DE102010002067A1 - Driver assistance method for a motor vehicle with a guidance assistance function - Google Patents

Abstract

The invention relates to a driver assistance method for a motor vehicle (1) with a lane guidance assistance function that supports the driver of the motor vehicle (1) in keeping the lane (6a) along a target trajectory (5), and with a method for detecting an impending lane change of the motor vehicle ( 1) by evaluating at least one predetermined criterion. If an upcoming lane change is detected, the target trajectory (5) is adapted such that it leads to the new lane (6b) as a lane change trajectory (5 ').

Description

The invention relates to a driver assistance method for a motor vehicle having a tracking assistance function, which supports the driver of the motor vehicle while holding the lane along a desired trajectory, in particular by means of an additional steering torque.

Lane assistance systems are known from the prior art, in which the driver of a motor vehicle is assisted in tracking by an additional torque on the steering wheel. The required lane data are provided, for example, by an environment sensor system, in particular in the form of radar or camera systems. With such sensor systems, the position and movement of the motor vehicle relative to its environment can be detected by measurement. In addition, camera systems are available which recognize the course of the road in front of the motor vehicle on the basis of existing road markings and output the position of the motor vehicle relative to the traffic lane. Taking into account such data, certain driving situations such as a lane change or the slow approach to a neighboring lane can be detected.

Systems that actively assist the driver in providing directional guidance in keeping the vehicle and lane in motion are also referred to as LKS (Lane Keeping Support) systems.

In the DE 10 2004 039 142 A1 a method for assisting the driving of a motor vehicle in the tracking is specified in which at least one associated with the distance of the vehicle to the lane boundary tracking parameter for the motor vehicle is determined and depending on the tracking size, a driver independent steering wheel torque is exerted on the steering wheel. In this case, the tracking variable is a measure of the time that the motor vehicle requires while maintaining the current driving state until reaching the lane boundary.

In known tracking assistance systems, the additional torque is shut down in the event of a lane change and reactivated after reaching the new lane. Thus, there is disadvantageously no support available during the lane change, which is uncomfortable for the driver.

Proceeding from this, the present invention has the object to provide a driver assistance method of the type mentioned, which avoids the disadvantages of the prior art, especially during a lane change remains active.

This object is achieved by a driver assistance method for a motor vehicle with a tracking assistance function, which supports the driver of the motor vehicle while holding the lane along a desired trajectory and solved by a method for detecting an imminent lane change of the motor vehicle by evaluating at least one predetermined criterion, wherein at a recognized upcoming lane change the target trajectory is adjusted so that it leads as a lane change trajectory from the previous lane to the new lane.

By the measures according to the invention known tracking assistance systems are extended to the effect that when detected lane change intention of the driver of the motor vehicle, the desired trajectory, which normally corresponds to the lane center, is changed so that it passes to the secondary lane. Thus, the tracking assistance system can remain active during the lane change, resulting in a significant increase in safety and a comfort improvement. To assist the driver in keeping the lane along the desired trajectory different methods are available. On the one hand, an additional steering torque can be added to the other, the angular sizes such as Radlenkwinkel or steering wheel angle can be influenced accordingly.

It is advantageous if the direction indicator of the motor vehicle, in particular in the corresponding direction in which the previous lane is left, and / or with a predeterminable frequency and duration, preferably while the motor vehicle drives along the lane change trajectory is automatically set in a recognized imminent lane change ,

The direction indicator or turn signal of a motor vehicle must be manually operated at each lane change. However, this can be missed by the driver or be omitted for convenience, which violates the traffic regulations on the one hand and on the other can endanger other road users. In an advantageous embodiment of the invention, therefore, if on the basis of at least one criterion an imminent lane change is detected, the turn signal is automatically set in the appropriate direction. A manual operation of the turn signal by the driver remains possible. As a result, vehicles in the vicinity of the vehicle equipped with the assistance system can detect the lane change intention of the driver, even if the driver has failed to set the turn signal manually. While the motor vehicle or the driver is on the lane change trajectory, the turn signal be automatically activated in the respective direction.

Depending on the application, the turn signal can be active different times or for different lengths. So it is possible to specify a certain, fixed number of flashes or keep the turn signal active until a termination criterion comes into play, such. B. reaching the lane center of the new lane. Furthermore, it would be possible to distinguish between the flashing and hazard warning flashing (on both sides) via the type of lane marking determined by the camera system. If a lane change is detected by a solid line, not the turn signal, but the hazard warning lights could be activated. Sonach can be issued on a solid lane line with a detected imminent lane change a special warning signal.

