CN113753027A - Method for assisting a driver of a motor vehicle, output device, controller and motor vehicle - Google Patents

Abstract

The invention proposes a method for assisting a driver of a vehicle (10), comprising a learning phase in which a driving maneuver is implemented, at which the driver manually steers the vehicle, wherein the vehicle (10) is brought from a first starting position (20) into a target position (30) along a first trajectory (45), wherein information about the first trajectory (45) is stored, characterized in that a current steering angle of the vehicle (10) is periodically sensed during the learning phase and compared with a predetermined steering angle extreme value, wherein a notification is output to the driver of the vehicle (10) if a difference between the current steering angle and the extreme steering angle is below a predetermined extreme value, and wherein, -if the current steering angle reaches or exceeds the limit steering angle, the learning phase is interrupted or the learning phase is restarted, and/or the first trajectory (45) is adapted and/or the starting position (20) is adapted. The invention also provides an output device, a controller and a motor vehicle.

Description

Method for assisting a driver of a motor vehicle, output device, controller and motor vehicle

Technical Field

The invention relates to a method for assisting a driver of a motor vehicle in performing a driving maneuver. The invention also relates to a computer program product capable of implementing such a method. The invention also relates to a control unit that can carry out a method for assisting a driver of a motor vehicle, and to a motor vehicle comprising such a control unit.

Background

Semi-automatic parking systems have been mass produced for several years: the driver drives the vehicle along a parking space, and the parking system identifies the free parking space by means of a side-mounted sensor (e.g. an ultrasonic sensor). The driver parks and cuts into reverse gear, and the parking system takes over control of the steering wheel and controls the vehicle into the parking space. The driver must step on the accelerator and brake himself. An extension of this principle is that the driver no longer has to step on the gas and brake by himself. The parking system can also take over this, for example by directly intervening in the longitudinal guidance-actuating devices (brake, engine control) of the vehicle. The parking of the vehicle into the parking space is controlled fully automatically.

Furthermore, systems are known in which, only once, learning is done, where a determined parking space is located, for example a home garage. Following the learning process, the driver must bring the vehicle to a previously learned parking location or near a target location. The parking system recognizes that a learned trajectory to the target parking space is present in the memory. If the driver activates the parking function, the system autonomously identifies the current position relative to the target position and moves the vehicle from the current position to the learned parking position or target position in a fully or partially automatic manner. Such systems are also known in the art under the terms "automated garage parking" or "home area".

Thus, DE 102012008858 a1 describes a method for carrying out an autonomous parking process of a motor vehicle, in which a communication connection exists between an operator located outside the motor vehicle and the motor vehicle, via which communication connection at least one instruction for activating the autonomous parking process of the motor vehicle can be transmitted, wherein before an automated parking process of the motor vehicle begins, a target position and/or a last traveled trajectory of the motor vehicle is stored in a device suitable therefor, and after the first activation of the autonomous parking process, the motor vehicle autonomously carries out the parking process from a starting position on the basis of data stored in the device. The determination of the target position by the occupant of the motor vehicle can be advantageously carried out, for example, by the driver first driving to the target position and the target position being stored in the system.

In order to implement this function, it is attempted to follow the stored trajectory as precisely as possible by means of the steering controller during the driving through of the previously stored trajectory, for example by setting the stored steering angle by means of an automatic steering device. If a very large steering angle or the maximum possible steering angle is already used by the driver during the learning phase, problems can arise here in the form of large adjustment deviations. This may occur in particular when only a small amount of space is available for at least part of the driving manoeuvre, so that a large steering angle is required. For precise adjustment, it is necessary to be able to achieve both smaller and larger steering angles relative to the target steering angle. However, this is not possible if the maximum steering angle or a very large steering angle has been stored as the target steering angle. The consequence of this can be a deviation in regulation, so that the stored trajectory cannot be precisely traveled over and the assisted driving maneuver must be interrupted.

Furthermore, new automated parking systems based on "training and reproduction" solutions are used as actuators, in general and in particular electric power steering devices. The Electric Power Steering (EPS) provides the requested (desired) Steering angle during the automated parking process. The requested steering angle is essentially dependent on the steering angle set by the driver during the learning phase (training). In order to ensure the reproducibility of the manoeuvres trained by the driver, it is necessary to ensure that the driver only uses reproducible steering angles during the training. It is known to use a so-called "limit mode" for limiting, which outputs a signal to the driver by setting a counter torque on the steering wheel: i.e. the maximum steering angle at which the system is used is reached or soon reached.

