AT527121B1 - Method and device for determining and maintaining a lateral distance of a first vehicle to a second vehicle during overtaking - Google Patents

Abstract

A method and a device for determining and maintaining a lateral distance S(t) of a first vehicle (10) from a second vehicle (12) during an overtaking maneuver with a distance measuring unit (14) directed in the direction of travel of the first vehicle (10), a camera (16) directed in the direction of travel of the first vehicle (10), an image processing unit (18) and a computing unit (15) are proposed, in which an actual distance E(t) of the first vehicle (10) from the second vehicle (12) is measured continuously or cyclically via the distance measuring unit (14), and an image of the second vehicle (12) is continuously recorded via the camera (16), and in the image processing unit (18) a current actual offset of a side surface (Z) of the second vehicle (12) facing furthest towards the center of the road to the camera axis (X) is determined cyclically from the image data and the determined actual distance E(t), and from this actual offset an actual lateral distance S(t) is calculated in the computing unit (15). Furthermore, a verification of the distances determined via the camera (16) and the distance measuring unit (14) is possible in order to improve the accuracy of the calculated lateral distance S(t).

Description

Description

METHOD AND DEVICE FOR DETERMINING AND MAINTAINING A LATERAL DISTANCE BETWEEN A FIRST VEHICLE AND A SECOND VEHICLE DURING AN OVERTAKING MANIPULATION

[0001] The invention relates to methods and a device for determining and maintaining a lateral distance of a first vehicle from a second vehicle during an overtaking maneuver, with a distance measuring unit directed in the direction of travel of the first vehicle, a camera directed in the direction of travel of the first vehicle, an image processing unit and a computing unit.

[0002] Modern vehicles have a variety of assistance systems, such as distance control systems, lane change assistance systems, collision warning systems and/or lane keeping assistants. These systems usually use both radar measurements and the images from a camera, which can be evaluated via an image processing unit.

[0003] Various methods have become known with which, in addition to measuring distance with a radar unit, which usually emits electromagnetic waves and receives the electromagnetic waves reflected by the vehicles ahead and determines a distance in a computing unit using the detected time delay or frequency shift, a distance measurement can also or alternatively be carried out using a camera. The simplest way to measure distance is by evaluating the images from a stereo camera, but methods have also become known with which a distance can also be at least estimated using a mono camera by taking the focal length of the camera into account. Width measurements can also be carried out using mono cameras by evaluating successive image sequences or width measurements by identifying known sizes in the image so that a conversion can be carried out. Various methods for measuring width using stereo cameras are also known, with which a three-dimensional image is created which contains the calculated dimensions of the bodies or surfaces present in it.

[0004] In order to protect other road users or due to changes in the law, it may be necessary in the future to determine a specific lateral distance to vehicles being overtaken, in addition to simply measuring the distance to vehicles driving ahead or following behind or to prove that a lane marking has been crossed. In particular, it will be necessary to differentiate between vehicle types, i.e. to be able to distinguish between a single-track vehicle such as a bicycle and a two-track vehicle such as a car, since different minimum lateral distances are required depending on the type of vehicle, which also depend on whether the vehicle is inside or outside a built-up area.

[0005] A corresponding determination of existing lateral distances using only forward-facing measuring units is not yet known. In particular, it is not known how to verify determined lateral distances in order to be able to maintain an appropriate distance with a high degree of certainty. This can be helpful for vehicle drivers, but is essential for autonomous vehicles in particular in order to reliably comply with road traffic regulations.

[0006] The object is therefore to provide a method for determining and maintaining a lateral distance of a first vehicle from a second vehicle during an overtaking maneuver, with which on the one hand a lateral distance can be reliably determined with a high degree of accuracy and, if possible, predicted and on the other hand, in particular for autonomous vehicles, the determined values of forward-facing measuring units can be verified in order to exclude errors in the measurement and, consequently, in the control of an autonomous vehicle.

[0007] This task is solved by a method for determining and maintaining a side distance

SS N 8 N

N hes AT 527 121 B1 2024-11-15

position of a first vehicle to a second vehicle during overtaking is solved with the features of the main claim 1.