According to the invention, it may further be provided that, in the case of a recognized imminent lane change, the setpoint trajectory is adapted only if the driver has previously set the direction indicator of the motor vehicle in the corresponding direction in which the previous lane is left.

In this embodiment, the turn signal serves as a prerequisite for performing an assisted lane change, i. H. This is only performed if at least one predetermined criterion is met and the driver has previously set the turn signal.

It is advantageous if, with the tracking assistance function deactivated, the lane change is detected and appropriately stored by the driver without assistance, wherein the stored data on the lane change executed by the driver without assistance during planning of the lane change trajectory are taken into account such that the lane change trajectory is taken into account the lane change behavior of the driver is adjusted. Lane changes made by the driver when the assistance system is deactivated can be stored, eg. B. in the form of a trajectory, some characteristic waypoints or only in the form of the selected angle to the road. If the assistance system is activated or reactivated, the lane change trajectory to be planned by the system is adapted to the lane change behavior of the driver in consideration of this data, which advantageously leads to an increase in the acceptance of the system by the driver.

• – Daten hinsichtlich der aktuellen Verkehrssituation von wenigstens einer Sensoreinrichtung des Kraftfahrzeugs zur Erfassung des Fahrzeugumfelds;
• – Daten eines globalen Positionsbestimmungssystems bzw. GPS, insbesondere in Verbindung mit einer vorhandenen digitalen Straßenkarte; und/oder
• – Über Car-to-Car-Kommunikation zur Verfügung gestellten Daten berücksichtigt werden.

When planning the lane change trajectory, you can:

• - Data regarding the current traffic situation of at least one sensor device of the motor vehicle for detecting the vehicle environment;
• Data of a global positioning system or GPS, in particular in connection with an existing digital road map; and or
• - Data taken over car-to-car communication are taken into account.

As a result of these measures, the trajectory planning is additionally carried out, taking into account the traffic situation in the surroundings of the vehicle known by corresponding environment sensors. Data from a global positioning system by satellites in connection with a digital road map or the like can also be incorporated into the trajectory planning. Likewise, data provided via car-to-car communication can be used.

It is very advantageous if, in the at least one predetermined criterion, data from at least one sensor device of the motor vehicle is taken into account for detecting the vehicle environment.

By means of the data provided by the environmental sensor system, an imminent lane change, intentional or unintentional, can be detected. The at least one sensor device of the motor vehicle can be designed as a video camera, in particular CCD camera or CMOS camera or as another object detection sensor, in particular radar sensor or lidar sensor.

Below are given different options for given criteria for detecting an imminent lane change of the motor vehicle.

As a given criterion, an upcoming lane change can be detected in a simple manner when the turn signal of the motor vehicle is set by the driver.

Alternatively or additionally, an imminent lane change can be detected as a predefined criterion if the relative yaw angle to the lane currently being traveled by the motor vehicle exceeds a specific threshold value, whereby it is recognized in particular by the sign of the relative yaw angle whether the current lane is to the left or to the right will leave.

Alternatively or additionally, the time duration (time-to-lane crossing / TLC) until leaving the current lane can be used as a predefined criterion, with an imminent one Lane change is detected when the time falls below a set limit. For this purpose, from the data or signals of the at least one sensor device of the motor vehicle and further vehicle movement data, in particular by means of polynomials or clothoid approaches, the course of the current lane and the course of the current vehicle trajectory can be determined, taking into account the width of the motor vehicle, the distance to the intersection the two courses is determined and wherein by means of the current vehicle longitudinal speed, the time duration is determined until leaving the current lane.

Thus, as a criterion, the so-called time-to-lane crossing can be calculated. By means of polynomials or clothoid approaches, the courses of the road trajectory and the vehicle trajectory are determined from the sensor data or camera data and from the vehicle motion sensor system. Taking into account the road width and the vehicle width, the distance is calculated up to the intersection of the two curves. The vehicle speed can then be used to calculate the time until leaving the lane. If this value falls below a defined limit, there is a lane change.

Alternatively or additionally, the distance between the vehicle side and the roadway edge (distance-to-line crossing / DLC) can be used as a predetermined criterion, which, taking into account the road width and the width of the motor vehicle, determines from the lateral deviation between the vehicle center of gravity and the center of the lane is detected, with an upcoming lane change is detected when the distance falls below a predetermined limit over a predetermined period of time.

