the own vehicle 1 and the vehicle 3 also be noted that or whether the vehicle 3 located on the right lane SP2. This finding can z. Example, as follows: from the information IN1 the course of the right lane SP2 is determined. On the basis of the information IN2, both the distance and the direction of the vehicle 3 relative to the own vehicle 1 determined so that the position of the vehicle 3 relative to the own vehicle 1 is known. This position can be projected in the course of the right-hand lane SP2, so as to determine whether the vehicle 3 located on the right lane SP2. Alternatively or additionally, from the steering angle information of a steering angle sensor and / or yaw rate information of a yaw rate sensor, the respective current turning radius of the driving movement of the own vehicle can be determined 1 be determined; Based on this curve radius, the further course of movement of the own vehicle 1 be predicted. Taking into account the width of the own vehicle 1 Thus, the probable vehicle path, ie the travel tube of the own vehicle 1 be determined. By projection of the relative position of the vehicle determined on the basis of the information IN2 3 in the driving hose of the own vehicle 1 is distinguishable, whether the vehicle 3 inside, left or right of the driving hose of the own vehicle 1 located. Is the vehicle located 3 to the right of the driving hose of the own vehicle 1 so it is assumed that the vehicle 3 on the right lane SP2 drives.

The information IN2 primarily concerns vehicles 3 , which are in front of the own vehicle 1 are located. It is possible to evaluate the information IN2 on these vehicles 3 to restrict. In addition, the information IN2 can be evaluated such that statements concerning itself behind the own vehicle 1 located vehicles 4 can be taken: a detected preceding vehicle 3 can be tracked using the distance measurement sensor, ie the movement of this vehicle 3 relative to the own vehicle 1 is continuously recorded and evaluated. As a result, in particular when passing this vehicle 3 the position of the vehicle within the adjacent lane SP2 will be further predicted, even if the vehicle 3 has already left the detection range of the distance measurement sensor. In this way, after driving past a vehicle previously detected by the distance measurement sensor 3 be estimated, at which distance behind the own vehicle 1 the vehicle has passed on the right lane SP2. This can be used to check when a passing on the right lane driving vehicle so far behind the own vehicle 1 is that a lane change to the right is possible safely.

As an alternative or in addition to the distance determination using the distance measurement sensor system, the relative position between the own vehicle 1 and a preceding vehicle 3 and optionally also between the own vehicle 1 and a subsequent vehicle 4 via a car-to-car communication, z. B. under notification of the satellite-based global position data of Galileo or GPS.

• • neben dem Eigenfahrzeug 1, oder
• • innerhalb eines Mindestabstand vor dem Eigenfahrzeug 1, und gegebenenfalls
• • in kleinem Abstand hinter dem Eigenfahrzeug 1 befindet, entscheidet die Steuervorrichtung S, dass über die Schnittstelle S an den Fahrer eine Empfehlung zum Fahrbahnspurwechsel nach rechts auszugeben ist.

Is determined using the information IN1 of the system SYS1 and the information IN2 of the system SYS2 that is right next to the own vehicle 1 a lane SP2 is located, and further that no other vehicle

• • next to the own vehicle 1 , or
• • within a minimum distance in front of the own vehicle 1 , and if necessary
• • at a small distance behind the own vehicle 1 is located, decides the control device S, that is to be issued via the interface S to the driver a recommendation for lane change to the right.

The minimum distance between the own vehicle 1 and a preceding vehicle 3 on the right lane track can z. B. be set by the driver or be specified as a fixed size. It should be the legal minimum safe distance of 0.9 seconds time gap, corresponding to a distance of 0.9 seconds multiplied by the current speed of the own vehicle 1 , do not fall short. The same applies to the distance to a following vehicle 4 , wherein this distance may be smaller than the minimum distance between the own vehicle 1 and a preceding vehicle 3 because usually the speed of the following vehicle 4 less than that of the own vehicle 1 ,

In addition to the information IN1 and IN2, the control device S may receive information IN3 from a system SYS3 for monitoring the blind spot area of the own vehicle 1 consider. The detection range B3 of a blind spot detection sensor is in 1 shown schematically; this covers the area immediately next to and behind the own vehicle 1 , The use of the information IN3 in addition to the information IN1 improves the detection of the presence of vehicles in the immediate vicinity next to or behind the own vehicle 1 because, according to the information IN3, the detection of a vehicle is based on direct sensor measurements, while according to the information IN1 only forecasts based on a tracked vehicle trajectory are set up.