[0008] The first vehicle is usually a two-lane vehicle, in particular a car, a truck, a bus or another special vehicle, while the second vehicle can be a one- or two-lane vehicle. This includes in particular bicycles, motorcycles, scooters but also construction machinery or buses. The overtaking process is particularly viewed as a potentially possible overtaking process and thus starts as soon as a vehicle ahead is detected. Alternatively, the process can also be started by setting the vehicle's indicator or can be carried out continuously in the background.

[0009] To carry out the method, the first vehicle has a distance measuring unit directed at least in the direction of travel of the first vehicle, via which vehicles driving ahead can be detected. In addition, the first vehicle has a camera directed in the direction of travel of the first vehicle, via which image data from the area ahead can be continuously recorded and processed. These can be different types of cameras, such as mono cameras, stereo cameras, light field cameras, etc., which make it possible to process and evaluate the digital data of the image recorded in an image processing unit. The vehicle also has a computing unit in order to be able to calculate distances, lengths, widths and the like from the data obtained. Of course, the image processing unit and the computing unit do not have to be two separate units, but can also be combined in one unit. The computing unit is connected to the image processing unit and the distance measuring unit for data exchange. According to the invention, the distance measuring unit continuously or cyclically measures the shortest distance between the first vehicle and the second vehicle driving ahead. When overtaking, this actual distance and thus the shortest connection between the distance measuring unit and the vehicle driving ahead is usually the left edge of the rear of the vehicle driving ahead or, before the overtaking, the rear of the vehicle. An image of the second vehicle is continuously recorded via the camera and image data is determined from the images in the image processing unit cyclically, for example 10 times per second. This image data is transferred to the computing unit, in which a current actual offset of a side surface of the second vehicle facing the middle of the road from the camera axis is determined from the image data and the determined actual distance. An actual lateral distance is calculated in the computing unit from this determined actual offset. Various image evaluation methods are known for this. For example, the focal length of the camera can be used for the calculation to convert the offset of the second vehicle driving ahead from the offset shown in the image to the actual offset. Furthermore, consecutive image sequences can be used for this purpose or known methods such as the computer stereo vision method for evaluating the images from a stereo camera with a CCD sensor.

[0010] Accordingly, in the device according to the invention, the image processing unit serves to determine image data, and the computing unit is connected to the image processing unit for receiving the image data and serves to calculate an actual offset of a side surface of the second vehicle facing furthest towards the middle of the road to the camera axis from the image data and the actual distance determined via the distance measuring unit and an actual side distance from the determined actual offset.

[0011] Preferably, the actual lateral distances determined are compared with stored target lateral distances in the computing unit. Accordingly, a driver can either be recommended to maintain an additional distance or, in the case of an autonomous vehicle, this difference can be used to correct the position of the first vehicle.

[0012] Preferably, an angle between the camera axis and a side surface of the second vehicle facing the middle of the road is calculated from the continuously recorded image data of the image processing unit in the computing unit and continuously calculated from this in the

A ches AT 527 121 B1 2024-11-15

8 NN

The computing unit calculates the actual lateral distance by multiplying the actual distance determined by the distance measuring unit by the sine of the calculated angle and subtracting a lateral distance of the camera from a side of the first vehicle facing the edge of the road. It can be assumed that the accuracy of the angle calculated using the image data is relatively high and that the actual lateral distance determined using the actual distance determined with the distance measuring unit, which also has a high level of accuracy, is also highly accurate.

[0013] In a further embodiment, a stereo camera or a light field camera is used to determine the angle. Using these two cameras, the angle of the camera axis to the vehicle in front can be determined in a known manner with good accuracy. Of course, the angle to the central axis between the two cameras and thus to the center of the vehicle is calculated if both cameras are arranged with the same offset from the center of the vehicle.

[0014] A similar method for determining the angle can be achieved using a mono camera and optical deflection means. The optical deflection means can also be used to record and compare two images from different perspectives using the mono camera and then calculate distances and angles in the same way as with a stereo camera.

[0015] To determine the angle, only a mono camera and the focal length of this camera can be used. Using the focal length of the mono camera, it is then possible to convert the lengths of the image into real lengths if the number of pixels and resolution are known. In particular, the angle to the camera axis can be determined with high accuracy in this way.

