METHOD FOR DETECTING AND WARNING OF A CHANGED ENVIRONMENT

Abstract

The invention relates to a method for identifying changes in surroundings of a vehicle, to a corresponding driver assistance system and to a vehicle comprising the driver assistance system. Surroundings datasets are continuously received while the vehicle (2) is stationary. An instantaneous surroundings change Δt is continuously calculated by continuously comparing the surroundings dataset, received at the present time in the stationary state, with a stored surroundings dataset that was received and stored at the time when the vehicle (2) became stationary. A change warning signal is provided when the calculated instantaneous surroundings change Δt exceeds a predefined change limit value Δlim, Δt > Δlim.

Description

[0001] METHOD FOR DETECTING AND WARNING A CHANGED ENVIRONMENT

[0002] Description

[0003] The invention relates to methods for detecting changes in the environment of a vehicle, a corresponding driver assistance system and a vehicle comprising the driver assistance system.

[0004] Parking and reversing poses a significant risk to all road users. Despite the increasing number of vehicles equipped with sensors and driver assistance systems (e.g., ultrasonic sensors, rearview cameras, surround-view cameras, distance warning, etc.), the number of accidents resulting in death, injury, or property damage while parking and reversing remains virtually unchanged. In addition to the danger to life and limb of people and animals, as well as significant property damage, this also represents a significant cost factor.

[0005] It is partly due to the behavior of the drivers, but also to the type of data that is available to the driver assistance systems through the vehicle's sensors to warn drivers of collisions with objects such as other vehicles, people and animals, as well as the type of warning, that despite the increasing number of installed sensors, the number of accidents when parking and reversing does not decrease.

[0006] Sometimes drivers do not check areas around the vehicle that cannot be seen before setting off, such as blind spots to the side of the vehicle, areas that cannot be seen directly in front of the vehicle (the size of the area increases with the size of the vehicle), areas that cannot be seen directly behind the vehicle (the size of the area increases with the size of the vehicle), areas that cannot be seen directly underneath the vehicle, etc. In some cases, the surroundings are not checked before getting into the parked vehicle, i.e. the surroundings are not checked before setting off. Furthermore, warnings from current driver assistance systems (e.g. Park Distance Control) are not noticed or taken into account, because drivers know that they are very close to various objects when their vehicle is parked in a tight parking space and therefore, for example, do not check the parking space.ignore the continuous acoustic warning of the driver assistance system (you think you know that this warning is only generated by the known environment).

[0007] In addition, distances to objects are only perceived by known sensors or driver assistance systems while the vehicle is stationary or while the vehicle is switched off, meaning that certain changes in the vehicle's surroundings are not detected. For example, when a vehicle is parked (remotely) (the driver is outside the vehicle and activates the parking process via a smartphone, a smart car key, or similar), neither the driver, especially when manually exiting the parking space, nor the vehicle itself knows the actual surroundings of the vehicle, because autonomously parked vehicles only know the state of the surroundings immediately after the parking has ended and shortly before the exit begins.When drivers change, as is particularly the case with car sharing, a vehicle parked by another driver is used, whereby the environment that existed when the previous driver parked is unknown to the new driver and also to the vehicle itself at the time of leaving the parking space.

[0008] Since the vehicle's surroundings can often change during the driver's absence or during a driver change (e.g., due to a change in the number of parked vehicles in the vicinity, moving objects such as windblown objects and leaves or objects rolled or fallen into the area, people walking or driving past, animals or other objects, movement of the (ego) vehicle, etc.) without this change in the environment being perceived, objects (especially children, animals, wheelchair users, etc.) are still overlooked and detected by the vehicle when pulling out of a parking space. Furthermore, objects that have moved into the vehicle while stationary (e.g., a marten in the engine compartment) can hardly be detected with existing sensors because they do not record the temporal progression of movements.

[0009] Even today, many accidents occur when parking and reversing, with fatal accidents caused by rollovers (e.g., particularly vulnerable road users such as children, wheelchair users, or animals) not uncommon. In addition, damage to or inside the vehicle caused by rodents, for example, can result in significant costs.

[0010] Therefore, the object of the present invention is to eliminate or at least mitigate the aforementioned disadvantages and problems. To this end, the present invention provides a method for detecting changes in the environment of a vehicle according to independent claim 1, as well as a corresponding driver assistance system and a vehicle comprising the driver assistance system according to the further independent claims. Advantageous embodiments and further developments are the subject of the corresponding dependent claims.

[0011] According to a first aspect of the present invention, a method for detecting changes in the environment of a vehicle comprises the following steps: a) Continuously generating or receiving environmental data sets while the vehicle is stationary. b) Continuously calculating a current environmental change A' by continuously comparing the environmental data set currently generated or received while stationary with a stored environmental data set that was generated or received and stored at the moment the vehicle was stationary. c) Providing a change warning signal if the calculated current environmental change A' exceeds a predefined change threshold value Aüm, A' > Aüm. The steps of the method can be carried out in any reasonable order.The individual steps of the process are carried out continuously, i.e. repeatedly, at a common clock rate or at different predefined clock rates for each of the steps.

[0012] According to a second aspect of the present invention, a driver assistance system for detecting changes in an environment of a vehicle comprises means for carrying out the steps of the method according to the first aspect of the present invention.

[0013] The driver assistance system can be configured as a data processing device, such as a microcontroller (PCI), integrated circuit, application-specific integrated circuit (ASIC), application-specific standard product (ASSP), digital signal processor (DSP), field-programmable gate array (FPGA), and the like. The driver assistance system can, in particular, comprise an interface module, a comparison module, and a change warning module. The interface module can be configured to continuously receive environmental data sets while the vehicle is stationary (step a)).The comparison module can be configured to calculate a current environmental change by continuously comparing the environmental data set currently received while stationary with a stored environmental data set that was received and stored at the moment the vehicle was stationary (step b)). The change warning module can be configured to provide a change warning signal if the calculated current environmental change exceeds a predefined change threshold (step c)). The modules can be software modules executed by the driver assistance system, or communicatively connected data processing devices, or a combination thereof. According to a third aspect of the present invention, a vehicle comprises the driver assistance system according to the second aspect of the present invention.

[0014] In the context of this invention, the term "continuous" is understood to mean that an action is performed repeatedly, in particular at a predefined sampling rate or clock rate. The term "continuously" is thus understood as "at predetermined times" and in particular as "after a predefined time interval." A continuously executed step is therefore understood as a step that is performed at specific, predefined times or after the expiration of a predefined time interval, i.e., at a predefined sampling rate / clock rate.

