Method for assisting a user of a vehicle during an automated transverse guidance of the vehicle on a road having a branch taking into account a preceding vehicle, computing device and driver assistance system

1 . A method for assisting a user of a vehicle during an automated lateral guidance of the vehicle on a road having multiple lanes, the method comprising:

receiving satellite-based position data and high-resolution map data;

determining map-based position data that describe a present position of the vehicle in relation to the lanes on a basis of the satellite-based position data and the high-resolution map data;

receiving sensor data from at least one environment sensor of the vehicle, the sensor data describing boundaries of the lanes;

detecting a preceding vehicle and a trajectory taken by the preceding vehicle on a basis of the sensor data;

determining probabilities of occupancy for the vehicle for at least some of the lanes on a basis of the map-based position data and/or the sensor data;

recognizing a branch in the road on a basis of the map-based position data and/or the sensor data, the branch resulting in at least one of the lanes branching off from the other lanes; and

actuating an output device for outputting a takeover request before the branch is reached according to the probabilities of occupancy and the trajectory of the preceding vehicle.

2 . The method according to claim 1 , comprising:

verifying the actuation of the output device for outputting the takeover request on a basis of the trajectory of the preceding vehicle in response to the actuation of the output device being planned on a basis of the probabilities of occupancy.

3 . The method according to claim 2 , comprising:

performing a path planning for a future lateral guidance of the vehicle on a basis of the trajectory of the preceding vehicle in response to the verification results in the output device not being actuated.

4 . The method according to claim 1 , comprising:

planning the actuation of the output device for outputting the takeover request according to a situation of a lane with a highest probability of occupancy relative to the branch.

5 . The method according to claim 1 , comprising:

planning the actuation of the output device for outputting the takeover request according to a comparison of a highest probability of occupancy with a probability of occupancy pertaining to at least one branching lane.

6 . A computing device for a driver assistance system of a vehicle, wherein the computing device is configured to:

during an automated lateral guidance of the vehicle:

receive satellite-based position data and high-resolution map data;

determine map-based position data that describes a present position of the vehicle in relation to lanes on a basis of the satellite-based position data and the high-resolution map data;

receive sensor data from at least one environment sensor of the vehicle, the sensor data describing boundaries of the lanes;

detect a preceding vehicle and a trajectory taken by the preceding vehicle on a basis of the sensor data;

determine probabilities of occupancy for the vehicle for at least some of the lanes on a basis of the map-based position data and/or the sensor data;

recognize a branch in the road on a basis of the map-based position data and/or the sensor data, the branch resulting in at least one of the lanes branching off from the other lanes; and

actuate an output device for outputting a takeover request before the branch is reached according to the probabilities of occupancy and the trajectory of the preceding vehicle.

7 . The computing device according to claim 6 , wherein the computing device is configured to:

verify the actuation of the output device for outputting the takeover request on a basis of the trajectory of the preceding vehicle in response to the actuation of the output device being planned on a basis of the probabilities of occupancy.

8 . The computing device according to claim 7 , wherein the computing device is configured to:

perform a path planning for a future lateral guidance of the vehicle on a basis of the trajectory of the preceding vehicle in response to the verification results in the output device not being actuated.

9 . The computing device according to claim 6 , wherein the computing device is configured to:

plan the actuation of the output device for outputting the takeover request according to a situation of a lane with a highest probability of occupancy relative to the branch.

10 . The computing device according to claim 6 , wherein the computing device is configured to:

plan the actuation of the output device for outputting the takeover request according to a comparison of a highest probability of occupancy with a probability of occupancy pertaining to at least one branching lane.

11 . A driver assistance system for a vehicle, comprising:

the computing device according to claim 6 ; and

the output device for outputting the takeover request to the user of the vehicle,

wherein the driver assistance system is configured for automated lateral guidance of the vehicle.

12 . A method for assisting a user of a vehicle during an automated lateral guidance of the vehicle on a road having multiple lanes, the method comprising:

receiving satellite-based position data and high-resolution map data;

determining map-based position data that describe a present position of the vehicle in relation to the lanes on a basis of the satellite-based position data and the high-resolution map data;

receiving sensor data from at least one environment sensor of the vehicle, the sensor data describing boundaries of the lanes;

detecting a preceding vehicle and a trajectory taken by the preceding vehicle on a basis of the sensor data;

determining probabilities of occupancy for the vehicle for at least some of the lanes on a basis of the map-based position data and/or the sensor data;

recognizing a branch in the road on a basis of the map-based position data and/or the sensor data, the branch resulting in at least one of the lanes branching off from the other lanes;

actuating an output device for outputting a takeover request before the branch is reached according to the probabilities of occupancy and the trajectory of the preceding vehicle;

verifying the actuation of the output device for outputting the takeover request on a basis of the trajectory of the preceding vehicle in response to the actuation of the output device being planned on a basis of the probabilities of occupancy; and,

performing a path planning for a future lateral guidance of the vehicle on a basis of the trajectory of the preceding vehicle in response to the verification results in the output device not being actuated.

13 . The method according to claim 12 , comprising:

planning the actuation of the output device for outputting the takeover request according to a situation of a lane with a highest probability of occupancy relative to the branch.

14 . The method according to claim 13 , comprising:

planning the actuation of the output device for outputting the takeover request according to a comparison of a highest probability of occupancy with a probability of occupancy pertaining to at least one branching lane.

15 . A method for assisting a user of a vehicle during an automated lateral guidance of the vehicle on a road having multiple lanes, the method comprising:

receiving satellite-based position data and high-resolution map data;

determining map-based position data that describe a present position of the vehicle in relation to the lanes on a basis of the satellite-based position data and the high-resolution map data;

receiving sensor data from at least one environment sensor of the vehicle, the sensor data describing boundaries of the lanes;

detecting a preceding vehicle and a trajectory taken by the preceding vehicle on a basis of the sensor data;

determining probabilities of occupancy for the vehicle for at least some of the lanes on a basis of the map-based position data and/or the sensor data;

recognizing a branch in the road on a basis of the map-based position data and/or the sensor data, the branch resulting in at least one of the lanes branching off from the other lanes;

actuating an output device for outputting a takeover request before the branch is reached according to the probabilities of occupancy and the trajectory of the preceding vehicle;

planning the actuation of the output device for outputting the takeover request according to a situation of a lane with a highest probability of occupancy relative to the branch; and,

planning the actuation of the output device for outputting the takeover request according to a comparison of a highest probability of occupancy with a probability of occupancy pertaining to at least one branching lane.

16 . The method according to claim 15 , comprising:

verifying the actuation of the output device for outputting the takeover request on a basis of the trajectory of the preceding vehicle in response to the actuation of the output device being planned on a basis of the probabilities of occupancy.

17 . The method according to claim 16 , comprising:

performing a path planning for a future lateral guidance of the vehicle on a basis of the trajectory of the preceding vehicle in response to the verification results in the output device not being actuated.