DE102005016086A1 - Active driving safety system for motor vehicle, uses control algorithm to evaluate and then effect or disallow lane switching of vehicle based on vehicle driving conditions as well as proximity of vehicle with other vehicles or obstacles - Google Patents

Abstract

Close range sensors (3) of e.g. laser, ultrasonic, or resonance types, are located front and rear of the vehicle (2) to detect distances of the vehicle with respect to other vehicles (1,5) or obstacles e.g. pedestrians. Based on the signals from the close range sensors, as well as the signals indicating e.g. yaw rate, steering wheel angle, from driving dynamics sensors, a control algorithm is employed to evaluate and judge whether lane switching of the vehicle is possible or otherwise. The front wheels (4) of the vehicle are steered if lane switching is possible. An independent claim is also included for a method for active driving control of a vehicle.

Description

The The present invention relates to an active driving safety system for a Motor vehicle according to the preamble of claim 1, as well as a corresponding Method for the active control of a motor vehicle according to claim 7th

Out In practice, in addition to passive safety systems, such as Airbags and belt tensioners, also a number of active or semi-active Security systems for Motor vehicles known. This includes including systems such as ABS, ASR, ESP, EHB, CDC, etc. Here In addition to the ABS, ESP has been particularly helpful in improving the active safety of motor vehicles exposed.

So It is the purpose of the ESP, a motor vehicle, for example, at a fast cornering threatens to break out, by means of more targeted Brake intervention in individual wheels to stabilize and thus prevent the motor vehicle to spin. Such ESP systems are available in various designs known.

Problematic however, in these systems for improving driving safety, that these are not for that are designed to actively intervene in the motor vehicle steering.

Around to address the problem described above, are in the Practice procedures and safety systems for active intervention in the steering of a motor vehicle has been proposed.

at such systems or methods are for example to overlay steering or so-called "steer-by-wire" systems. Under a steer-by-wire system is generally to understand a system in which a driver's steering command of a sensor (e.g., a steering wheel angle and / or torque sensor) detected and from a controller is evaluated, then electrically via an actuator and steering gear to be implemented, with the possibility of a variable translation in a wheel angle. The direct mechanical continuity of the steering system a steering shaft is no longer available, causing the the driver specified steering command depending on the respective Driving situation can be implemented differently.

With such methods and / or systems that are able to directly to intervene in the steering of a motor vehicle, can significantly contribute to improving driving dynamics, driving safety and driving experience be, wherein the intervention in the steering is such that a If necessary, the steering angle entered by the driver can be changed by another Steering angle (additional steering angle) are superimposed by an actuator can. Usually For this purpose, electrical actuators are used, which are based on a superposition gear act and the respective signed additional steering angle independently set by the driver, which thereby improve the stability and the agility serve the motor vehicle.

Such a method for active engagement in the control of a motor vehicle is for example from DE 103 53 247 A1 known. In this case, an inputted by the driver steering angle and vehicle dynamics variables of the motor vehicle are determined, and the chosen steering angle is superimposed, depending on the specification of the driving dynamics variables, by a further angle or additional angle. Depending on at least one dynamic driving quantity, a brake pressure is additionally introduced into one or more wheel brakes of the motor vehicle.

Problematic in such known systems for active engagement in the vehicle control However, that is due to the direct intervention in the motor vehicle steering A restless driving behavior may occur, causing a deterioration the ride comfort brings with it.

It is therefore an object of the present invention, while avoiding problem described above, known active safety systems for motor vehicles to improve.

These Task is device technology with the features of the claim 1, as well as procedurally solved with the features of claim 7.

there According to a first aspect of the invention, an active security system for a Motor vehicle with a vehicle steering, which a superposition steering or a steer-by-wire System "has suggested the motor vehicle over Near range sensors and / or driving dynamics sensors has, and wherein the security system includes a lane change assistant.

Of the Lane Change Assistant here has for the first time a control unit with a Control algorithm on. The control unit is designed in such a way that the lane change assistant is suitable for sensor information from the near range sensors and / or from the vehicle dynamics sensors, your own vehicle as well as other road users or obstacles concerning, evaluate. The lane change assistant is at one probable hazardous situation for the first time entitled to risk-prone Maneuver, such as an upcoming lane change, to prevent. Therefor the controller speaks Depending on the driving situation and calculation parameters, the vehicle steering in dependence from an evaluation result of the control algorithm over a Regulator with additional Control signals or control deviations.