[0015] By means of the present invention, the surroundings are monitored while the (ego) vehicle is stationary (e.g., switched off, parked, etc.). For this purpose, the (ego) vehicle's own vehicle sensors (internal sensors, e.g., ultrasonic sensors, cameras, LIDAR, etc.) and, additionally or alternatively, external information from external entities, such as (intelligent) infrastructure (e.g., traffic cameras, etc.), traffic drones, other vehicles, and the like, which are transmitted wirelessly (e.g., via radio) to the (ego) vehicle, can be used. While the vehicle is stationary, environmental data sets are continuously received. The received environmental data sets contain information about the environment or surroundings of the (ego) vehicle. In particular, distances from objects surrounding the (ego) vehicle to a body of the (ego) vehicle can be included in the received environmental data sets.Thus, the received environmental data sets contain information about the environment of the (ego) vehicle. Information about the vehicle's environment in the horizontal plane (front, rear, left, right) and additionally or alternatively in the vertical direction (bottom, top) can be included in the received environmental data sets. For example, each received environmental data set can include the respective current (vertical) distances (dj') of several objects (i) surrounding the (ego) vehicle to the vehicle body.

[0016] The environmental data sets received when monitoring the surroundings of the vehicle when stationary are each compared with the stored environmental data set (reference) that was created at the time the vehicle was stationary or parked, in particular at the start of the vehicle or the beginning of the journey (e.g., when leaving a parking space). The environmental data set stored as a reference can in particular be stored in a first memory, while the continuously received current environmental data sets can be stored in a second memory, in particular a ring buffer (cf. FIFO memory). By comparing, in particular subtracting, the currently received environmental data set (e.g., several current vertical distances of objects to the body of the (ego) vehicle) with the stored environmental data set (e.g.,The instantaneous environmental change A' is calculated from the stored vertical distances of the objects to the body of the (ego) vehicle. The instantaneous environmental change A' can, in particular, include the instantaneous distance changes of several objects to the body of the (ego) vehicle compared to the time of standstill.

[0017] If there has been a significant change in the environment compared to the time of standstill (e.g. end of parking) that could pose a collision risk (e.g. a child is directly in front of the vehicle's hood), the change warning signal is provided. The change warning signal is independent of other warning signals, such as a warning signal from a Park Distance Control system of the (ego) vehicle. The predefined change threshold value Aüm is used to specify when an environmental change is significant. If the calculated instantaneous environmental change A' is greater than the predefined change threshold value Aüm, the change warning signal is issued. The predefined change threshold value Aüm can be a predefined length (e.g. 30 cm [centimeters]), in particular a predefined length for each main direction (e.g. 30 cm for front and rear, 50 cm for left and right).For example, if an object moves more than the predefined distance limit Aiim (perpendicularly) toward the vehicle or its body since the vehicle has been stationary, the change warning signal is provided. The change warning signal is a communication signal and can, for example, be an electrical signal (pulse, rising / falling edge, pulse width modulation (PWM), etc.), based on which, for example, a control unit of the (ego) vehicle can issue a warning (e.g., a visual warning) to the driver of the (ego) vehicle.

[0018] The change threshold can also be selected depending on the situation. For example, when towing a trailer, the rear distance limits are increased, as areas far behind the bumper are now also critical, as they could be overrun by the trailer. A combination with existing driver assistance systems (e.g., Trailer Assist) is also possible here to detect the presence of a trailer or, if necessary, to serve as an input for Trailer Assist and the corresponding steering recommendations.

[0019] For example, if the (ego) vehicle is parked in a tight parking space, so that the Park Distance Control issues a continuous acoustic warning due to the objects bordering the tight parking space (e.g., the vehicle in front), and if a new object (e.g., a child or animal) is located directly on the hood of the (ego) vehicle when exiting the parking space, the Park Distance Control's continuous acoustic warning will not change. If the driver nevertheless drives forward, assuming that only the nearby object known to them (the vehicle in front) is in front of the hood, a collision with the new object (child / animal) will occur. By means of the present invention, in addition to the continuous acoustic warning provided by the Park Distance Control when exiting the parking space, the change warning signal is provided, which triggers a separate warning (e.g., a visual warning, another acoustic warning, etc.).) to the driver, effectively alerting them to the change in the environment. If the change threshold is again exceeded by the time the vehicle is started, the system can either dismiss the warning or signal to the driver that a significant change occurred between the time the vehicle was turned off and restarted, and that this may still be the case. This is particularly helpful if objects have penetrated the vehicle's engine compartment.

[0020] Thus, the present invention offers additional warning functionality alongside known driver assistance systems such as Park Distance Control, which only alerts the driver to short distances between the (ego) vehicle or its body and objects, but not to changes in the (ego) vehicle's surroundings. Blind spots and areas around the vehicle that cannot be seen are therefore monitored more effectively, and additional warnings can be issued to the driver in a timely manner based on the change warning signal provided. Furthermore, technical limitations (e.g., low resolution of ultrasonic sensors in the near field) can be eliminated or compensated for. This can effectively prevent accidents, particularly when reversing out of parking spaces, because hazards are detected that are not perceived by the driver themselves (not consciously or visually) or that cannot be adequately detected due to (technical or structural) limitations.This is especially true for car sharing, where the driver simply picks up the vehicle but doesn't know what the surroundings looked like at the time of parking, or whether changes in the environment compared to the time of parking could have resulted in a hazard. Furthermore, the existing vehicle sensors and the information they provide about the surroundings of the (ego) vehicle are used more effectively, and future functionalities such as automatically opening doors are better supported.

[0021] According to a further development of the present invention, (in step a)) the environmental data sets are received and (in step b)) the instantaneous environmental change A' is calculated while an ignition of the vehicle is switched off and additionally or alternatively while the vehicle is locked (from the outside).

[0022] Even while the (ego) vehicle is stationary or parked (speed = 0) and switched off (i.e., its ignition is off), or while the vehicle is locked, the environmental data sets are received (continuously), thus collecting information about the vehicle's surroundings. The environmental data sets received when the (ego) vehicle is switched off / locked are then compared (continuously) with the stored environmental data set (reference), and the current environmental change A' is calculated (continuously).

[0023] Thus, the change warning signal can be provided directly when the (ego) vehicle is started, i.e., when the ignition is switched on or when the vehicle is opened (when the driver is not yet in the vehicle), provided the current environmental change A' is greater than the predefined change threshold Aüm. This ensures that the driver can be warned immediately of a change in the vehicle environment when starting the (ego) vehicle.