In addition to the information IN1 and IN2, and optionally also to the information IN3, the control device S can take into account information IN4 from a lane change assistance system SYS4. The detection area B4 of a lane change assistance sensor is in 1 shown schematically; this covers the area diagonally behind the own vehicle 1 , The inclusion of the information IN4 improves the detection of the presence of vehicles behind the own vehicle 1 because the lane change assistance sensor also detects vehicles which are traveling at high speed on the right lane SP2 from behind the driver's own vehicle 1 approach. Such vehicles are not detectable by the information IN1 or IN3. Is determined on the basis of the information IN4 that a vehicle from the right behind the own vehicle 1 If there is no recommendation to change the lane to the right, even if the other information IN1, IN2 and IN3 makes a change appear sensible.

In addition to the information IN1 and IN2, and possibly also to the information IN3 and / or IN4, the control device S can take into account information IN5. The information IN5 is information about the distance from the own vehicle 1 one behind the own vehicle 1 moving vehicle 2 located on the left lane SP1. The system SYS5 includes a distance measurement sensor, such as a lidar sensor, radar sensor, laser scanner, a stereo camera, a monocamera. The detection range B5 of such a sensor is in 1 shown schematically. If the information IN5 indicates that another vehicle 2 in such a small distance behind the own vehicle 1 or with such a great approach speed to the own vehicle 1 exists, so this vehicle 2 the own vehicle 1 To overhaul, can to avoid a dangerous driving situation by too tight driving up of the following vehicle 2 the recommendation to change the lane to the right is issued even if the safety distances to the vehicles located on the right lane SP2 3 and 4 are sufficiently large, even if usually a recommendation for lane change changes to the right only at greater distances. The recommendation is in this case, the driver on the following at close range or at high speed approaching vehicle 2 to draw attention. If necessary, a more insistent way of submitting the recommendation to the driver can be chosen for this situation.

There under certain circumstances vehicles clear the lane to vote, d. H. no legal driving license to observe is, before issuing a Einscherempfehlung from the controller S be checked if the functionality of the lane change recommendation currently made available who or disabled should. Because z. B. in built-up areas motor vehicles up to 3.5 tonnes permissible total mass not the legal driving requirement subject, it is possible for these vehicles the functionality only from a speed of z. B. 60 km / h to activate. Alternative to the speed-dependent Activation it is possible, based on the current position, which z. B. via GPS or Galileo available is, in conjunction with the street information of the digital Map determine if the vehicle is due to his stay within a closed locality the free lane track choice Has.

The presented driver assistance system allows the driver to to consider the legal driving requirement by taking into account the current driving situation automatically a recommendation to change the lane track is output to the right, if not the positioning and, where appropriate, the speed of other vehicles on the Right lane track speaks against such a change. The Driving situation is here by fusion of known information or Sensor data determined. The driver is thus in the assessment supported the driving situation. violations against the legal driving requirement are avoided. This will be the hindrance of subsequent vehicles that overtake the own vehicle want, reduced; dangerous situations through Close up and fade the headlights of the following Vehicles do not arise.

The The invention has been described in an embodiment described. It is understood that many changes and modifications are possible without the scope of the Is left invention. In particular, the invention is also on a left-hand drive requirement applicable.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• WO 2007/002964 A2 [0033]

Claims (18)