DE 102004054437B 4 discloses how the steering angle changes during a parking maneuver in order to implement a fully or semi-automatic parking maneuver. In particular, in connection with a semi-automatic parking process in which the driver executes a steering wheel movement, the driver is informed by tactile, visual or audible information: how he should move the steering wheel in order to go from the actual steering angle that actually exists to the direction of the desired steering angle.

DE 102018130937 a1 discloses, in particular, that the steering motions performed by the driver during the steering process are not sensible or should be avoided as far as possible during automated driving operations, in terms of a learning process for the parking process.

Disclosure of Invention

According to the invention, it is proposed that during a learning phase, in particular for a driving maneuver or a parking maneuver, which is used as a basis for a subsequent partially or fully automatic driving maneuver, a signal is emitted to the driver via an audible, tactile or visual display that the current set steering angle is close to the predefined critical steering angle. If the steering angle remains critical or continues to approach the limit, the learning phase is interrupted. The method described is used in particular to achieve improved results in the case of a partially automated or fully automated driving maneuver which is carried out on the basis of the steering angle stored during the learning phase, in that sufficient "margin" is still present at all times in terms of steering angle, in order to be able to compensate for factors which do not occur during the learning phase, if necessary.

A method for assisting a driver of a vehicle is proposed, which method comprises a learning phase in which, for example after activation of the learning phase by the driver, a driving maneuver is carried out by the driver, in which the vehicle is manually brought from a first starting position into a target position along a first trajectory. Here, information about the first start position and information about the first track are stored. According to the invention, the current steering angle of the vehicle is periodically sensed during the learning phase and compared with a predetermined extreme steering angle value. If the current steering angle is below a certain distance from the steering angle limit, a notification is output to the driver of the vehicle. If the current steering angle reaches or exceeds the steering angle limit, the learning phase is interrupted or restarted and/or the stored first trajectory and/or the starting position is adapted. In this case, a separate steering angle extreme can be predefined for each steering direction. The magnitude of the given right hand steering angle extreme may be the same as or different from the magnitude of the left hand steering angle extreme. When the vehicle turns to the left, the vehicle is compared with the extreme value of the left-side turning angle; when steering to the right, the right steering angle extreme value is compared. In this context, a steering angle is to be understood to mean, in particular, an angle that can be set by the driver on the steering wheel, which is also referred to as the steering wheel angle or steering wheel steering angle.

For example, the invention may be used in a so-called home zone parking system or in assisting a so-called override maneuver

In the reversing assist system of (1). In a home zone parking system, repeated parking maneuvers, such as parking into a home garage, may be performed partially or fully automatically by the system. When the maneuver is cancelled, the previously executed driving maneuver is partially or fully automatically cancelled.

The invention also relates to an electronic control unit for a vehicle, comprising a memory device and a control device, which is connected to further components of the vehicle, wherein the control unit is provided for carrying out the method according to the invention.

The invention also relates to an output device of a vehicle, which is designed to output a notification to a driver of the vehicle according to the method of the invention and which has, in particular, means for outputting an acoustic signal and/or means for outputting a visual signal and/or means for outputting a haptic signal.

The invention also relates to a vehicle comprising an output device of the invention and such a controller of the invention.

In a preferred embodiment of the invention, the method further comprises an implementation phase, in which the driver is provided with the possibility for activating the auxiliary function if it is recognized that the vehicle is located at a second starting position, which, although possibly different from the first starting position, is still located in an area close to the first starting position. After the activation of the assistance function, an assisted, in particular partially or fully automatic driving maneuver is carried out along the second trajectory from the second starting position to the target position, based on the information stored during the learning phase. Preferably, an offset between the second starting position and the first starting position can be determined, and the correction that has to be carried out on the first trajectory can be calculated from the stored course of the first trajectory and the determined offset in order to determine the course of the second trajectory extending from the second starting position to the target position. In order to activate the assisted driving maneuver, i.e. to initiate the execution phase, it is not necessary that the vehicle be located exactly at the first starting position at which the learning phase starts. Alternatively, it is recognized that the vehicle is located at a second starting position in the region of the first starting position, in other words not more than, for example, about 2m from the stored first starting position. The identification may be made, for example, based on sensing and comparing characteristic features in the ambient data sensed by the ambient sensing device and based on a comparison with stored information about the first starting position. Additionally, navigation data or satellite navigation data may advantageously be sensed and used for the positioning of the vehicle.