Though are known lane change assistants in FIG the situation in the vehicle steering assistance intervene. It is However, so far not succeeded, thereby correcting to potential dangerous Act driving situations, for example, if a driver a ultimately introduce dangerous overtaking, or from a confusing parking lot under threat of the flowing over To drive out traffic, while a distance, for example. one misjudge the car behind him, or by Carelessness does not control the blind spot when changing lanes. In addition, such known systems are not designed to be in one Turning active in the steering of the motor vehicle to intervene for example, a collision with an approaching cyclist to prevent.

such risk-prone Situations are commonplace Traffic, especially on motorways and in cities, however, often Case, causing repeated clashes with sometimes serious injuries comes.

Here creates the security system according to the invention first time remedy. Because with the security system according to the invention can first be advantageously ensured that intervention the system not only in the event of imminent break-out or threatening instability of the motor vehicle takes place, as for example in an ESP system the case would be but in a plurality of potential dangerous situations, such as For example, overtaking, turning or Ausparkmanövern. This ensures that that even in everyday life If necessary, place the safety system in the controller of the motor vehicle can intervene to critical situations prevent.

Especially advantageous here is that critical situations, such as an accidental failure to check the blind spot or a misjudgment the distance or the speed of another road user can be defused by the security system because the close range sensors detect both blind spots on the driver's and passenger side, as well as the front and back Car area monitored becomes.

advantageously, In addition, a too short distance can be detected if, for example in an overtaking process in a backward direction existing distance to a subsequent motor vehicle too low is to be without danger for the subsequent traffic and own motor vehicle overtaking initiate. In this case, the lane change assistant recognizes the Lane change intent and assesses the associated risk of collision, at non-performance the lane change criteria the steering angle applied by the driver by a corresponding compensation angle of opposite sign to correct. At the same time the lane change assistant can also all other active and / or semi-active driving safety systems head to early a possible instability or imminent by the intervention of the lane change assistant resulting, restless driving behavior, for example by ESP interventions, active Damper, compensate for regulated air suspension or corresponding engine management or intercept.

During the corrective actions the lane change assistant will continue to be the vehicle ahead Traffic monitored by the near range sensors to be at a potential Auffahrgefahr a corresponding delay of the motor vehicle, For example, by torque reduction or targeted braking interventions, initiate.

In an analogous way, the system can also determine the possible risk of collision during overtaking with oncoming traffic and also prevent the overtaking accordingly or from break.

Of the Driver can do this at the same time by an acoustic and / or optical notice about to be informed of the danger, so that he can correct himself activities take control and control the motor vehicle recovers.

Consequently is the safety system according to the invention able to respond to a large number of potential dangerous situations, which, for example, with a turn and / or lane change are connected to actively intervene in the control of the motor vehicle, which prevents easier collisions or even serious accidents can be. Thereby wearing In addition, the security system actively contributes to the reduction of collision victims Traffic collisions at.

In addition is it is possible already existing security systems around the security system according to the invention with the lane change assistant to expand, thus the active driving safety to increase.

advantageous Further developments of the present invention are the subject of the dependent claims.

So can the proximity sensors for collecting traffic data in one preferred embodiment, For example, laser sensors, radar sensors, ultrasonic sensors or the like. These proximity sensors can do this permanently the environment, ie the front, back, left and / or monitor the right-hand area of the motor vehicle. It is also with possible with these sensors, a distance between the motor vehicle with the safety system according to the invention and another motor vehicle or other road user and / or obstacles that are nearby, ie next to, behind, and / or can be located in front of the vehicle, capture. This can advantageously be a permanent assessment of be guaranteed throughout the traffic environment of the motor vehicle, creating a upcoming dangerous Situation fast and reliable recognized, and if necessary can be avoided.

In a further preferred embodiment are the near range sensors in a front, a back, a middle and / or a lateral region of the motor vehicle dependent on mounted by the respective type of motor vehicle. For example, the Sensors here in the exterior mirror housings, the bumpers, in Rear window area, be arranged in a brake light module, etc. This can advantageously be a full collection of traffic data guaranteed be without a possible Sensor shadow unwanted Gaps in the detection area.

In a further preferred embodiment The lane change assistant can use the raw data of the proximity sensors For example, the corresponding relative speed of the corresponding Calculate motor vehicle or obstacle. This makes it advantageous possible, reliable and accurate data regarding Distance, direction, speed or acceleration / deceleration of a other road user. In particular, this is from Advantage, for example, if the other road user is about a cyclist, because in practice their speed and also the distance frequently misjudged is, or simply overlooked become.