Control device (S) for a driver assistance system for a vehicle ( 1 ), with a lane departure detection component for determining whether on a particular page next to the current one of the vehicle ( 1 ) lane track (SP1) another lane track (SP2) for the same direction of travel, a vehicle detection component for detecting other vehicles ( 3 . 4 ) on the further lane (SP2), a decision component for deciding on the output of a signal to the driver of the vehicle (SP2) 1 ) taking into account determination results of the lane departure determination component and the vehicle determination component, the signal indicating a change from the current state of the vehicle ( 1 ) traffic lane (SP1) to the other lane track (SP2) concerns. Control device (S) according to claim 1, having an input for receiving image information (IN1) from a forward direction of the vehicle ( 1 ), wherein the lane departure detection component is adapted to determine lanes of lane lanes (SP1, SP2) using the image information (IN1). A control device (S) according to claim 1 or 2, having an input for receiving position information of a positioning system, having an input for receiving map information of a digital map, the lane departure determination part being adapted to determine whether the particular page is next to the current one from the vehicle ( 1 ) traveled lane (SP1) another lane track (SP2) for the same direction of travel is using the position information and map information. Control device (S) according to one of Claims 1 to 3, having an input for receiving sensor data (IN2) from a forward direction of the vehicle ( 1 ) sensor, wherein the vehicle detection component is designed to detect in front of and / or behind the vehicle ( 1 ) further vehicles ( 3 . 4 ) on the further lane (SP2) using the sensor data (IN2). Control device (S) according to one of Claims 1 to 4, having an input for receiving sensor data (IN3) from a vehicle in the sideways direction (S) ( 1 ) sensor, wherein the vehicle detection component is designed to detect adjacent to the vehicle ( 1 ) located on the further lane (SP2) using the sensor data (IN3). Control device (S) according to one of Claims 1 to 5, having an input for receiving sensor data (IN4) from a vehicle in the backward direction ( 1 ), wherein the vehicle detection component is designed to detect behind the vehicle ( 1 ) further vehicles ( 4 ) on the further lane (SP2) using the sensor data (IN4). Control device (S) according to one of claims 1 to 6, having an input for receiving information from other vehicles ( 3 . 4 ), wherein the vehicle determination component is designed to detect further vehicles ( 3 . 4 ) on the further lane (SP2) using the received information. A control device (S) according to any one of claims 1 to 7, wherein the vehicle determination component is adapted to determine distances between the vehicle ( 1 ) and the other vehicles ( 3 . 4 ) and / or speeds of the other vehicles ( 3 . 4 ). Control device (S) according to one of claims 1 to 8, wherein the signal is a recommendation for the change of the current from the vehicle ( 1 ) traffic lane (SP1) to the other lane track (SP2) indicates. Control device (S) according to one of claims 1 to 9, wherein the decision component is adapted to decide in favor of the output of a signal after checking a condition that • on the specific side next to the current of the vehicle ( 1 ) lane (SP1) is another lane (SP2) for the same direction of travel, and • within a certain distance in front of the vehicle ( 1 ) no other vehicle ( 3 ) is located on the further lane (SP2). Control device (S) according to claim 10, wherein the decision component is arranged to decide in favor of outputting a signal after checking a condition that • within a certain distance behind the vehicle ( 1 ) no other vehicle ( 4 ) is located on the further lane (SP2). Control device (S) according to claim 10 or 11, wherein the decision component is adapted to decide in favor of outputting a signal after checking a condition that • within a certain distance behind the vehicle ( 1 ) another vehicle ( 2 ) on the lane (SP1) of the vehicle ( 1 ), or • behind the vehicle ( 1 ) another vehicle ( 2 ) at a certain speed on the lane (SP1) of the vehicle ( 1 ) is located. Control device (S) according to one of claims 1 to 12, wherein the decision component is designed to decide on the output of a signal to the driver of the vehicle ( 1 ) Checking the existence of a driver's obligation to use a lane lane (SP2) on the specified page. Control device (S) according to one of the claims 1 to 13, where the particular page is the right side is. Control device (S) according to one of the claims 1 to 13, where the particular page is the left side is. Driver assistance system for a vehicle ( 1 ), with a control device (S) according to one of claims 1 to 15, and at least one sensor for detecting sensor data for detecting further vehicles ( 3 . 4 ) on the further lane (SP2). Computer program product for a driver assistance system for a vehicle ( 1 ), with a lane departure detection component for determining whether on a particular page next to the current one of the vehicle ( 1 ) lane track (SP1) another lane track (SP2) for the same direction of travel, a vehicle detection component for detecting other vehicles ( 3 . 4 ) on the further lane (SP2), a decision component for deciding on the output of a signal to the driver of the vehicle (SP2) 1 ) taking into account determination results of the lane departure determination component and the vehicle determination component, the signal indicating a change from the current state of the vehicle ( 1 ) traffic lane (SP1) to the other lane track (SP2) concerns. Method for operating a driver assistance system for a vehicle ( 1 ), where it is determined whether on a particular page next to the current vehicle ( 1 ) lane (SP1) is another lane (SP2) for the same direction of travel, other vehicles ( 3 . 4 ) on the further lane (SP2), via the output of a signal to the driver of the vehicle ( 1 ) is decided on the basis of the presence of the further traffic lane (SP2) and of detected vehicles ( 3 . 4 ), the signal being a change from the current one of the vehicle ( 1 ) traffic lane (SP1) to the other lane track (SP2) concerns.