[0016] It is particularly preferred if the distance measuring unit is a radar unit. With a radar unit, the distance to the vehicle ahead can be determined with high accuracy.

[0017] In an alternative embodiment, the distance measuring unit is the camera, which is also used to determine the angle. In particular, the distance to the vehicle in front can be determined in a known manner using a stereo camera. This is done by generating a three-dimensional image in the image processing unit using the different perspectives created by the stereo camera to the second vehicle in front, for example by computer stereo vision, which makes it possible to calculate distances.

[0018] When using a mono camera, it is also possible to calculate the distance to the second vehicle from two consecutive images based on the difference in size of an object in the image whose size is known. The size of a license plate or the like can be used as a reference size here, for example. In this case, both the distance and the angle can be determined using the camera alone.

[0019] It is particularly preferred if a second actual distance to the second vehicle is calculated from the data of the image processing unit in the computing unit and compared and verified with the first actual distance determined by means of the radar unit at an identical point in time. In this way, errors in the calculation of the distance and consequently also of the angle and thus of the actual lateral distance can be avoided.

[0020] For this purpose, it can be concluded that the measurement is correct, particularly if the actual distances determined from the image processing unit and the radar unit are the same, and this can be used to calculate the actual lateral distance. Such verification is essential, especially for autonomous vehicles, in order to prevent errors in automatic steering that could lead to accidents or hazards, especially for cyclists who are overtaken.

[0021] In a preferred embodiment of the invention, the calculated actual lateral distance to the second vehicle is displayed in the first vehicle. Accordingly, if a driver recognizes that the displayed actual lateral distance is insufficient, he can intervene to correct the situation.

A ches AT 527 121 B1 2024-11-15

8 NN

[0022] In an alternative preferred embodiment of the method, the images of a mono camera are used and in the image processing unit an offset of the side surface of the second vehicle facing the middle of the road to the camera axis is measured on the image from image data and compared in the computing unit with reference images from a map in which the actual offsets to the determined lateral offsets on the image are stored for different distances, and the actual offset A(t) is determined from this comparison. In this way, the necessary computing power is minimized and it is still determined whether there is a sufficient lateral distance. Neural networks, for example, can also be used to learn these reference images.

[0023] The difference determined can be displayed or processed as a scaled deviation in the first vehicle. A positive deviation can confirm a sufficient distance, while a negative indication shows that an additional distance is necessary. A driver of an overtaking vehicle can react accordingly to such an indication, while an autonomous vehicle can be controlled accordingly until a zero deviation is reached, without having to learn specific measurements.

[0024] Furthermore, it is advantageous if the second vehicle is identified as a single-lane or two-lane vehicle from the data of the image processing unit via the computing unit. This is possible in particular by a simple width measurement or by object recognition, for example via a neural network. The computing unit can store corresponding data specified by the road traffic regulations, which may differ for two-wheelers or four-wheelers to be overtaken. This ensures that not only is an absolute target lateral distance maintained with certainty, but that this can also be adjusted depending on the vehicle to be overtaken.

[0025] Furthermore, it is preferably determined via a navigation device or traffic sign recognition whether the first vehicle and the second vehicle are inside or outside a built-up area. This information is also used to set the target lateral distance, since outside built-up areas and therefore also where higher speeds are to be expected, a different lateral distance is legally required. Of course, this minimum lateral distance can also be set depending on the speed of the overtaking vehicle. The various target lateral distances are stored accordingly in the computing unit for the various vehicle types and depending on the GPS or navigation data and are taken into account when comparing with the calculated actual lateral distance.

[0026] It is particularly preferred if the determined actual lateral distances are stored over time and extrapolated in order to predict an expected actual lateral distance for the moment of reaching the second vehicle. This creates a dynamic system which makes it possible to gradually achieve the lateral distance required for the actual overtaking process depending on the front distance and can thus be used for trajectory planning in automatic vehicles.