As another criterion, the so-called Distance-to-Line-Crossing (DLC) can be used. Here, taking into account the vehicle and road width, the distance between the vehicle side and the road edge is calculated from the lateral deviation between the vehicle center of gravity and the center of the lane. If this falls below a certain value over an applicable period of time, then there is a lane change.

Furthermore, the lateral deviation between the center of gravity of the vehicle and the middle of the lane can be used directly as a predefined criterion, it being recognized on the basis of the type of change of sign of the lateral deviation during a lane change whether the current lane is left to the left or to the right.

Furthermore, a lane change can be detected directly from the lateral distance between the vehicle center of gravity and the center of the lane. This size has a sign change during the lane change, which can be easily recognized. From the type of change (positive to negative or vice versa) can be detected whether the track is left to the right or to the left.

Alternatively or additionally, as a predetermined criterion, in particular by means of clothoid approaches, the course of the current lane and the course of the vehicle trajectory in a look-ahead point in front of the motor vehicle can be determined, an imminent lane change being detected if the lateral distance between the course of the vehicle trajectory and the course the current lane in the look-ahead point exceeds a predetermined limit over a predetermined period of time. By means of clothoid approaches, the courses of the vehicle trajectory and the roadway can be calculated in a look-ahead point in front of the motor vehicle. This point can be defined over a distance or over a period of time. If the lateral distance between the vehicle trajectory and the course of the lane in the forward look-up point exceeds a limit value over a certain period of time, the lane change intention of the driver can be derived therefrom.

In addition, trajectories or other information of further objects located in the vehicle surroundings of the motor vehicle, which are detected in particular by means of an object detection sensor of the motor vehicle, can be evaluated as a predetermined criterion.

In addition to the pure position of other objects detected, in particular by an object detection sensor of the motor vehicle, it is of course also possible to use further information or data from further objects or from other objects as a criterion. For example, it can be determined by means of a camera system whether a preceding vehicle has set the turn signal in an appropriate direction as an object and intends to make a lane change on its own. In addition, data that is received via a car-to-car communication can also be taken into account.

• – eine Warneinrichtung des Kraftfahrzeugs, insbesondere eine Warnblinkanlage oder eine Hupe des Kraftfahrzeugs aktiviert werden;
• – bei Vorhandensein eines Fahrdynamikregelsystems des Kraftfahrzeugs ein korrigierender oder kollisionsvermeidender Eingriff durch dieses eingeleitet werden; und/oder
• – die Informationen über den erkannten bevorstehenden Fahrspurwechsel über weitere Informationskanäle, insbesondere über eine Car-to-Car-Kommunikation auch an andere Fahrzeuge weitergeleitet werden.

Furthermore, with a detected upcoming lane change:

• - A warning device of the motor vehicle, in particular a hazard warning lights or a horn of the motor vehicle are activated;
• - in the presence of a driving dynamics control system of the motor vehicle, a corrective or collision avoiding intervention initiated by this; and or
• - The information about the detected imminent lane change via further information channels, in particular via a car-to-car communication are also forwarded to other vehicles.

It is conceivable that the information about the upcoming lane change is forwarded via other information channels (eg car-to-car communication). It is also a networking with other assistance systems, such. As a vehicle rearview monitoring, possible. If this system recognizes that a lane change leads to an accident or another critical situation, further warnings such as the automatic activation of the horn or even interventions by vehicle dynamics control systems can be initiated.

Claim 16 specifies an electronic control unit of a motor vehicle for carrying out the driver assistance method according to the invention.

Advantageous embodiments and modifications of the invention will become apparent from the dependent claims. The following is an exemplary embodiment of the invention described in principle with reference to the drawing.

Show it:

1 a schematic representation of a motor vehicle on which runs a driver assistance method according to the invention;

2 a simplified schematic representation of a change in trajectory planning by the driver assistance method according to the invention when detected lane change request;

3 a simplified representation to illustrate a first criterion for detecting an upcoming lane change;

4 a simplified representation to illustrate a second criterion for detecting an upcoming lane change; and

5 a simplified representation to illustrate a third criterion for detecting an upcoming lane change.