For example, information about the first starting position and/or the second starting position can be sensed by means of an environment sensing device of the vehicle.

In a preferred embodiment of the method, it is recognized whether the vehicle is located in the region of the first starting position by comparing characteristic features of the vehicle surroundings in the current position information with features in the stored information. Furthermore, the information about the first and second starting positions of the vehicle and/or the information about the current position may also comprise navigation data, which is based in particular on data of a satellite navigation system (GNSS), such as GPS, glonass and/or galileo.

For example, a vehicle reaction, in particular a collision avoidance vehicle reaction, can be carried out as a function of the ambient data sensed during the assisted driving maneuver. In other words, the environmental sensing can be permanently active during the implementation phase and sense particularly moving objects that intersect the lane of the vehicle and may cause a collision. If such an object is detected, a fully or partially automatic driving maneuver can be interrupted, for example, until the collision risk is no longer detected by the surroundings sensor system.

For example, the target location may be a parking space. For example, it can be provided that, if it is detected by the environment sensor device during the execution phase that the original target position cannot be reached (for example because the respective parking space is occupied), an alternative parking space in the vicinity of the target position is detected by the environment sensor device and the driving maneuver is carried out on the basis of the ambient information sensed by the environment sensor device of the vehicle, by parking in the alternative parking space.

However, the method according to the invention is not limited to parking processes. Conceivable driving maneuvers include: for example, driving through narrow points in the entrance or in the yard, or driving maneuvers performed before turning maneuvers or cancellation in an invisible environment. Those skilled in the art can readily apply the principles of the present invention to a wide variety of other driving conditions.

The invention therefore provides, in particular, a method for assisting a driving maneuver from a starting position into a target position, for example a parking maneuver of a vehicle into a predefined parking space. The target position is predefined by the driver in that: during the learning phase, the trajectory profile (Bahnkurve) between the predefined starting position and the target position is traversed once under manual control.

During the execution phase, the course of the steering angle which the vehicle occupies during the passage through the second trajectory can be automatically set by means of the steering controller as a function of the course of the steering angle actually selected by the steering wheel of the vehicle during the passage through the first trajectory. In this context, "partially automatically executed driving maneuver" is understood to mean that the vehicle itself assumes steering, i.e., lateral control, while the driver only accelerates and brakes, i.e., executes longitudinal control, in accordance with the predefined specification. In a fully automatically executed driving maneuver, both the longitudinal and lateral adjustments of the vehicle are automatically performed. Vehicles having such a function are sufficiently known from the prior art and shall not be described in detail here.

According to the invention, the current steering angle of the vehicle is periodically sensed during the learning phase and compared with a predetermined steering angle limit value. In this case, for example, the difference between the magnitude of the current steering angle and the magnitude of the limit steering angle can be determined. In this case, the difference corresponds to the pitch.

Other measures for this spacing are conceivable. The integration method is particularly suitable, for example, for accumulating the undershooting of a safe distance (chinese sentence break) over the traveled distance and comparing it with a predefined sum threshold.

If the current steering angle is below a predetermined steering angle limit value, i.e. the distance is below a predetermined limit value, a notification is given to the driver of the vehicle. If the current steering angle reaches or exceeds the steering angle limit, the learning phase is discontinued. For example, the steering angle extremum has a value 5 ° to 20 ° smaller than the magnitude of the maximum steering angle. The maximum steering angle that can be set manually varies with the vehicle type. Values of about-580 deg. to +580 deg. are common.

The driver may be informed by outputting an audible signal and/or a visual signal and/or a tactile signal. In particular, the notification takes place by means of a Human-Machine Interface (HMI) of the vehicle.

The notification to the driver comprises in particular an audible signal comprising a continuous or discrete correspondence of the difference between the current steering angle and the limit steering angle to the repetition frequency and/or the pitch height of the warning tone or of the warning tone sequence. Here, for example, the acoustic notification can be made by a sound generator installed in the vehicle as a device for outputting an acoustic signal.

Alternatively or additionally, the notification to the driver comprises a visual signal describing the difference between the current steering angle and the limit steering angle by the color and/or intensity and/or pulse frequency of the light signal. Such a visual notification can be made, for example, by a display element in the combination meter, in the head-up display, in the center console as a device for outputting visual signals, or another display in the vehicle as a device for outputting visual signals. Other light sources located in the interior compartment of the vehicle (e.g., backlighting of keys on a multi-function steering wheel, ambience lights, etc.) may also be used.