[0027] Furthermore, in a further embodiment, target lateral distances are stored in the computing unit depending on the distance determined by the radar unit for single-lane and two-lane vehicles, so that if the predicted expected actual lateral distance is less than the permissible target lateral distance, a warning signal is issued to a driver of the first vehicle or the vehicle intervenes independently to correct the situation by increasing the actual lateral distance or by braking. The overtaking process is thus continuously monitored before the first overtaking vehicle pulls out. The necessary data can then be determined and compared over the entire duration of the overtaking process initiated in order to ensure a smooth overtaking process.

[0028] When correcting or issuing the warning signal to the driver, the current speed of the vehicle can also be taken into account, so that at higher speeds the overtaking process can be initiated at a greater distance. This also means that the difference in speed between the first vehicle and the

A ches AT 527 121 B1 2024-11-15

8 NN

second vehicle is taken into account, which is decisive for the time course and the optimal driving line until the second vehicle is reached and thus the actual lateral distance required there.

[0029] A method is therefore proposed for determining and maintaining a lateral distance between a first vehicle and a second vehicle during an overtaking maneuver, which ensures that a safety lateral distance required during overtaking is maintained for different vehicle types, speeds and locations. The data obtained during the calculation are verified in order to exclude errors in determining the lateral distance. By calculating in advance an expected lateral distance when reaching the vehicle in front, the driver or the automatic control of the vehicle can intervene in good time to ensure a smooth overtaking maneuver.

[0030] An embodiment of the method according to the invention is described below with reference to the figures.

[0031] Figure 1 shows a schematic diagram in plan view, in which the distances and angles to be determined are entered.

[0032] Figure 1 shows a first vehicle 10 which has a width B. It is a two-lane vehicle in the form of a car. In the direction of travel in front of this first vehicle 10 is a second vehicle 12 in the form of a bicycle. If the driver of the vehicle 10 now wants to overtake the second vehicle 12, he must maintain a target lateral distance in accordance with the legal requirements during the overtaking, which depends both on his own speed and on his location, in particular whether he is inside or outside a built-up area, as well as on the type of second vehicle 12 driving ahead.

[0033] For this purpose, the first vehicle 10 has a distance measuring unit 14 directed in the direction of travel or straight forward, which is connected to a computing unit 15 and continuously measures a distance E(t) to the second vehicle 12. This distance E(t) is determined over time and stored in the computing unit 15.

[0034] Furthermore, a digital camera 16 is arranged in the first vehicle 10, the camera axis X of which also points straight forward and thus in the direction of travel and which can be designed as a stereo camera 16.1, light field camera or mono camera 16.2 and is connected to an image processing unit 18, which also has a data connection to the computing unit 15.

[0035] When using a stereo camera 16.1, the different perspective of the stereo camera 16.1 to the second vehicle 12 driving ahead can be used in the image processing unit 18 to generate a three-dimensional image, for example by computer stereo vision, which also makes it possible to calculate sizes, lengths and thus distances. A distance E'(t) can thus be determined in the image processing unit 18 using the stereo camera 16.1. In addition, the available image data also make it possible to determine with good accuracy an actual offset A(t) of a side surface Z of the vehicle 12 driving ahead that faces furthest towards the middle of the road to the camera axis X from the available image data, which usually faces forwards, i.e. in the direction of travel. An actual lateral distance S(t) to the second vehicle 12 can also be calculated from this actual offset A(t). This actual lateral distance S(t) is determined from the image data in the image processing unit 18 via the angle a(t) between the camera axis X, in this case the axis which is arranged centrally between the two apertures of the stereo camera 16.1, and the second vehicle 12.

[0036] Alternatively, a mono camera 16.2 can also be used to calculate the actual lateral distance S(t). The distances E'(t) and the actual lateral distances S(t) can either be determined using known estimation algorithms or calculated using the focal length f and the angle a to be determined using this, which can be determined quite precisely using the focal length f. Nevertheless, these estimates are usually not as accurate as the distance determined using a stereo camera or light field camera.

[0037] In the simplest form of the method according to the invention, the camera 16 thus serves both to determine an angle a(t) and the distance E(t) by setting E'(t) equal to E(t) and thus as a distance measuring unit 14. Various cameras can also be used, via which a verification of the distance measurement can be carried out by comparing the determined values E(t) and E'(t) in the computing unit 15.