1 shows a motor vehicle 1 with direction indicators 2 . 3 and a tracking assistance system 4 with a sensor device 4a and an electronic control unit 4b on which a driver assistance method according to the invention for the motor vehicle 1 with a lane assist function, which is the driver of the motor vehicle 1 while keeping the lane supported along a desired trajectory, expires. The sensor device is a CCD camera 4a educated. Furthermore, the sensor device could 4a Also be designed as a CMOS camera, radar sensor or Lidarsensor or as an object detection sensor.

In the driver assistance method according to the invention runs a method for detecting an imminent lane change of the motor vehicle 1 by evaluating at least one predetermined criterion, wherein in the case of a recognized imminent lane change, such as 2 visible, the desired trajectory 5 is adapted to be used as lane change trajectory 5 ' from the previous lane 6a on the new lane 6b leads. On the new lane 6b is the desired trajectory by the reference numeral 5 '' Mistake. The previous lane 6a has the width b _ego . The new lane 6b has the width b _{NB, left} . The distance of the motor vehicle 1 until the lane crossing is with d _{LC, 1} and the distance from the lane crossing to the middle of the lane of the new lane 6b is denoted by d _{LC, 2} . The lane change trajectory 5 can, as in 2 shown to be a linear function, but also described by a polynomial or other mathematical function.

In the case of a recognized imminent lane change, the direction indicator 2 . 3 of the motor vehicle 1 , in particular in the corresponding direction and / or with a predeterminable frequency and duration, preferably while the motor vehicle 1 along the lane change trajectory 5 ' drives, be set automatically.

In further exemplary embodiments, it may be provided that, in the case of a recognized imminent lane change, the desired trajectory 5 adjusted only if the driver previously the direction indicator 2 . 3 of the motor vehicle 1 in the appropriate direction (in 2 for example to the left).

If the tracking assistance function is deactivated, lane changes performed by the driver without assistance can be detected and stored in a suitable manner, with the tracking assistance activated or reactivated, this stored data on the lane change performed by the driver without assistance in the planning of the lane change trajectory 5 ' be taken into account such that the lane change trajectory 5 ' adapted to the lane change behavior of the driver.

• – Daten hinsichtlich der aktuellen Verkehrssituation von der Sensoreinrichtung 4a des Kraftfahrzeugs 1;
• – Daten eines nicht dargestellten globalen Positionsbestimmungssystems bzw. GPS, insbesondere in Verbindung mit einer vorhandenen digitalen Straßenkarte; und/oder
• – über Car-to-Car-Kommunikation zur Verfügung gestellte Daten berücksichtigt werden.

When planning the lane change trajectory 5 ' can:

• - Data regarding the current traffic situation of the sensor device 4a of the motor vehicle 1 ;
• Data of a global positioning system or GPS, not shown, in particular in connection with an existing digital road map; and or
• - be taken into account via car-to-car communication provided data.

In the at least one predetermined criterion, data from the sensor device 4a of the motor vehicle 1 be taken into account for recording the vehicle environment.

As a given criterion, an imminent lane change can be easily detected if the direction indicator 2 . 3 of the motor vehicle 1 is set by the driver.

Alternatively or additionally, an imminent lane change can be detected as a predefined criterion if the relative yaw angle ψ _rel to the current of the motor vehicle 1 busy lane 6a exceeds a certain threshold, in particular by the sign of the relative yaw angle ψ _{rel is} detected, whether the current lane 6a left to the left or to the right. This is exemplary in 3 where Δy is the lateral distance to the center of the lane 7 , b _ego the lane width of the previous lane 6a and R represents the radius of curvature.

Alternatively or additionally, the time duration (time-to-lane crossing / TLC) until leaving the current lane can be used as a predetermined criterion 6a be used, with an upcoming lane change is detected when this period falls below a set limit. For this purpose, from the camera data or the data of the sensor device 4a of the motor vehicle 1 and further vehicle movement data, in particular by means of polynomials or clothoid approaches, such as 4 can be seen, the course y _S (s) of the current lane 6a and the course y _F (s) of the current vehicle trajectory are determined, taking into account the width of the motor vehicle 1 the distance to the point of intersection 8th the two courses or curves y _S (s), y _F (s) is determined and wherein by means of the current vehicle longitudinal speed, the time duration until leaving the current lane 6a is determined. The vehicle's center of gravity is with the reference numeral 9 Mistake.