Alternatively or additionally, the visual signal describes the difference between the current steering angle and the limit steering angle by using symbols and/or pictograms and/or text. For example, a steering wheel symbol with a colored background may be shown on the display of the vehicle and/or a traffic light concept may be used, wherein green indicates an acceptable steering angle, yellow indicates that the steering angle is below the limit value from a predetermined limit steering angle, and red indicates a steering angle equal to or greater than the limit steering angle.

Alternatively or additionally, the notification to the driver comprises a haptic signal which describes a continuous or discrete correspondence of the difference between the current steering angle and the limit steering angle to the repetition frequency and/or intensity of the vibration of the steering wheel or of the driver's seat, in particular, and/or to the repetition frequency and/or intensity of the braking impact, i.e. the very short braking of the vehicle which is not dangerous for the traffic which follows. For this purpose, corresponding means for outputting a haptic signal can be provided, for example, in the steering wheel and/or in the driver's seat and/or in the brake system.

Any combination of the illustrated notifications is also possible. The limits for the warning and the limits for interrupting the learning phase, i.e. the extreme steering angle and the extreme values of the distance between the current steering angle and the extreme steering angle, from which the notification is made, can be selected essentially freely and can be adapted to the physical limits of the vehicle or of the participating system (e.g. EPS) and to the individual requirements, which are intended to contribute to the user experience, for example.

By means of the method according to the invention, it is advantageously possible to achieve a better accuracy of the position and orientation adjustment of the vehicle when automatically driving through the trajectory determined by the driver. In particular, when the driving manoeuvre is in a "narrow" condition, where it is generally necessary to set a large steering angle. In this case, the vehicle is moved to a position in which the vehicle is not in motion, and the vehicle is moved to a position in which the vehicle is in motion. The configuration according to the invention therefore increases the functional applicability as a whole, since frequent interruptions or even collisions are avoided due to the increased precision.

In addition, the setting of the counter torque on the steering wheel when the extreme steering angle value is reached can be dispensed with. Alternatively, a counter torque can be implemented in the learning phase or the steering angle that can be set can be limited in practice.

The invention therefore describes a method and a system for visual, audible or tactile notification of a driver for use in a driver assistance system, which method and system are based on retrying a previously learned trajectory. According to the invention, the driver is informed during the learning phase (training): the steering angle currently set by him approaches the extreme value. The extreme values of the steering angle follow the most reproducible limits in the implementation phase, but can also be designed more strictly. Compliance with these extremes in training is important to the success and performance of the implementation phase. Here, such notification may supplement or replace (in the restricted mode) the restriction of the steering angle by the EPS.

This notification ensures that the stored trajectory can be traveled over with high trajectory fidelity during the execution phase. Furthermore, the steering angle extremum may be designed to be more stringent than the physical limitations of the EPS. In particular, a large margin of the manipulated variable can thereby be made available during the execution phase. This additionally improves the track fidelity in the execution phase.

Drawings

Fig. 1 schematically shows a learning phase when applying the method of the invention when parking;

figure 2 schematically shows an implementation phase of the method according to the invention;

FIG. 3 illustrates a vehicle having a controller configured to implement the method of the present invention;

fig. 4 shows an example of a visual notification within the scope of a possible embodiment of the invention.

Detailed Description

Embodiments of the present invention are described in detail with reference to the accompanying drawings.

In the following description of the embodiments of the present invention, the same elements are designated by the same reference numerals, and repeated description of these elements is omitted as necessary. The figures only schematically show the content of the invention.

An embodiment of the method of the present invention is shown in the drawings. In this example, the assisted driving maneuver is a parking maneuver into the lateral parking space.

Fig. 1 schematically shows a driving situation in a plan view. A learning phase of the method of the invention for assisting the driver of the illustrated vehicle 10 is shown. The vehicle 10 is located at a first start position 20. The driver can now activate the learning phase and manually control the vehicle 10 along the trajectory 45 to the target position 30, i.e. in such a way that he takes over the longitudinal and transverse guidance of the vehicle himself. According to the present invention, information about the start position 20 is first sensed. For this purpose, the vehicle has an environment sensor 12 in this example, which may be configured, for example, as an ultrasonic sensor or as a camera system. The information about the first starting position 20 is sensed, for example, as image data and/or distance data and stored in a memory unit in a controller (not shown) of the vehicle. In addition or as an alternative to the environmental information sensed by means of the environmental sensors 12, location information about the first starting position 20, for example GPS coordinates of a corresponding positioning system arranged in the vehicle, can also be sensed and stored.