In a further preferred embodiment can also a motor vehicle bus system be provided, the data of vehicle dynamics sensors such as turn signal switch, steering wheel angle sensor, yaw angle sensor, or the like receives, wherein the lane change assistant is suitable, an intended lane change by means of the transmitted in the motor vehicle bus Signals of the driving dynamics sensors by lane change plausibility to recognize in a software module. This is advantageous among other things possible, up already existing in the vehicle systems and data for calculation to resort to the lane change criteria, which adds extra Cost by an extra needed Sensors can be omitted. Furthermore, the fact that all required sensor information on a High-speed bus system, direct wiring or other suitable transmission media be provided to the lane change assistant, a fast and reliable data transmission guaranteed become.

In a further preferred embodiment, the safety system according to the invention with the lane change assistant can also be suitable for permitting or inhibiting a lane change displayed by the vehicle dynamics sensors as a function of the evaluation result of the control algorithm, the lane change assistant also having active or semi-active driver safety systems during an active intervention in the vehicle steering system , such as ESP, CDC, or the like can control. This can be particularly advantageous to ensure that a motor vehicle, for example, by egg NEN abrupt steering correction process of the lane change assistant threatens to reach an unstable state, can be stabilized, so that a possible risk of collision is reduced. In addition, it can be ensured by the simultaneous activation of the active or semi-active driving safety systems in the event of intervention of the lane change assistant that a more restless driving behavior, which can arise through the direct intervention in the motor vehicle steering, is largely avoided, whereby an improvement in ride comfort can be achieved.

To A second aspect of the invention is the first time a method according to claim 7 for the active control of a motor vehicle by a security system proposed.

in this connection In a first step, the entire surrounding traffic of the motor vehicle is by proximity sensors, such as radar sensors, laser sensors, Ultrasonic sensors, or the like, monitored, the sensors permanently the environment, ie the front, back, left and / or Monitor the right side of the vehicle. In another Step of the method according to the invention will also an upcoming lane change by lane change plausibility detected in a software module of the lane change assistant, wherein the detection of the upcoming lane change with the help of the signals of driving dynamics sensors such as turn signal switch, steering wheel angle sensor, Yaw sensor, or the like takes place. In a further step the control algorithm of the lane change assistant evaluates the acquired data out. In a next Step controls the security system with the lane change assistant dependent on from an evaluation result of the control algorithm, a superposition steering or a steer-by-wire System "over a Regulator with additional Control signals or control deviations.

With the method according to the invention All of these are discussed above in connection with the active safety system achieved benefits achieved synergistically undiminished, so in that regard Reference is made to the above discussion.

Further advantageous embodiments of the method will become apparent from the Features of the subclaims, wherein the advantages already shown achieved in an analogous manner become.

The Method may in a further preferred embodiment in a next Step a distance between your own motor vehicle with security system and another motor vehicle or other road users and / or obstacles that are in the vicinity, ie next, behind and / or before the motor vehicle with the safety system can detect, capture wherein the distance is detected by means of the proximity sensors can. In a further step, the lane change assistant can Relative speed of the respective motor vehicles with the help of Calculate control algorithm.

In a further preferred embodiment the procedure may as well contain a step for the evaluation of the acquired data, wherein the captured Distance compared to a calculated minimum safety distance becomes. In a further step, a control deviation for driving can the superposition steering or a steer-by-wire Systems "to the active Intervention are generated in the control of the motor vehicle. In a subsequent step may depend on the determined Data and the lane change criteria checked by the control algorithm Durchlaßsteuersignal are generated, which either passes the generated control deviation (control signal = 1) or set to "zero." If the detected distance is smaller than the calculated minimum safety distance, then can in one another step, the transmission control signal assume the value "1" and the Controller generates a manipulated variable for the superposition steering or a steer-by-wire system to change lanes to prevent. This is the case, for example, if a following Motor vehicle going in a fast lane moves, already very close to your own car. In one another step is the superposition steering dependent on from the control signal of the evaluation unit in the steering of the motor vehicle intervene, thereby a previously detected, upcoming lane change to prevent.

is however, the minimum safety margin is maintained, then the pass control signal is "zero" and the lane change assistant allows the previously detected Changing lanes.