[0038] Alternatively, to determine the distance E{(t) in a known manner, a radar unit is used as the distance measuring unit 14, which in Figure 1 has the same line of sight X as the camera 16. The values of this radar unit can either be used alone to determine the distance E(t), since they are usually very accurate, or they can be used in addition to the values for the distance E'(t) determined via the image data of the camera 16 to verify it.

[0039] Of course, the distance measuring unit 14 and also the camera 16 always record all objects O present in the recorded area, so that a large number of data over time (E(t), E'(t), a(t), O()), S(t)) can be determined and stored for the measurement of the camera 16 and for the measurement of the radar unit 14. The data used for this purpose are cyclically updated by the subsequent measurements. In the process, the objects O1, O2, etc. are also identified in the image processing unit 18 or the computing unit 15, i.e. assigned to a vehicle type and, for example, a direction of travel. For example, the available views of the camera 16 can be used in the computing unit 15 or the image processing unit 18 to identify whether the vehicle 12 is a single-lane or a two-lane vehicle based on the width of the vehicle 12, and the data from the radar unit 14 and the vehicle's own speed can also be used to determine in which direction this detected object O is moving, i.e. whether it is an oncoming vehicle 12 or a vehicle 12 traveling in the same direction. The image processing unit 18 can also assign additional identification parameters, so that a list of the detected objects of the type [(0'1, E’’1, a1, Type1), (0’’2, E’2, a2, Type2),....)] is created.

[0040] When determining the distance and angle to a cyclist riding ahead as a second vehicle 12, when using a radar unit as a distance measuring unit 14, it must be taken into account in this comparison that the angle a(t) from the image processing unit 18 and also the distance E(t) from the radar measurement are directed to the same point. If a 3D radar measurement is used, the distance can actually be measured to the side surface Z of the bicycle that faces furthest towards the center of the road, which is usually formed by the left handlebar grip. Thus, the side surface Z of the camera 16 that faces furthest towards the center of the road also corresponds to that of the radar unit 14. With a 2D radar unit, however, it may be necessary to correct the position of the point either during image evaluation or when determining the distance by the radar unit 14. This is because the 2D radar unit 14 usually identifies a shortest distance. Accordingly, the reference point of the camera 16 in the image is the side surface Z of the second vehicle 12 that is furthest towards the middle of the road, which is used in the calculation, while the radar measurement identifies the rear area of the vehicle 12. For two-lane vehicles 12 driving ahead, this is usually approximately the same, while for a bicycle as the second vehicle 12, the radar measurement of the distance measuring unit 14 determines a distance to the nearest area pointing towards the first vehicle 10, for example to the tail light or rear tire, which, however, appears further to the right in the image for the camera 16 than, for example, the handlebar part of the bicycle that protrudes to the left. Accordingly, either the second vehicle 12 must be identified as a bicycle and the rear part of the bicycle must be identified in the image processing unit 18 and the computing unit 15 and the angle measurement on the image must then also be carried out at this position in order to be able to compare the distances E(t) and E'(t), or the distance of the radar measurement must be corrected accordingly, for example by adding a usual distance between the rear part of the bicycle and the handlebars. In order to calculate the correct actual lateral distance S(t), in the first case a usual width difference between the middle part of the bicycle and the part protruding on the left must be taken into account and added up.

[0041] If a verification of the distance measurements is carried out, then for example only the data of the distance measurements are used for calculating the actual lateral distance S(t) in which a difference between E(t) and E'(t) is below a threshold value of, for example, 5% of E(t). If this is the case, the presumably less accurate measurement E''(t) can be replaced by the more accurate measurement E(t) and the object entries (0'1, E1, a1, Type1) for the second vehicle 12 are obtained.

[0042] Irrespective of any verification carried out, the associated actual lateral distance S can subsequently be calculated in the computing unit 15 for each relevant object from E(t) and a(t) and the vehicle geometry from St(t) = E(t) * sin (a(t)) - B/2, where B/2 represents the distance of the camera to the right-hand outside of the vehicle. In the case of 2D radar measurement, half the width b/2 of the bicycle must also be subtracted. As already described above, it is important to ensure that E(t) and the angle a(t) point to the same reference point. This means that for a bicycle, half the width of the bicycle (b/2) must be subtracted if the reference point is at the rear of the bicycle. When using the 3D radar sensors, the distance to the left outside of the bicycle, in particular the left part of the handlebars or the cyclist's hand, can be determined directly, so that the image evaluation and the radar evaluation refer to the same point, whereby the angle a is determined directly on the image, so that further deductions in the lateral distance calculation are dispensed with.