The executed driving manoeuvre, i.e. the trajectory 45, is sensed during driving to the target position 30 and stored in a memory unit in a controller (not shown) of the vehicle. According to the invention, a notification is output to the driver of the vehicle if the current, manually set steering angle is at a distance from the extreme steering angle value. If the steering angle limit is reached or exceeded, the learning phase is interrupted. For example, a value which is 5 ° to 20 ° smaller than the magnitude of the maximum steering angle can be preset as the extreme steering angle value at the time of interruption of the learning phase, depending on the vehicle type concerned. If the steering angle currently set by the driver is a value which is less than a certain distance value from this extreme steering angle value, an output can be made, for example, on a display in the vehicle as a warning. For example, the driver may be presented with symbols of different colors, which is exemplarily shown in fig. 4. Alternatively or additionally, an audible signal and/or a further visual signal and/or a tactile signal may be output.

Fig. 2 shows an implementation phase following the learning phase. The vehicle 10 returns at a later point in time into the region of the first starting position 20 and is located at a second starting position 20' which has a lateral offset d with respect to the first starting position 20. By comparing the ambient information currently sensed by the ambient sensor 12 with the information stored in respect of the first starting position 20, it is recognized that the vehicle 10 is located in the region of the first starting position 20, i.e. in the vicinity of the first starting position, i.e. within the vicinity of, for example, at most about 2 m. The driver is now provided with the possibility of activating the assistance function for the driving maneuver.

If the driver activates the assistance function, the driving manoeuvres previously stored in the learning phase for bringing the vehicle 10 into the target position 30 can be automatically implemented. To this end, the vehicle 10 is controlled, partially automatically or fully automatically, from the second starting position 20' along a trajectory 45' calculated on the basis of the trajectory 45 stored during the learning phase and the offset d between the first starting position 20 and the second starting position 20 '. Vehicle 10 is guided along trajectory 45'. In this case, the steering angle can also be set to a steering angle close to (closer than the determined distance value to) the extreme steering angle value used in the learning phase.

Fig. 3 schematically shows a vehicle 10 designed as a passenger car, which is provided for carrying out the method according to the invention. The vehicle shown has a plurality of different environmental sensors 12, which are designed, for example, as ultrasonic sensors and/or camera systems, and at least one sensing device 13 for sensing the current steering angle, for example, a steering angle sensor. The vehicle 10 includes a controller 60 having a memory device 70 and a control device 75 that are coupled to other components of the vehicle 10, such as a steering device 90 and a drive train 80, and to an Electronic Power Steering (EPS) system 95 of the vehicle 10. The vehicle further comprises means 82, 83, 84 for outputting an audible signal, a visual signal and a tactile signal. The controller 60 receives the measurement data of the environmental sensor 12 and processes the measurement data into environmental information. During the learning phase, the steering angle set by the driver is continuously sensed by means of the steering angle sensor and compared with the limit steering angle stored in the memory device 70, and the distance value, i.e. the difference between the magnitude of the current steering angle and the magnitude of the limit steering angle, is determined. If the distance value is too small, i.e. less than a determined limit value, the controller 60 is configured to actuate one or more of the means 82, 83, 84, so that said means output a notification to the driver of the vehicle. Additionally, the steering angle set during the learning phase may be limited by the EPS system 95. The invention can be used not only in vehicles with front axle steering, but also in vehicles with rear axle steering.

For example, the first means 82 for outputting an audible signal includes a speaker in the interior compartment of the vehicle 10. The second means 83 for outputting a visual signal comprise, for example, a display device in the field of vision of the driver, for example a screen or a head-up display. Alternatively or additionally, the means 83 for outputting a visual signal may comprise one or more light emitting means in the vehicle interior and/or on the steering wheel. The third means 84 for outputting a haptic signal comprise, for example, an element that vibrates, for example, integrated in the steering wheel and/or in the seat surface of the driver's seat.

Fig. 4 shows a diagram for informing a driver according to a preferred embodiment of the present invention.

The notification by means of an HMI (human machine interface) shown in fig. 4 starts as soon as the driver wants to start the learning phase and activates this function, for example by activating a menu, by selecting an HMI button or by manipulating a button. If the driver has set the steering angle too large at the start, the learning phase cannot be implemented and the driver is informed that the extreme steering angle value has been exceeded. The learning phase can be started if the steering angle is within the permitted range, i.e. if the current steering angle is smaller in magnitude than the limit steering angle. For example, the driver trains a parking maneuver using this system, and in this case (depending on the path to be traveled) the steering angle is continuously changed. If the steering angle is now close to the predefined steering angle limit, the system initiates a notification about this approach. Here, the notification indicates that a further increase in the steering angle would cause the learning phase to be interrupted. If the driver reduces the steering angle below the threshold value, the warning will disappear again.