[0024] According to a further development of the present invention, the environmental data sets are received (in step a)) from at least one internal sensor of the vehicle and additionally or alternatively from at least one external entity.

[0025] The environmental data sets are received by the (ego) vehicle's at least one internal sensor (e.g., ultrasonic sensor, camera, LIDAR sensor, etc.). The at least one internal sensor provides information about the environment from the (ego) vehicle's perspective (e.g., distances of objects to the sensor, which may be attached to the body of the (ego) vehicle).

[0026] Additionally or alternatively, the environmental data sets are received wirelessly by the at least one external entity, in particular by means of cooperative V2X messages (vehicle-to-everything messages). The at least one external entity can be intelligent infrastructure (e.g., traffic camera, etc.), a traffic drone, another vehicle, and the like. The at least one external entity provides information about the environment from a perspective different from that of the (ego-)vehicle (e.g., observed distances of objects to the body of the (ego-)vehicle are observed from a certain distance, so that the actual distances must be calculated by projection from the observed distances).

[0027] This can involve cooperative coordination between the (ego) vehicle and one or more external entities, such as external vehicles. If, for example, an external vehicle or its sensors have detected an object, the (ego) vehicle checks whether it has also detected this object with its sensors and provides corresponding feedback to the external vehicle. The (ego) vehicle then tracks the object independently using its own sensors. The (ego) vehicle also sends a message to external entities (e.g. surrounding external vehicles) that an object in its environment has been tracked but is now outside the field of view of its internal sensors. An external vehicle can then take over tracking of the said object up to a predefined distance (dangerous space).As soon as the object in question leaves the area, feedback is sent to the (ego) vehicle that the object is outside the predefined distance.

[0028] By using the environmental data sets of the at least one vehicle-specific sensor, the environmental data sets can be retrieved quickly and easily. By using the environmental data sets of the at least one external entity, changes in the vehicle environment can also be provided for (ego vehicles) without, with, or with defective sensors, or the environmental data sets of the internal vehicle sensors can be complemented. According to a further development of the present invention, the method according to the first aspect of the present invention further comprises at least one of the following steps: d) issuing an acoustic and additionally or alternatively optical and additionally or alternatively haptic warning to a driver of the vehicle when the change warning signal is present.e) Activating a brake, in particular a parking brake, of the vehicle and additionally or alternatively at least partially deactivating a cruise control element of the vehicle when the change warning signal is present. f) Displaying at least the object that triggered the change warning signal on a screen of the vehicle when the change warning signal is present.

[0029] All steps of the procedure can be carried out in any sensible order.

[0030] According to a further development of the present invention, the driver assistance system can further comprise a warning module and additionally or alternatively a braking module and additionally or alternatively a display module. The warning module can be configured to output an acoustic and additionally or alternatively a visual and additionally or alternatively a haptic warning to a driver of the vehicle (step d)). The braking module can be configured to activate a brake, in particular a parking brake, of the vehicle and additionally or alternatively to at least partially deactivate a cruise control control element of the vehicle (step e)). The display module can be configured to display at least the object that triggered the change warning signal on a screen of the vehicle (step f)).

[0031] The warning module and, additionally or alternatively, the braking module and, additionally or alternatively, the display module can be communicatively connected to the change warning module. The acoustic and, additionally or alternatively, visual and, additionally or alternatively, haptic warning can be issued to the driver via an element of the (ego) vehicle or an external device, such as a mobile phone, smartphone, smart vehicle key, and the like.

[0032] The acoustic warning can be a signal tone that is emitted to the driver when the change warning signal is present. For example, an acoustic warning to the driver can be a warning tone, an acoustic announcement (e.g., "Caution: changed surroundings, please check surroundings"), a change in the playback volume (quieter / louder) of audio media (radio, streaming, etc.), a call to the driver's smartphone, or a telematics unit of the (ego) vehicle, which then emits an automatic announcement and alerts the driver to the change in surroundings.

[0033] The visual warning can be a light signal from a light source (e.g. LED, etc.) that is issued to the driver when the change warning signal is present. For example, a visual warning to the driver can be given by activating a warning light on the (ego) vehicle, activating a message on a screen on the (ego) vehicle, illuminating a corner of the interior of the (ego) vehicle (e.g. amplifying or coloring the ambient lighting at the point in the interior where there is a danger outside the (ego) vehicle due to a significant change in the environment), activating interior lights of the (ego) vehicle (e.g. reading light in the rear, vanity lights behind the sun visor) and by switching on or pulsing, illuminating the vehicle surroundings (e.g.with front or rear headlights or ambient lighting on the door handles or under the license plate or with ambient lighting under the exterior mirrors of the (ego) vehicle at the point outside the (ego) vehicle where a danger exists due to a significant change in the environment) and a warning displayed on a head-up display of the (ego) vehicle (static or dynamic via virtual reality (VR)). The haptic warning can in particular be a force, for example in the form of pressure, vibration, pulsation, etc., exerted on the driver by an element of the (ego) vehicle or an external device (mobile phone / smartphone / smart vehicle key). For example, the haptic warning to the driver can be a vibration of a cruise control control (driver's foot lever, accelerator pedal, throttle grip, hand throttle control, etc.), a gear lever, a steering wheel, a seat belt, an armrest, a seat, etc.of the (ego) vehicle, the seat belt of the (ego) vehicle must be tightened.

[0034] The acoustic, optical, or haptic warning is preferably different from an (acoustic, optical, or haptic) warning from another driver assistance system, in particular a Park Distance Control system, of the (ego-)vehicle. Furthermore, the optical and, in addition or alternatively, the acoustic and, in addition or alternatively, the haptic warning to the driver can be provided in addition or alternatively to elements of the (ego-)vehicle using one or more external devices such as smartphones, portable devices / wearables (e.g., smartwatches, pedometers, smart glasses, headphones, e-cigarettes), or intelligent infrastructure in the vicinity of the (ego-)vehicle (e.g., flashing lights from connected lights in the garage entrance, not opening a gate or barrier until the driver has confirmed awareness of the danger, etc.).This prevents the driver from noticing changes in the environment that could lead to a collision between the vehicle and the objects responsible for the change in the environment.