[0043] Both the determined shortest distances E(t), which usually change when overtaking and are continuously recorded, for example, 10 times per second, and the calculation of the actual lateral distance S(t) are carried out cyclically. During the overtaking process, these data change due to the changing distances E(t), S(t) due to steering movements and different speeds. This results in a curve S(t) that also allows a continuously updated prediction of the actual lateral distance S(t) to be calculated when the vehicle 10 and the vehicle 12 are at the same height. This can be done, for example, by extrapolation.

[0044] Drivers can thus be continuously informed, for example by displaying a current actual lateral distance or the actual lateral distance to be expected when reaching the vehicle 12, if this is less than a stored, prescribed target lateral distance Ssoi(t) and react accordingly and correctively if the target lateral distance according to the road traffic regulations is not maintained. For autonomous vehicles, a uniform overtaking maneuver with safe distances can also be calculated automatically in this way. In addition, position measurement using the navigation device or existing sign recognition can take into account whether the vehicles 10, 12 are moving inside or outside a built-up area, so that the lateral distance can also be set correctly depending on the position of the vehicles.

[0045] The described method for determining and maintaining a lateral distance of a first vehicle from a second vehicle during an overtaking maneuver can ensure that a prescribed safety distance can be correctly calculated and verified for different vehicle types.

[0046] It should be clear that the claimed method can be carried out in different ways. For example, either just one camera can be used to determine the distances and angles and consequently the lateral distance, or several cameras can be used, which makes it possible to verify the calculated distance. Alternatively, a radar unit can be used to measure the distance, the measured values of which can either be used directly to calculate the lateral distance as a distance or can be used to verify the determined distance, since a radar measurement is very accurate. In particular, when using a mono camera, whose values are usually less accurate when determining the distance because they are estimates, it is recommended to use a radar unit as a distance measuring unit in order to achieve greater accuracy.

Claims (1)