In the example shown in fig. 4, at the beginning of the trajectory 45, the steering angle is not critical and the system for informing does not output a warning or issue all normal information to the driver (for example by displaying a green steering wheel symbol 17). In the further course of the now more strongly curved trajectory 45, the steering angle set by the driver increases and the system starts the first warning (orange steering wheel symbol 17'). In the region of sharp curves, where the driver has to set a very large steering angle, the system now informs the driver that a further increase in the steering angle would lead to an interruption of the system (red steering wheel symbol 17). If the steering angle is not further increased, the training can continue and the warning (green steering wheel symbol 17) is no longer displayed when the steering angle is further decreased.

Claims (12)

1. A method for assisting a driver of a vehicle (10), the method comprising a learning phase in which a driving maneuver is implemented, at which the driver manually steers the vehicle, wherein the vehicle (10) is brought from a first starting position (20) into a target position (30) along a first trajectory (45), wherein information about the first trajectory (45) is stored, characterized in that a current steering angle of the vehicle (10) is periodically sensed during the learning phase and compared to a predetermined steering angle extreme value, wherein a notification is output to the driver of the vehicle (10) if a difference between the current steering angle and the limit steering angle is below a predetermined extreme value, and wherein, -if the current steering angle reaches or exceeds the limit steering angle, the learning phase is interrupted or the learning phase is restarted, and/or the first trajectory (45) is adapted and/or the starting position (20) is adapted.

2. Method according to claim 1, characterized in that an implementation phase is provided, in which, if it is recognized that the vehicle (10) is located in a second starting position (20') in the region of the first starting position (20), the driver is provided with the possibility for activating an assistance function, and after the assistance function is activated, an at least partially automated driving manoeuvre is implemented from the second starting position (20') to the target position (30) along a second trajectory (45') on the basis of the stored information.

3. Method according to claim 1 or 2, characterized in that the vehicle has a maximum steering angle, in particular determined by the vehicle type of the vehicle, and the magnitude of the predetermined steering angle limit value is smaller than the magnitude of the maximum steering angle of the vehicle, in particular at least 20 ° smaller.

4. A method according to any one of claims 1 to 3, characterized in that the notification to the driver comprises an audible signal and/or a visual signal and/or a tactile signal.

5. A method according to claim 3, characterized in that the notification to the driver comprises an audible signal comprising a continuous or discrete correspondence of the difference between the current steering angle and the limit steering angle to a warning tone or a repetition frequency and/or a tone height of a sequence of warning tones.

6. A method according to claim 4 or 5, characterised in that the notification to the driver comprises a visual signal describing the difference between the current steering angle and the limit steering angle by the colour and/or intensity and/or pulse frequency of a light signal.

7. Method according to any of claims 4-6, characterized in that the notification to the driver comprises a visual signal describing the difference between the current steering angle and the limit steering angle by using symbols (17, 17', 17") and/or pictograms and/or text.

8. Method according to any one of claims 4 to 7, characterized in that the notification to the driver comprises a haptic signal describing a continuous or discrete correspondence of the difference between the current steering angle and the limit steering angle to the repetition frequency and/or intensity of the vibration of, in particular, the steering wheel.

9. Method according to any one of claims 4 to 8, characterized in that the notification to the driver comprises a haptic signal describing a continuous or discrete correspondence of the difference between the current steering angle and the limit steering angle to the repetition frequency and/or intensity of a braking impact.

10. A controller (60) for a vehicle (10), the controller comprising storage means (70) and control means (75) and sensing means (13) for sensing a current steering angle, the control means being connected to a steering system (90, 95) of the vehicle (10), wherein the controller (60) is arranged for implementing a method according to any one of claims 1 to 9.

11. An output device for a vehicle (10), which is designed to output a notification to a driver of the vehicle (10) according to the method of one of claims 1 to 9, and which has in particular means (82) for outputting an acoustic signal and/or means (83) for outputting a visual signal and/or means (84) for outputting a haptic signal.

12. A vehicle (10) comprising an output device according to claim 11 and comprising a controller (60) according to claim 10.

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