Alternatively or additionally, as a given criterion as in 5 indicated the distance y ₀ between the vehicle side and the edge of the roadway 6a used, taking into account the road width b _Ego and the width of the motor vehicle 1 from the lateral deviation Δy between the vehicle center of gravity 9 and the lane center 7 is determined, wherein an upcoming lane change is detected when the distance y ₀ falls below a predetermined value over a predetermined period of time.

Furthermore, alternatively or additionally, as a predetermined criterion, the lateral deviation Δy between the vehicle's center of gravity can be determined directly 9 and the lane center 7 are used, it being recognized on the basis of the nature of the sign change of the lateral deviation .DELTA.y during a lane change, whether the current lane 6a left to the left or to the right.

Furthermore, alternatively or additionally, as a predetermined criterion by means of clothoid approaches, the course y _S (s) of the current traffic lane 6a and the curve y _F (s) of the vehicle trajectory in a look-ahead point in front of the motor vehicle 1 are determined, wherein an upcoming lane change is detected when the lateral distance between the course y _F (s) of the vehicle trajectory and the course y _S (s) of the current lane 6a in advance point over a predetermined period exceeds a specified limit.

Furthermore, as a given criterion trajectories or other information of the in the vehicle environment of the motor vehicle 1 located further objects, which in particular by means of the sensor device 4a as an object detection sensor of the motor vehicle 1 be detected, evaluated (not shown in detail).

• – eine Warneinrichtung des Kraftfahrzeugs 1, insbesondere eine Warnblinkanlage oder eine Hupe des Kraftfahrzeugs 1, aktiviert werden;
• – bei Vorhandensein eines Fahrdynamikregelsystems des Kraftfahrzeugs 1 ein korrigierender oder kollisionsvermeidender Eingriff durch dieses eingeleitet werden; und/oder
• – die Information über den erkannten bevorstehenden Fahrspurwechsel über weitere Informationskanäle, insbesondere über eine Car-to-Car-Kommunikation weitergeleitet werden.

In case of a recognized imminent lane change:

• - A warning device of the motor vehicle 1 , in particular a hazard warning lights or a horn of the motor vehicle 1 , to be activated;
• - In the presence of a vehicle dynamics control system of the motor vehicle 1 a corrective or collision avoiding intervention is initiated by this; and or
• - The information about the detected imminent lane change on further information channels, in particular via a car-to-car communication are forwarded.

LIST OF REFERENCE NUMBERS

1

motor vehicle

2, 3

Direction indicators

4

Tracking assistance system

4a

sensor device

4b

electronic control and regulating device

5, 5 ''

desired trajectories

5 '

Spurwechseltrajektorie

6a

previous lane

6b

new lane

7

lane center

8th

Intersection of the curves y _F (s) y _S (s)

9

Center of gravity

b _{NB, links}

Width of the new lane

b _ego

Width of the previous lane

ψrel

relative yaw angle

R

radius of curvature

Dy

lateral distance to the center of the lane

y _F (s)

Course of the current target trajectory

y _S (s)

Course of the current lane

y ₀

Distance between the side of the vehicle and the edge of the road

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102004039142 A1 [0004]

Claims (16)