[0035] Additionally or alternatively, the brake, in particular the parking brake of the (ego) vehicle, is activated when the change warning signal is present, so that the (ego) vehicle cannot be moved and thus no collision with an object can occur due to a movement of the (ego) vehicle. The driver must first actively confirm the release of the (parking) brake (e.g., by confirming a corresponding message on a touchscreen of the vehicle, a smartphone, or an intelligent key) or independently release the (parking) brake before the vehicle can be moved, in particular before it can be pulled out of a parking space. Before the (ego) vehicle is moved, for example, the parking brake is reactivated if a significant change in the environment is detected that poses a hazard (when pulling out of a parking space).The parking brake must then be manually deactivated (overridden) before the driver can move the (ego) vehicle, which alerts the driver to the significant environmental change and prevents a collision with the object responsible for the significant environmental change. This ensures that the driver cannot inadvertently move the vehicle due to an environmental change that they themselves are unaware of, resulting in a collision with the corresponding object responsible for the environmental change and the (ego) vehicle.

[0036] Additionally or alternatively, the cruise control control, technically also known as the accelerator foot lever or accelerator pedal in automobiles, and the throttle grip or hand throttle control in motorcycles, light motor vehicles and automobiles specially converted for people with physical disabilities, is at least partially deactivated. For example, an initial or the entire operating range of the cruise control control can be deactivated so that no control signal is sent to the engine or the vehicle's control unit in this area. The vehicle therefore does not move, even if the driver operates or adjusts the cruise control control. The driver must first actively reactivate the cruise control control (e.g. by confirming a corresponding message on a vehicle touchscreen, a smartphone or an intelligent key) before the vehicle can be moved, in particular before it can be pulled out of a parking space.A counterforce to the direction of operation of the cruise control can also be applied, which the driver must first overcome to move the vehicle. The increased force required to operate the cruise control is then used to alert the driver to the change in the environment. For example, the cruise control element (accelerator pedal) can be (partially) deactivated when a significant change in the environment has been detected, so that it only forwards the command to accelerate once the driver has confirmed a message on a screen or manually double-tapped the accelerator pedal, thereby signaling that they have understood the warning of the significant change in the environment. This prevents the driver from failing to notice a change in the environment and the vehicle from colliding with the object responsible for the change in the environment.

[0037] Additionally or alternatively, the object that triggered the change warning signal is displayed, for example, as an icon or as a live image on the vehicle's screen, preferably in a bird's-eye view, when the change warning signal is present. This allows the driver to immediately identify the location of the change in the environment and whether or not the vehicle can be moved safely. This ensures that the driver does not overlook objects that have caused an environmental change that they themselves were not aware of, thereby causing a collision.

[0038] Steps d), e), and f) are additionally or alternatively performed before the vehicle is set in motion from a standstill. One or more of steps d), e), and f) can, for example, be performed while the vehicle is still stationary and additionally or alternatively during or shortly after unlocking the (ego) vehicle and additionally or alternatively during or shortly after switching on the ignition of the (ego) vehicle, so that the driver is informed of significant environmental changes before setting the vehicle in motion.

[0039] The warnings and the display of the object responsible for the change in environment effectively alert the driver to the change in environment. Furthermore, by confirming the release of the (parking) brake or the cruise control, or by actively releasing the (parking) brake or overriding the counterforce applied to the cruise control, the driver is alerted to the unusual new hazard posed by the change in environment, effectively preventing accidents, especially when exiting a parking space.

[0040] According to a further development of the present invention, the environmental data comprise at least the essentially vertical, horizontal distance of a body of the vehicle to objects in an environment of essentially 360° around the vehicle.

[0041] The environmental data contains information on the essentially vertical distance between the outer surface of the body of the (ego) vehicle and objects in the environment of the (ego) vehicle. The vertical distances can be present in the horizontal plane and additionally or alternatively in the vertical direction in the environmental data sets. For example, the environmental data sets can contain the distance of the front body surface to the nearest object in the frontal direction, the rear body surface to the nearest object in the rearward direction, the left body surface to the nearest object in the left direction, the right body surface to the nearest object in the right direction, and the lower body surface to the nearest object in the downward direction. It can also be along the horizontal circumference of the body of the (ego) vehicle (e.g.The respective perpendicular distance to the nearest object along the outer surface of the body of the (ego) vehicle (e.g., at defined intervals along the horizontal circumference) and along the lower surface of the body of the (ego) vehicle (e.g., at defined intervals along the lower surface) must be included in the environmental data sets. In particular, for each object, the essentially perpendicular, horizontal, or vertical distance and, optionally, the direction to the outer surface of the body of the (ego) vehicle are included in the environmental data sets.

[0042] Using the environmental data sets comprising the vertical distances of the body to the objects in the vicinity of the (ego) vehicle, a significant change in the environment can be determined particularly reliably and precisely and the driver can then be warned accordingly.

[0043] According to a further development of the present invention, the environmental data comprise a predefined number of nearest objects with their respective positions relative to the vehicle.

[0044] Preferably, the two to 20, further preferably the four to 16, particularly preferably the eight objects closest to the (ego vehicle) or its body are recorded from the environmental data along with their respective positions. In particular, for each object, the substantially perpendicular, horizontal, or vertical distance and optionally also the direction to the body of the (ego) vehicle are included in the environmental data sets.

[0045] In an advantageous embodiment, it is possible to generate and store a confidence interval that indicates the maturity level of the information.

[0046] For example, the environmental data can include the one, two, three, four, or five nearest objects in one, several, or every (main) direction—that is, front, rear, left, right, and bottom—with their respective positions relative to the (ego) vehicle or at least their respective perpendicular distances to the surface of the body in the corresponding direction. The respective position of the objects relative to the (ego) vehicle or its body can be specified in the environmental data, for example, using radial coordinates (angle / direction and radius / distance) or Cartesian coordinates (x-direction - front / rear; y-direction - left / right; z-direction - bottom / top).

[0047] In an advantageous embodiment, a ring buffer can be used to record the data and discard it if it is no longer relevant. For each journal in which an environment data set is received, the ring buffer (see FIFO memory), which has at least as many storage locations as the predefined number of nearest objects, is completely overwritten with a new environment data set containing the predefined number of nearest objects.

[0048] In this way, the relevant information about the environment of the (ego) vehicle is made available particularly quickly and efficiently for further processing.

[0049] According to a further development of the present invention, a distance change Adi is calculated (in step b)) for each object in the stored environmental data set as the current environmental change by comparing its respective position in the stored environmental data set with its corresponding position in the currently received environmental data set. Furthermore, (in step c)) the change warning signal is provided if one of the calculated distance changes Adi exceeds the predefined environmental change threshold Aüm, Adi > Aüm.