In a further preferred embodiment, the method may include a step for evaluating the acquired data by the control algorithm. In a following step, a superposition steering or steer-by-wire system may be triggered when the difference between the detected distance and a speed-dependent dynamic distance is less than a necessary critical distance, or when the difference between the detected distance and the speed-dependent, dynamic distance is less than a product of an absolute value of the relative speed and a required lane change time, wherein the required lane change time from a speed of the motor vehicle and an indicator value for the driving behavior of the driver (short: driving mood) results. The necessary distance is then compared with the actual distance minus a speed dependent dynamic minimum distance. If the calculated distance is smaller than that required for a safe lane change, the lane change assistant interprets this as a potentially imminent crash situation and the lane change assistant inhibits the lane change by setting the pass-control signal to 1 and setting up a direction-correcting error that is shifted from the steering to a corresponding one Radwinkel is implemented.

In a further preferred embodiment the procedure may as well one more step towards driving additional active or semi-active Driving safety systems, such as ESP, CDC, or the like, at an intervention of the lane change assistant in the vehicle control exhibit.

By the inventive method it is advantageously possible to prevent the driver from changing lanes, though for example the distance between the two vehicles is too low, and / or the speed of a subsequent motor vehicle is greater, as the driver judged them Has. Thus, it is particularly advantageous possible traffic accidents, which by misjudged distances and / or speeds may arise to prevent.

Especially it is also possible in an advantageous manner that the normally without any correction escaping moment of shock of the driver can already be used to prevent a potential collision avert.

The The invention described above is described below with reference to a exemplary embodiment explained in more detail with reference to the drawings. Showing:

1 a schematic representation of the method for active engagement in the motor vehicle control by the safety system according to the invention;

2 a flowchart for explaining the operation of the security system according to the invention; and

3 a representation of the controlled system architecture of the lane change assistant.

In an exemplary embodiment of the safety system of the present invention, a motor vehicle 2 in a front and rear range close range sensors 3 to monitor the surrounding traffic. Here are the near range sensors 3 Radar sensors.

These proximity sensors 3 constantly capture a distance Δx between the motor vehicle 2 which the sensors 3 and another, for example, subsequent motor vehicle 1 , In addition, the control unit calculates a speed V1 of the motor vehicle 1 ,

A control unit which is in the motor vehicle 2 is provided with the safety system having the sensors, analyzes the obtained proximity data of the proximity sensors and the vehicle data of the driving dynamics sensors, and calculates the magnitudes of the triggering criteria. If the calculated minimum safety distance Δx _limit or the speed-dependent, dynamic safety distance Δx _limit is thereby _dynamically undershot, which is for a safe overtaking maneuver of a slow-moving motor vehicle 5 or a safe lane change maneuver are necessary, then the lane change assistant prevents the upcoming lane change maneuver, as long as this critical situation is given. The case taken before the maneuver steering wheel angle is then taken and maintained as a reference variable, steering to the side facing away from the risk side is still possible.

The sequence of the active steering intervention of the safety system according to the invention for a motor vehicle is in 2 shown again in detail.

In this case, the sensors of the security system first of all permanently record traffic data. Will be an obstacle, for example, a subsequent motor vehicle 1 , in the area of the Si safety system equipped motor vehicle 2 is detected, then in a next step by the sensors 3 the distance .DELTA.x, and by the control unit of the safety system, the relative velocity v _{relative to} the motor vehicle 1 determined as the derivative of the distance after the time dΔx / dt. If no obstacle is detected, the security system continues to collect the traffic data.

In a further step, the driver of the motor vehicle equipped with the safety system 2 indicates a lane change, the control unit compares the actual distance Δx with the calculated necessary distance Δx _limit with the aid of the determined sensor data. If this distance is undershot, the security system intervenes in the control of the motor vehicle and prevents a lane change. If the distance does not fall below and is also the relative velocity v _relative , so the difference of a speed V1 of the following motor vehicle and a speed V2 of the own motor vehicle positive, ie the distance between the vehicles 1 . 2 increases, there is no reason for interference in the control of the motor vehicle by the security system, and the security system continues to collect the traffic data.

However, the relative velocity v is _relatively negative, ie the distance between the two motor vehicles 1 . 2 decreases, then determines the safety system, whether the difference between the detected distance .DELTA.x and a speed-dependent minimum dynamic distance .DELTA.x _{limit, dynamically} smaller than the product of an absolute value of the relative velocity abs (v _relative ) and a required lane change time t ₂ , wherein the required lane change time t ₂ from the speed V _{2 of} the motor vehicle 2 and the driving mood of the driver calculated. If the difference is smaller than the product, then the pass control signal is set to 1, and the vehicle steering is driven to prevent a lane change. However, if the difference is greater than the product, intervention of the safety system in the vehicle steering system is not necessary and lane change is possible.