Driver assistance method for a motor vehicle ( 1 ) with a guidance assistance function, which the driver of the motor vehicle ( 1 ) while keeping the lane ( 6a ) along a desired trajectory ( 5 ) and a method for detecting an imminent lane change of the motor vehicle ( 1 ) by evaluating at least one predetermined criterion, wherein in the event of a recognized imminent lane change, the desired trajectory ( 5 ) is adapted to be used as a lane change trajectory ( 5 ' ) to the new lane ( 6b ) leads. Driver assistance method according to claim 1, characterized in that when a recognized imminent lane change the direction indicator ( 2 . 3 ) of the motor vehicle ( 1 ), in particular in the corresponding direction and / or with a predefinable frequency and duration, preferably while the motor vehicle ( 1 ) along the lane change trajectory ( 5 ' ), is set automatically. Driver assistance method according to claim 1 or 2, characterized in that, in the case of a recognized imminent lane change, the desired trajectory ( 5 ) is adjusted only if the driver previously selected the direction indicator ( 2 . 3 ) of the motor vehicle ( 1 ) has set in the appropriate direction. Driver assistance method according to claim 1, 2 or 3, characterized in that when disabled tracking assistance function detected by the driver without support lane changes are stored and stored properly, with activated tracking assistance function, the stored data on the lane change performed by the driver without assistance in planning the lane change trajectory ( 5 ' ) are taken into account such that the lane change trajectory ( 5 ' ) is adapted to the lane change behavior of the driver. Driver assistance method according to one of claims 1 to 4, characterized in that during the planning of the lane change trajectory ( 5 ' ): - data relating to the current traffic situation of at least one sensor device ( 4a ) of the motor vehicle ( 1 ) for detecting the vehicle environment; Data of a global positioning system or GPS, in particular in connection with an existing digital road map; and / or - data provided via car-to-car communication. Driver assistance method according to one of claims 1 to 5, characterized in that in the at least one predetermined criterion, data from at least one sensor device ( 4a ) of the motor vehicle ( 1 ) are taken into account for recording the vehicle environment. Driver assistance method according to one of claims 1 to 6, characterized in that as a predetermined criterion an imminent lane change is detected when the direction indicator ( 2 . 3 ) of the motor vehicle ( 1 ) is set by the driver. Driver assistance method according to one of claims 1 to 7, characterized in that as a predetermined criterion an imminent lane change is detected when the relative yaw angle (ψ _rel ) to the current of the motor vehicle ( 1 ) traffic lane ( 6a ) exceeds a certain threshold value, it being recognized in particular on the basis of the sign of the relative yaw angle (ψ _rel ) whether the current traffic lane ( 6a ) is left to the left or to the right. Driver assistance method according to one of claims 1 to 8, characterized in that as a predetermined criterion, the time duration (time-to-lane crossing / TLC) until leaving the current lane ( 6a ) is used, wherein an upcoming lane change is detected when the time duration falls below a predetermined limit. Driver assistance method according to claim 9, characterized in that from the data of the at least one sensor device ( 4a ) of the motor vehicle ( 1 ) and further vehicle movement data, in particular by means of polynomials or clothoid approaches, the course (y _S (s)) of the current traffic lane ( 6a ) and the course (y _F (s)) of the current vehicle trajectory, taking into account the width of the motor vehicle ( 1 ) the distance is determined up to the point of intersection of the two courses (y _S (s), y _F (s)), and wherein by means of the current vehicle longitudinal speed the time until leaving the current lane ( 6a ) is determined. Driver assistance method according to one of claims 1 to 10, characterized in that as a predetermined criterion of the distance (y ₀ ) (Distance-to-Line-Crossing / DLC) between the vehicle side and the edge of the road is used, which taking into account the road width (b _Ego ) and the width of the motor vehicle ( 1 ) from the lateral deviation (Δy) between the vehicle center of gravity (Δy) 9 ) and the center of the lane ( 7 ) is determined, wherein an upcoming lane change is detected when the distance (y ₀ ) falls below a predetermined limit over a predetermined period of time. Driver assistance method according to one of claims 1 to 11, characterized in that as given criterion directly the lateral deviation (Δy) between the vehicle's center of gravity ( 9 ) and the center of the lane ( 7 ) is used, it being detected on the basis of the type of change of sign of the lateral deviation (Δy) during a lane change whether the current lane ( 6a ) is left to the left or to the right. Driver assistance method according to one of claims 1 to 12, characterized in that as a predetermined criterion, in particular by means of clothoid approaches, the course (y _S (s)) of the current traffic lane ( 6a ) and the course (y _F (s)) of the vehicle trajectory in a look-ahead point in front of the motor vehicle ( 1 ), wherein an upcoming lane change is detected when the lateral distance between the course (y _F (s)) of the vehicle trajectory and the course (y _S (s)) of the current lane ( 6a ) exceeds a fixed limit over a given period of time. Driver assistance method according to one of claims 1 to 13, characterized in that as a predetermined criterion trajectories or other information in the vehicle environment of the motor vehicle ( 1 ) located further objects, which in particular by means of an object detection sensor ( 4a ) of the motor vehicle ( 1 ) are detected, evaluated. Driver assistance method according to one of claims 1 to 14, characterized in that in the case of a recognized imminent lane change: - a warning device of the motor vehicle ( 1 ), in particular a hazard warning device or a horn of the motor vehicle ( 1 ) to be activated; - in the presence of a driving dynamics control system of the motor vehicle ( 1 ) a corrective or collision avoiding intervention is initiated by this; and / or - the information about the detected upcoming lane change is forwarded via further information channels, in particular via a car-to-car communication. Electronic control unit ( 4b ) of a motor vehicle ( 1 ) for carrying out a driver assistance method according to one of claims 1 to 15.

Images