[0050] For example, if two objects (|i| = 10) are stored in each direction (front, rear, left, right, bottom) with their positions relative to the (ego) vehicle, ten distance changes Adi are calculated for each received environmental data set. For each of the ten objects included, the respective distance change Adi is calculated by comparing it with the corresponding position in the stored environmental data set, in particular by subtracting the respective current relative position to the (ego) vehicle or the respective current perpendicular distance to the body from the corresponding relative position or the corresponding perpendicular distance from the stored environmental data set.

[0051] In this way, the current environmental change can be calculated particularly quickly and efficiently and, if necessary, the change warning signal can be provided particularly quickly and efficiently.

[0052] According to a further development of the present invention, a confidence interval is added to the generated or received environmental data sets, which evaluates a quality of the respective environmental data sets and additionally or alternatively of the objects contained therein by means of a confidence value.

[0053] The confidence interval can be derived, for example, based on the trustworthiness of the information source. A high trust value is assigned to environmental data sets from trusted sources; a low trust value is assigned to environmental data sets from untrusted sources (e.g., a high trust value for environmental data sets from the system's own sensors, a low trust value for externally provided environmental data sets, such as from other road users or the infrastructure).

[0054] Furthermore, the level of trust value of objects can depend on the number of sensors detecting the object or the environmental data sets comprising the object (e.g. detection of an object by both ultrasonic sensors and by camera and external data leads to a higher trust value and thus a higher trustworthiness than detection by a single sensor).

[0055] In addition, a corresponding type of warning can be predefined based on the confidence interval or the respective confidence value.

[0056] According to a further development of the present invention, the change warning signal is additionally provided (in step c)) if the currently received environmental data set includes at least one different object than the stored environmental data set.

[0057] For example, if the ten nearest objects, i.e. two objects in each of the five directions, front, back, left, right, bottom, with their respective relative positions to the (ego) vehicle or with their respective vertical distances from the body of the (ego) vehicle, are always present in the environmental data sets, then if one of the ten objects in the environmental data set (reference) stored at the time the (ego) vehicle was stationary is replaced by another, closer object in the currently received environmental data set, the change warning signal is output.

[0058] This allows the change warning signal to be provided even faster and more efficiently.

[0059] According to a further development of the present invention, the method according to the first aspect of the present invention further comprises the following step: g) Continuously determining environmental data sets by means of at least one first internal sensor of the vehicle while the vehicle is stationary or alternatively while the ignition of the vehicle is switched off and additionally or alternatively while the vehicle is locked.

[0060] All steps of the procedure can be carried out in any sensible order.

[0061] According to a further development of the present invention, the vehicle according to the third aspect of the present invention can comprise at least one internal sensor which is communicatively connected to the driver assistance system, in particular to the interface module, and is configured to continuously determine environmental data sets by means of at least one first internal sensor of the vehicle while the vehicle is stationary or alternatively while the vehicle is switched off and additionally or alternatively while the vehicle is locked.

[0062] The at least one sensor of the (ego) vehicle can be an ultrasonic sensor that determines the distance to an object based on time-of-flight analyses of emitted ultrasonic pulses, a camera that determines the distance to an object using image analysis (e.g. triangulation), a LIDAR sensor that determines the distance to an object based on time-of-flight analyses of emitted laser pulses, a haptic sensor that works with physical scanning, and the like. A sensor for determining and localizing radio communication can also be used. With this sensor, sources of radio waves, such as mobile devices / smartphones and the like, can be detected and localized. This makes it possible, for example, to determine positions orDetermine distances from persons carrying a mobile device / smartphone or from vehicles with mobile communication devices relative to the (ego) vehicle and integrate them into the environmental data sets.

[0063] The at least one sensor continuously acquires environmental data sets comprising relative positions or vertical distances of objects to the (ego) vehicle or its body. The continuously acquired environmental data sets can be forwarded to the driver assistance system to determine the current environmental change.

[0064] By means of at least one internal sensor of the (ego) vehicle, environmental data sets with particularly precise information about the environment of the (ego) vehicle can be determined.

[0065] According to a further development of the present invention, if the calculated instantaneous environmental change A' exceeds the predefined change limit value Aüm, (in step g)) the environmental data sets are additionally determined by means of at least one second internal sensor of the vehicle and additionally or alternatively with a higher sampling rate or clock rate.

[0066] If the environmental data sets are acquired with a higher sampling rate / clock rate (step g)), the environmental data sets can be received analogously with a higher or the same sampling rate / clock rate with which they are acquired (step a)) and the instantaneous environmental change A' can be calculated with a higher or the same sampling rate / clock rate with which they are acquired. For example, the environmental data sets can be acquired continuously with a sampling rate / clock rate of, for example, 0.2 Hz [Hertz] by one ultrasonic sensor in each direction (front, back, left, right, bottom). If a significant environmental change (instantaneous environmental change A' > predefined change threshold value Aiim) occurs, a higher clock rate of, for example, 5 Hz and additionally or alternatively with further sensors (e.g.additional ultrasonic sensors or additional sensors such as cameras or LIDAR sensors) determine the environmental data sets in the corresponding direction or in all directions.

[0067] This allows energy to be saved when no significant environmental changes occur, while also allowing particularly accurate environmental data sets to be obtained when a significant environmental change does occur. This allows for energy-saving yet precise warnings of significant environmental changes.

[0068] According to a further development of the present invention, the method according to the first aspect of the present invention further comprises the following step: h) receiving and storing an environmental data set as the stored environmental data set at the time t=0 at which the vehicle is stationary.

[0069] According to a further development of the present invention, the interface module or the comparison module can be designed to receive and store an environmental data set as the stored environmental data set at the time t=0 at which the vehicle is stationary.

[0070] At time t=0, at which the vehicle is stationary, the currently received environmental data set is permanently stored, for example, in the first memory, and is subsequently used as a reference for determining the environmental change. The environmental data set stored at said time t=0 reflects the environmental state around the (ego) vehicle at the time at which the (ego) vehicle no longer moves.

[0071] The present invention and the technical environment are explained in more detail below with reference to the figures. It is pointed out that the present invention is not intended to be limited by the exemplary embodiments shown. In particular, unless explicitly stated otherwise, it is also possible to extract partial aspects of the facts explained in the figures and combine them with other components and findings from the present description or from the figures. In particular, it is pointed out that the figures and in particular the proportionalities shown are only schematic. The same reference symbols denote the same objects, so that explanations from other figures can be used as a supplement if necessary.