patent claims 1. Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during an overtaking maneuver, with a distance measuring unit (14) directed in the direction of travel of the first vehicle (10), a camera (16) directed in the direction of travel of the first vehicle (10), an image processing unit (18) and a computing unit (15), characterized in that an actual distance E(t) of the first vehicle (10) to the second vehicle (12) is measured continuously or cyclically via the distance measuring unit (14), an image of the second vehicle (12) is continuously recorded via the camera (16) and image data is cyclically determined in the image processing unit (18) and transmitted to the computing unit, and in the computing unit (15) with the determined actual distance E(t) and the determined image data a current actual offset A(t) of a side surface (Z) of the first vehicle (10) facing furthest towards the center of the road is determined. second vehicle (12) to the camera axis (X) is determined and from this actual offset A(t) an actual lateral distance S(t) is calculated in the computing unit (15). 2, Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during overtaking according to claim 1, characterized in that in the computing unit (15) the determined actual lateral distances S(t) are compared with stored target lateral distances Ssoı. 3. Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during an overtaking maneuver according to claim 1 or 2, characterized in that an angle a(t) between the camera axis (X) and the side surface (Z) of the second vehicle (12) facing the middle of the road is calculated from the continuously recorded image data of the image processing unit (18) in the computing unit (15), and the actual lateral distance S(t) is continuously calculated from this in the computing unit (15) by multiplying the actual distance E(t) of the side surface (Z) of the second vehicle (12) facing the middle of the road, determined by means of the distance measuring unit (14), by the sine of the calculated angle aft) and subtracting a lateral distance (B) of the camera (16) from a side of the first vehicle (10) facing the edge of the road. 4. Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during an overtaking maneuver according to claim 3, characterized in that a stereo camera (16.1) or a light field camera is used to determine the angle a(t). 5. Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during overtaking according to claim 3, characterized in that a mono camera (16.2) and optical deflection means are used to determine the angle a(t). 6. Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during overtaking according to claim 3, characterized in that a mono camera (16.2) and the focal length (f) of the camera (16) are used to determine the angle a(t). 7. Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during overtaking according to one of the preceding claims, 10th 11th 12th 13th 14th 15th AT 527 121 B1 2024-11-15 characterized in that the distance measuring unit (14) is a radar unit. Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during overtaking according to one of claims 1 to 7, characterized in that the distance measuring unit (14) is the camera (16), which is also used to determine the angle. Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during an overtaking maneuver according to claim 8, characterized in that from two consecutive images of the mono camera (16.1), the distance E'(t) to the second vehicle (12) is calculated based on the size difference of an object (O) in the image whose size is known. Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during overtaking according to claims 7 and 8, characterized in that a second actual distance E*(t) to the second vehicle (12) is calculated from the data of the image processing unit (18) in the computing unit (15) and is compared and verified with the first actual distance E(t) determined by means of the radar unit (14) at an identical point in time (t). Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during an overtaking maneuver according to claim 10, characterized in that if the actual distances E{(t), E‘(t) are the same, a correct measurement is concluded from the image processing unit (18) and the radar unit (14) and this is used to calculate the actual lateral distance S(t). Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during overtaking according to one of the preceding claims, characterized in that the calculated actual lateral distance S(t) to the second vehicle (12) is displayed in the first vehicle (10). Method for determining and maintaining a lateral distance of a first vehicle (10) to a second vehicle (12) during overtaking according to claim 1, characterized in that the images of a mono camera (16.2) are used and in the image processing unit (18) an offset of the side surface (Z) of the second vehicle (12) facing the middle of the road to the camera axis (X) is measured on the image from image data and is compared in the computing unit (15) with reference images from a map in which the actual offsets to the determined side offsets on the image are stored for different distances E(t), and the actual offset A(t) is determined from this comparison. Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during an overtaking maneuver according to claim 13, characterized in that the determined difference is displayed or processed as a scaled deviation in the first vehicle (10). Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during overtaking according to one of the preceding claims, characterized in that the second vehicle (12) is identified as a single-lane or two-lane vehicle from the data of the image processing unit (18) via the computing unit (15). 16. Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) from a second vehicle (12) during an overtaking maneuver according to one of the preceding claims, characterized in that a navigation device or traffic sign recognition is used to determine whether the first vehicle (10) and the second vehicle (12) are located inside or outside a built-up area. 17. Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during an overtaking maneuver according to one of the preceding claims, characterized in that the determined actual lateral distances S(t) are stored over time and extrapolated in order to predict a probable actual lateral distance S(t) for the moment of reaching the second vehicle (12). 18. Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during an overtaking maneuver according to claim 17, characterized in that target lateral distances Ssoa for single-lane and two-lane vehicles (12) are stored in the computing unit (15), so that if the predicted expected actual lateral distance S(t) is less than the permissible target lateral distance Ss, a warning signal is issued to a driver of the first vehicle (10) or the first vehicle (10) intervenes independently to correct the situation by increasing the actual lateral distance S(t) or by braking. 19. Method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during overtaking according to one of the preceding claims, characterized in that the speed of the first vehicle (10) is taken into account in the correction or warning signal. 20. Device for carrying out the method for determining and maintaining a lateral distance S(t) of a first vehicle (10) to a second vehicle (12) during overtaking according to one of the preceding claims, with a distance measuring unit (14) directed in the direction of travel of the first vehicle (10), a camera (16) directed in the direction of travel of the first vehicle (10), an image processing unit (18) and a computing unit (15), characterized in that the distance measuring unit (14) is used to determine an actual distance E(t) of the first vehicle (10) to the second vehicle (12), the camera (16) is used to continuously record an image of the second vehicle (12), the image processing unit (18) is used to determine and transmit image data, and the computing unit (15) is connected to the image processing unit for receiving the image data and for calculating an actual offset A(t) of a side surface (Z) facing furthest towards the center of the road. of the second vehicle (12) to the camera axis (X) from the image data and the actual distance E(t) determined via the distance measuring unit and for calculating an actual lateral distance S(t) from the determined actual offset A(t). 1 sheet of drawings