In the case of an example discussed here, the following rule criteria are used in the review of triggering or termination criteria depending on the respective situation: Δx ≤ Δx limit

If this criterion is met, a lane change is not possible, the lane change assistant intervenes in the vehicle steering 4 one.

erfüllt, bedeutet das, dass der Abstand zwischen zwei Fahrzeugen 1, 2 zunimmt. Somit ist ein Spurwechsel möglich, der Spurwechselassistent greift nicht in die Fahrzeuglenkung 4 ein.On the other hand, are the following criteria Δx> Δx limit

fulfilled, that means that the distance between two vehicles 1 . 2 increases. Thus, a lane change is possible, the lane change assistant does not interfere with the vehicle steering 4 one.

bzw. Δx – ΔxLimit, dynamisch ≤ Δxkritisch = abs(vrelativ)·t2(v2, Fahrlaune)ist kein Spurwechsel möglich, da der geschwindigkeitsabhängige, dynamische Abstand zwischen den Fahrzeugen 1, 2 abnimmt. Ein Eingreifen des Spurwechselassistenten wird veranlaßt.Upon fulfillment of the criteria

respectively. Δx - Δx Limit, dynamic ≤ Δx critical = abs (v relative ) · T 2 (v2, driving mood) No lane change is possible because the speed-dependent, dynamic distance between the vehicles 1 . 2 decreases. Intervention of the lane change assistant is caused.

Is on the other hand -Δx Limit, dynamic > Δx critical so a lane change is easily possible, and an intervention of the lane change assistant does not take place.

3 shows to illustrate the operation of the lane change assistant, the controlled system architecture, by means of which the lane change assistant is integrated into a motor vehicle steering system.

Next explained embodiments leaves the invention even more design approaches to.

So It is conceivable that the control algorithm of the lane change assistant not only in a separate control unit or in an evaluation unit but alternatively as a software module e.g. in the ESP or steering control unit with integrated.

Further It is also conceivable that the used near range sensors instead of radar sensors e.g. alternatively ultrasonic sensors, laser sensors, Hall sensors, optical systems or similar sensors are. Especially is it possible that optical systems with image processing evaluation units for monitoring the automotive environment are used. It is also conceivable that the short-range sensors used only at the corners of the motor vehicle are attached.

A sees another conceivable alternative of the active safety system ago that no driving dynamics sensors or only a reduced number such sensors for detecting an imminent lane change come into use.

Also other bus signals (e.g., ESP / ABS / Steering Active flags), for example, from the ESP a high-speed bus are available anyway and over the Driving state information, can used by the lane change assistant to assess the driving situation become.

Further it is conceivable, the evaluation unit with software with the driving dynamics sensors as a unit of local intelligence.

Farther it is conceivable reliability the detection of possible Obstacles through the use of transmitting and receiving units for active signal transmission between individual vehicles. Here can alternatively also motor vehicles equipped with transmitting units and transponders be.

1

motor vehicle 1

2

motor vehicle 2

3

proximity sensors

4

Superimposed steering

5

motor vehicle 3

V1

Speed of motor vehicle 1

V2

Speed of motor vehicle 2

Ax

Distance between motor vehicle 1 and

motor vehicle 2

Δx _limit

Minimum safety distance

Δx _critical

critical distance

_relative

relative speed (V1 - V2)

Δx _{limit, dynamic}

speed-dependent Mindestab

was standing

t ₂

Lane change time

driving mood

indication value for driving behavior of

driver

Claims (11)