[0072] They show:

[0073] Fig. 1 is a schematic flow diagram of an exemplary embodiment of the method for detecting changes in an environment of a vehicle;

[0074] Fig. 2 is a schematic representation of an exemplary embodiment of the driver assistance system for detecting changes in the environment of a vehicle;

[0075] Fig. 3 is a schematic representation of an exemplary embodiment of the vehicle comprising the driver assistance system from Fig. 2;

[0076] Fig. 4 is a schematic representation of the surroundings of the vehicle at different times; and

[0077] Fig. 5 shows a further schematic representation of the vehicle's surroundings at different points in time. Fig. 1 schematically shows an exemplary embodiment of the method for detecting changes in the vehicle's surroundings according to the first aspect of the present invention. The method comprises the steps a) continuously receiving, b) continuously calculating and c) providing, as well as optionally the steps d) outputting, e) activating, f) displaying, g) continuously determining and h) receiving and storing. The steps of the method can be carried out in any reasonable order. The continuous steps can be carried out with different sampling rates or clock rates or with a common sampling rate / clock rate.

[0078] In the optional step g), environmental data sets (one environmental data set at each time point of the clock rate / sampling rate) are continuously determined by means of at least one first internal sensor (3, see Fig. 3) of the vehicle (2, see Fig. 3) while the vehicle is stationary or while the vehicle's ignition is switched off and additionally or alternatively locked (from the outside). The continuously determined environmental data sets are forwarded by the at least one first sensor to the driver assistance system (1, see Figs. 2 and 3) or its interface module (11, see Fig. 2) and temporarily stored in a second (ring) memory.

[0079] In the optional step h), the environmental data set determined at time t=0, at which the vehicle is no longer moving and is completely stationary, or at which the vehicle's ignition is turned off, or at which the vehicle is locked, is stored as a reference. Said environmental data set is stored as the stored environmental data set by the driver assistance system or its interface module or comparison module (12, see Fig. 2) in a first memory.

[0080] In step a), environmental data sets (at least one environmental data set at each time point of the clock rate / sampling rate) are continuously received. The environmental data sets can be received from the at least one internal sensor of the vehicle and additionally or alternatively from an external entity (4, see Fig. 3), such as intelligent infrastructure (e.g., traffic camera, etc.), a traffic drone, another vehicle, and the like. The environmental data sets each contain information about the vehicle's surroundings, in particular the respective position of objects (5, see Figs. 4 and 5) relative to the vehicle.

[0081] In step b), a current environmental change A' is continuously calculated (at each point in time of the sampling rate / clock rate). This is done by continuously comparing the environmental data set currently received when the vehicle is stationary or switched off / locked with the stored environmental data set that was received and stored at the moment the vehicle (2) was stationary. The driver assistance system or its comparison module compares the environmental data set (reference) stored in the first memory with the environmental data set currently stored in the second (ring) memory in order to calculate the current environmental change A'. For this purpose, the current environmental data set from the second (ring) memory is subtracted from the stored environmental data set from the first memory, so that a change in position or distance from the vehicle is calculated for each object in the vehicle's surroundings.

[0082] If the calculated instantaneous environmental change A' (respective distance / position change of the objects in the vehicle's surroundings) is greater than a predefined change limit Aüm (maximum permissible distance change), i.e., if the instantaneous environmental change A' is significant, a change warning signal is provided in step c). The change warning signal can trigger a warning to the vehicle driver. The driver assistance system or its change warning module (13, see Fig. 2) provides the change warning signal, for example, to a warning module (14, see Fig. 2), a braking module (15, see Fig. 2), or a display module (16, see Fig. 2) of the driver assistance system or an external device (mobile phone, smartphone, intelligent key, etc.) if the instantaneous environmental change A' is significant and thus there is a risk that the vehicle will collide with an object not noticed by the driver.

[0083] If the change warning signal is present, in the optional step d), an acoustic and, additionally or alternatively, a visual and, additionally or alternatively, a haptic warning is issued to the driver of the vehicle. The driver is warned acoustically / visually / haptically of the significant change in the environment by the driver assistance system or its warning module (15, see Fig. 2) and, additionally or alternatively, by an external device (mobile phone, smartphone, intelligent key, etc.), thus avoiding a collision with an object in the changed environment that the driver did not recognize.

[0084] If the change warning signal is present, in the optional step e), a brake, in particular a parking brake of the vehicle, is activated. Additionally or alternatively, a cruise control control element (driver's foot lever, accelerator pedal, throttle grip, hand throttle control element, etc.) of the vehicle is at least partially deactivated. The driver assistance system or its brake module activates the (parking) brake of the vehicle if a significant change in the environment has been detected and, therefore, the change warning signal is present. Additionally or alternatively, the driver assistance system or its brake module at least partially deactivates the cruise control control element of the vehicle if a significant change in the environment has been detected and, therefore, the change warning signal is present. The driver must therefore first actively release the (parking) brake or reactivate the cruise control control element (e.g.by acknowledging a message on a vehicle screen or by double-tapping the cruise control control) before the driver can move the vehicle from a standstill. This alerts the driver to the significant change in the environment and the resulting risk of collision, and also prevents the vehicle from colliding with the object responsible for the significant change in the environment. If the change warning signal is present, in the optional step f), at least the object that triggered the change warning signal is displayed on a vehicle screen (e.g., in a bird's-eye view as an icon or as a real-time camera image / live image).

[0085] Fig. 2 schematically shows an exemplary embodiment of the driver assistance system 1 for detecting changes in the environment of a vehicle according to the second aspect of the present invention. The driver assistance system 1 comprises means (modules) for carrying out the steps of the method from Fig. 1. In particular, the driver assistance system 1 comprises an interface module 11, a comparison module 12 and a change warning module 13, as well as optionally a warning module 14, a braking module 15 and a display module 16. The modules of the driver assistance system 1 can be software modules that are implemented in the driver assistance system 1 designed as a data processing device and cause this to carry out the corresponding steps, or separate hardware modules that each independently carry out the corresponding step.

[0086] The interface module 11 is configured to perform step a) and optionally step h). The interface module 11 is communicatively connected to the at least one first sensor of the vehicle and additionally or alternatively to the at least one external entity. It can store the received current environmental data sets in the second (ring) memory and the environmental data set received at the time the vehicle is stopped / switched off / locked in the first memory as a stored environmental data set.

[0087] The comparison module 12 is communicatively connected to the interface module 11 and receives the received current environmental data set, for example, from the second (ring) memory. The comparison module 12 is configured to execute step b). The comparison module 12 can be communicatively connected to the at least one first sensor of the vehicle and additionally or alternatively to the at least one external entity and, instead of the interface module, can optionally be configured to execute step h), wherein it stores the environmental data set received at the time the vehicle is stationary / switched off / locked in the first memory as a stored environmental data set.