Active safety system for a motor vehicle with a vehicle steering, which has a superposition steering or a steer-by-wire system, wherein the motor vehicle has Nahbereichssensoren and / or driving dynamics sensors, and wherein the safety system ent a lane change assistant ent characterized in that the lane change assistant comprises a control device with a control algorithm, such that the lane change assistant is suitable for reading sensor information from the proximity sensors ( 3 ) and / or the driving dynamics sensors, the own vehicle ( 2 ) as well as other road users or obstacles concerning, and that the lane change assistant is entitled in a probable dangerous situation to prevent a dangerous maneuver, such as an imminent lane change, and wherein the control unit depending on the driving situation and calculation sizes the vehicle steering ( 4 ) responsive to an evaluation result of the control algorithm via a controller with additional control signals or control deviations responds. Safety system according to claim 1, characterized in that the proximity sensors ( 3 ) are, for example, radar sensors, ultrasonic sensors, laser sensors, or the like, these short-range sensors ( 3 ) permanently the environment of the motor vehicle ( 2 ) and wherein the Nahbe range sensors a distance (.DELTA.x) between the motor vehicle ( 2 ) and another motor vehicle ( 1 . 5 ) and other road users and / or obstacles located in the vicinity of the motor vehicle ( 2 ). Safety system according to claim 2, characterized in that the proximity sensors ( 3 ) in a front, rear and / or side region of the motor vehicle ( 2 ) are arranged. Safety system according to one of claims 1 to 3, characterized in that the lane change assistant is suitable for detecting from the detected data of the short-range sensors ( 3 ) a relative speed (v _relative ) of the respective motor vehicles ( 1 . 2 ) and / or to calculate obstacles. Safety system according to one of claims 1 to 4, characterized in that a motor vehicle bus system is provided is the data from driving dynamics sensors, such as turn signal switch, Steering wheel angle sensor, yaw rate sensor, or the like receives, wherein the lane change assistant is suitable, an intended lane change by means of the transmitted in the motor vehicle bus Signals of the driving dynamics sensors by lane change plausibility to recognize in a software module. Safety system according to one of claims 1 to 5, characterized in that the lane change assistant suitable is a lane change indicated by the vehicle dynamics sensors depending on the evaluation result the control algorithm to allow or prohibit, the Lane change assistant with an active intervention in the motor vehicle steering additionally Active or semiactive driving safety systems, such as ESP, CDC, or the like can control. Method for the active control of a motor vehicle by an active safety system according to claim 1, comprising the following steps: monitoring the surroundings of the motor vehicle ( 2 ), where proximity sensors ( 3 ), such as radar sensors, laser sensors, ultrasonic sensors, or the like, permanently the front, rear, left and / or right area of the motor vehicle ( 2 ) monitor; Detecting an upcoming maneuver, such as a lane change by lane change implausibility, wherein the lane change arbitration in a software module of the lane change assistant using the signals from driving dynamics sensors such as turn signal switch, steering wheel angle sensor, yaw rate sensor, or the like; Evaluation of the acquired data by a control algorithm; and driving a vehicle steering system having a superposition steering system or a steer-by-wire system (US Pat. 4 ) for active intervention in the control of the motor vehicle ( 2 ) depending on the evaluation result of the control algorithm. Method according to claim 7, further comprising the steps of: detecting a distance (Δx) between the motor vehicle and the active safety system ( 2 ) and another motor vehicle ( 1 . 5 ) and other road users and / or obstacles located in the vicinity of the motor vehicle ( 2 ) are located by the proximity sensors ( 3 ); Calculating a relative speed (v _relative ) of the two motor vehicles by the control algorithm. Method according to one of claims 7 or 8, further comprising the steps of: evaluating the detected data, wherein the detected distance (Δx) is compared with a calculated minimum safety margin (Δx _limit ); Generating a control deviation for driving the superposition steering or the "steer-by-wire system" for active intervention in the controller ( 4 ) of the motor vehicle ( 2 ); Generating a pass-through control signal, the pass-control signal either passing the generated control deviation (control signal = 1), or setting it to zero; Generating a manipulated variable for the superposition steering or the "steer-by-wire system" for active intervention in the control ( 4 ) of the motor vehicle ( 2 ) when the detected distance Δx is smaller than the calculated minimum safe distance (Δx _limit ). Method according to one of claims 7 to 9, further comprising the steps of: evaluating the detected data by the control algorithm of the lane change assistant; Setting the pass-through control signal to 1 and driving the superposition steering or steer-by-wire system to actively engage the controller ( 4 ) of the motor vehicle ( 2 ) when the difference between the detected distance (Δx) and a speed-dependent dynamic minimum distance (Δx _{limit, dynamic} ) is less than a necessary critical distance (Δx _critical ), or if the difference between the detected distance (Δx) and the speed dependent, dynamic minimum distance (Δx _{limit, dynamic} ) is less than a product of an absolute value of the relative speed (abs (v _relative )) and a required lane change time (t ₂ ), wherein the required lane change time (t ₂ ) from a speed (v ₂ ) of the motor vehicle ( 2 ) and an indication value for the driving behavior of the driver (driving mood). Method according to one of claims 7 to 10, further comprising Step: Driving additional active or semi-active driving safety systems, such as ESP, CDC, or the like, upon intervention of the lane change assistant in the vehicle control.