[0088] The change warning module 13 is communicatively connected to the comparison module 12 and is designed to carry out step c).

[0089] The optional warning module 14 is communicatively connected to the change warning module 13 and is designed to carry out step d).

[0090] The optional brake module 15 is communicatively connected to the change warning module 13 and is designed to carry out step e).

[0091] The optional display module 16 is communicatively connected to the change warning module 13 and is designed to carry out step f).

[0092] Fig. 3 schematically shows an exemplary embodiment of the vehicle 2 according to the third aspect of the present invention, comprising the driver assistance system 1 from Fig. 2. The vehicle 2 comprises the driver assistance system 1 and at least one (here, for example, three) first sensor 3. The at least one sensor 3 is communicatively connected to the driver assistance system 1 and designed to carry out step g) of the method from Fig. 1. In addition to or alternatively to the at least one sensor 3, the driver assistance system 1 can be communicatively connected to at least one external entity 4, such as intelligent infrastructure (e.g., traffic camera, etc.), a traffic drone, another vehicle, and the like, and can continuously receive environmental data sets from this. Fig. 4 schematically shows the environment of the vehicle 2 at two different points in time. The vehicle 2 and its environment are shown from a bird's eye view.This representation can also be shown to the driver in real time on a screen of vehicle 2. On the left, the surroundings of vehicle 2 are shown at time t=0, at which vehicle 2 is no longer moving and stationary, or at which the ignition of vehicle 2 is turned off, or at which vehicle 2 is locked. On the right, the surroundings of vehicle 2 are shown at the later time t=T, at which vehicle 2 is still stationary, or at which the ignition of vehicle 2 is turned on, or at which vehicle 2 is unlocked.

[0093] At time t=0, three objects 5 are located in the vicinity of vehicle 2. The first object 5.1 is located in front of vehicle 2 in the x-direction at a distance di°. The second object 5.2 is located to the right of vehicle 2 in the (negative) y-direction at a distance d2°. The third object 5.3 is located behind vehicle 2 in the (negative) x-direction at a distance ds 0. The stored environmental data set can therefore, for example, include the three objects 5 with their respective horizontal and vertical distances to the vehicle 2 (or (the surface of) its body) and directions:

[0094] Object Direction Distance

[0095] 1 +x di°

[0096] 2 -y d2°

[0097] 3 -x d3°

[0098] At time t=T the three same objects 5 are in the vicinity of the vehicle 2. The distance d2 T of the second object 5.2 and the distance ds T of the third object 5.3 have not changed, d2 T =d2°; d3 T =d3°. Thus, for the second and third objects 5.2, 5.3, there is no environmental change A T at time t=T. However, the first object 5.1 has moved in the (negative) x-direction towards the vehicle 2 and is now at a distance di T which is less than the distance di°, di T<di°. Der momentane Umgebungsdatensatz kann daher beispielsweise die drei Objekte 5 mit ihren jeweiligen horizontalen, senkrechten Abständen zu dem Fahrzeug 2 (bzw. (der Oberfläche) dessen Karosserie) und Richtungen umfassen:

[0099] Object Direction Distance

[0100] 1 +x di T

[0101] 2 -y d2 T

[0102] 3 -x d3 T

[0103] This results in an environmental change A T at time t=T which corresponds to the difference between the distance of the first object 5.1 at time t=0 and the distance of the first object 5.1 at time t=T, A T = di° - di T . The current environmental change A T can therefore include, for example, the following values:

[0104] A T Tue° - Tue T 0 0

[0105] If this environmental change A Tis greater than the predefined change threshold Aüm (e.g. 30 cm), which corresponds to a significant change in the environment, the change warning signal is provided and the driver can be made aware of the changed environment, for example by means of an acoustic / visual / haptic warning or by activating the (parking) brake or by (partially) deactivating the cruise control control or by displaying the first object on the screen.

[0106] Fig. 5 schematically shows a different environment of vehicle 2 at two different points in time. Vehicle 2 and its environment are shown from a bird's eye view. This representation can also be shown to the driver in real time on the screen of vehicle 2. On the left, the environment of vehicle 2 is shown at time t=0, at which vehicle 2 is no longer moving and is stationary, or at which the ignition of vehicle 2 is switched off, or at which vehicle 2 is locked. On the right, the environment of vehicle 2 is shown at the later point in time t=T, at which vehicle 2 is still stationary, or at which the ignition of vehicle 2 is switched on, or at which vehicle 2 is unlocked.

[0107] At time t=0, three objects 5 are located in the vicinity of vehicle 2. The first object 5.1 is located in front of vehicle 2 in the x-direction at a distance di°. The second object 5.2 is located to the right of vehicle 2 in the (negative) y-direction at a distance d2°. The third object 5.3 is located behind vehicle 2 in the (negative) x-direction at a distance ds 0 . The stored environmental data set can therefore, for example, include the three objects 5 with their respective horizontal and vertical distances to the vehicle 2 (or (the surface of) its body) and directions:

[0108] Object Direction Distance

[0109] 1 +x di°

[0110] 2 -y d2°

[0111] 3 -x d3°

[0112] At time t=T, the same three objects 5 are in the vicinity of the vehicle 2. In addition, however, a fourth object 5.4 is in the vicinity of the vehicle 2, namely in the x-direction in front of the vehicle 2, and is located between the vehicle 2 and the first object 5.1, i.e. closer than the first object 5.1 to the vehicle 2. The distance di T of the first object 5.1 , distance d2 T of the second object 5.2 and the distance ds T of the third object 5.3 have not changed, the T =di°; d2 T =d2°; d3 T =d3°. Thus, for the first, second and third objects 5.1, 5.2, 5.3, there is no change in the environment A T at time t=T. The fourth object 5.4, which was not yet in the vicinity of the vehicle at time t=0, is now also in front of vehicle 2 at a distance d4 T which is less than the distance di T of the first object, d4 T <diT . Thus, at time t=T, the environmental data set comprises either four objects or, if only the nearest object is included in each direction, three objects, one of which is new. The current environmental data set can therefore, for example, comprise all four objects 5 with their respective horizontal and vertical distances to the vehicle 2 (or (the surface of) its body) and directions:

[0113] Object Direction Distance

[0114] 1 +x di T

[0115] 2 -y d2 T

[0116] 3 -x d3 T

[0117] 4 + x d4 T

[0118] Or alternatively, only the nearest object in each direction with their respective horizontal, vertical distances to the vehicle 2 (or (the surface of) its body) and directions:

[0119] Object Direction Distance

[0120] 4 + x d4 T

[0121] 2 -y d2 T

[0122] 3 -x d3 T

[0123] Thus, in the first case (four objects) there is no environmental change A T at time t=T, however, a change warning is still provided because, compared to the stored environment data set (T=0), there is a new object in the current environment data set (t=T), which corresponds to a significant environment change. In the second case, an environment change A results. T in front of the vehicle 2 which corresponds to the difference between the distance of the first object 5.1 at time t=0 and the distance of the fourth object 5.4 at time t=T, A T = di° - d4 T . The current environmental change A T can therefore include, for example, the following values: A T di° - c T 0 0

[0124] If this environmental change A Tis greater than the predefined change threshold Aiim (e.g. 30 cm), i.e. is significant, the change warning signal is provided and the driver can be made aware of the changed environment, for example by means of an acoustic / visual / haptic warning or by activating the parking brake or by (partially) deactivating the cruise control control or by displaying the first object on the screen.

[0125] Although specific embodiments have been illustrated and described herein, it will be apparent to those skilled in the art that numerous alternatives and / or equivalent implementations exist. It should be appreciated that the exemplary designs or embodiments are merely examples and are not intended to limit the scope, applicability, or configuration in any way. Rather, the foregoing summary and detailed description will provide those skilled in the art with sufficient direction for implementing at least one preferred embodiment; it being understood that various changes in the function and arrangement of the elements described in an exemplary embodiment do not depart from the scope of application set forth in the appended claims and their legal equivalents.In general, this application is intended to cover any adaptations or variations of the specific embodiments discussed herein.

[0126] In the foregoing detailed description, various features have been summarized in one or more examples in order to keep the disclosure concise. It is understood that the above description is intended to be illustrative and not restrictive. It is intended to cover all alternatives, modifications, and equivalents that may be included within the scope of the invention. Many other examples will become apparent to one skilled in the art upon study of the above disclosure.

[0127] To provide a thorough understanding of the invention, specific nomenclature is employed throughout the disclosure. However, it will be apparent to one skilled in the art, in light of the specifications contained herein, that these specific details are not required to practice the invention. Thus, the foregoing descriptions of specific embodiments of the present invention are presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed above; obviously, many modifications and variations are possible in light of the above teachings.The embodiments were chosen and described in order to best explain the principles of the invention and their practical applications, and thus to enable others skilled in the art to best utilize the invention and various embodiments, with various modifications as may be appropriate for the particular use. Throughout this specification, the terms "including" and "in which" are used as equivalents to the terms "comprising" and "wherein," respectively. Furthermore, the terms "first," "second," "third," etc., are used merely as labels and are not intended to impose numerical requirements on the items or to imply any particular order of precedence. In the context of this specification and claims, the conjunction "or" is to be construed as including ("and / or") and not as exclusive ("either... or").List of reference symbols.

[0128] 1 driver assistance system

[0129] 2 vehicles

[0130] 3 internal sensor

[0131] 4 external entity

[0132] 5 objects

[0133] 11 Interface module

[0134] 12 Comparison module

[0135] 13 Change warning module

[0136] 14 Warning module

[0137] 15 Brake module

[0138] 16 Display module

Claims

-36- Patent claims 1. Method for detecting changes in a vehicle's environment (2), comprising the steps of: a) continuously generating or receiving environment data sets while the vehicle (2) is stationary; b) continuously calculating an instantaneous environmental change At by continuously comparing the environment data set currently generated or received while stationary with a stored environment data set that was generated or received and stored at the moment the vehicle (2) was stationary; and c) providing a change warning signal when the calculated instantaneous environmental change At exceeds a predefined change threshold Alim, At > Alim.

2. Method according to claim 1, wherein the environmental data sets are received and the instantaneous environmental change At is calculated while the ignition of the vehicle (2) is switched off and / or while the vehicle (2) is locked.

3. Method according to claim 1 or 2, wherein the environmental data sets are received from at least one internal sensor (3) of the vehicle (2) and / or from at least one external entity (4).

4. A method according to any one of the preceding claims, further comprising at least one of the steps of: d) issuing an acoustic and / or visual and / or haptic warning to a driver of the vehicle (2) when the change warning signal is present; e) activating a brake, in particular a parking brake, of the vehicle (2) and / or at least partially deactivating a -37- vehicle's speed control control element (2) when the change warning signal is present; and f) display at least the object (5) which caused the change warning signal on a screen of the vehicle (2) when the change warning signal is present.

5. Method according to one of the preceding claims, wherein the environmental data at least comprise the substantially vertical horizontal distance of a body of the vehicle (2) to objects (5) in a 360° environment around the vehicle (2).

6. Method according to one of the preceding claims, wherein the environmental data comprises a predefined number of nearest objects (5) with their respective positions relative to the vehicle (2).

7. Method according to claim 6, wherein for each object (5) in the stored environment data set, a distance change Adi is calculated as the instantaneous environment change by comparing its respective position in the stored environment data set with its corresponding position in the currently received environment data set; and wherein in step c) the change warning signal is provided when one of the calculated distance changes Adi exceeds the predefined environment change limit Alim, Adi > Alim.

8. Method according to one of the preceding claims, wherein a confidence interval is added to each of the generated or received environment data sets, which evaluates the quality of the respective environment data sets and / or the objects (5) contained therein.

9. Method according to any one of claims 6 to 8, where the change warning signal is additionally provided if the currently received environment data set contains at least one different object (5) than the stored environment data set.

10. Method according to any of the preceding claims, further comprising the step: g) continuously determining environmental data sets by means of at least one first internal sensor (3) of the vehicle (2) while the vehicle (2) is stationary or, depending on claim 2, while the ignition of the vehicle (2) is switched off and / or while the vehicle (2) is locked [from the outside].

11. Method according to claim 10, wherein, if the calculated instantaneous environmental change At exceeds the predefined change limit Alim, the environmental data sets are additionally determined by means of at least one second internal sensor (3) of the vehicle (2) and / or with a higher sampling rate.

12. Method according to any of the preceding claims, further comprising the step: h) Receiving and storing an environment data set as the stored environment data set at the time, t=0, when the vehicle (2) is stationary.

13. Driver assistance system (1) for detecting changes in the environment of a vehicle (2), comprising means for performing the steps of the method according to one of the preceding claims.

14. Vehicle (2) comprising: the driver assistance system (1) according to claim 13.