Method for operating a driver assistance device arrangement, corresponding driver assistance device arrangement and computer program product

Abstract

The invention relates to a method for operating a driver assistance system arrangement (15) with several driver assistance systems (9) for motor vehicles (1, 2, 3). It is provided that each of the driver assistance systems (9) uses an environment sensing device (10) of the respective motor vehicle (1, 2, 3) to at least temporarily acquire environmental data describing the environment (11) of the respective motor vehicle (1, 2, 3) and, based on this environmental data, determines a parameter value of an emergency vehicle parameter of an emergency vehicle (4) present in the environment (11) as well as a confidence value for the parameter value. The driver assistance systems (9) exchange the determined parameter values ​​and combine them, based on the confidence values, to form an emergency vehicle parameter value. The invention further relates to a driver assistance system arrangement (15) and a computer program product.

Description

[0001] The invention relates to a method for operating a driver assistance system arrangement with multiple driver assistance systems for motor vehicles, wherein each of the driver assistance systems acquires environmental data describing the environment of the respective motor vehicle, at least temporarily, by means of an environment sensing device of the respective motor vehicle. The invention further relates to a driver assistance system arrangement and a computer program product.

[0002] For example, prior art is known from US patent 2023 / 0343214A1. This patent describes a method that includes: processing a signal received from a sensor connected to an autonomous vehicle, wherein the processing outputs a prediction indicating the probability that an emergency vehicle is present in an environment near the autonomous vehicle; receiving a vehicle-to-vehicle communication message from another vehicle, containing a notification of the approaching emergency vehicle, by the autonomous vehicle; generating a quantity, based on the prediction and the vehicle-to-vehicle communication message, indicating whether the emergency vehicle is near the autonomous vehicle; and causing the autonomous vehicle to perform an action in response to the quantity indicating that the emergency vehicle is nearby.

[0003] Furthermore, German patent application DE 10 2019 106 169 A1 discloses a vehicle comprising: a plurality of microphones arranged on the vehicle; a control unit connected to each of the microphones and arranged to dynamically detect signals generated by the plurality of microphones, the control unit comprising a set of commands, the command set being executable to: monitor the signals generated by the plurality of microphones; extract a fundamental frequency from the signals generated by the plurality of microphones; correlate the extracted fundamental frequency with one from a plurality of known frequencies, wherein the known frequencies are associated with an acoustic sound emitted by an emergency vehicle; determine an approach direction of a nearby emergency vehicle with respect to the vehicle based on the signals generated by the plurality of microphones;and controlling the operation of the vehicle based on the arrival direction of the nearby emergency vehicle.

[0004] German patent application DE 10 2014 106 048 A1 relates to a method for determining the position of at least one road user to be located, who has a computer and a communication unit equipped for wireless data communication with communication units of other road users and / or communication units of infrastructure facilities. In this method, at least one transmitting communication unit wirelessly transmits a signal representing a data message to at least one receiving communication unit, wherein either the transmitting or the receiving communication unit is the communication unit of the road user to be located. The receiving communication unit decodes at least part of the data contained in the data message from the received signal.The receiving communication unit also determines at least one signal attribute of the received signal that is not related to the data contained in the data message. Using this signal attribute and the decoded data, the position of the road user to be located is determined.

[0005] Further state of the art is known from the publications US 2021 / 0 300 412 A1 DE 10 2016 009 949 A1 and WO 2021 / 047 923 A1.

[0006] The object of the invention is to propose a method for operating a driver assistance device arrangement with several driver assistance devices for motor vehicles, which has advantages over known methods, in particular enabling a particularly reliable reaction to the presence of an emergency vehicle in the vicinity of the motor vehicle.

[0007] According to the invention, this is achieved by a method for operating a driver assistance device arrangement with several driver assistance devices for motor vehicles with the features of claim 1.The plan is to determine, based on the environmental data, a parameter value of an emergency vehicle parameter of an emergency vehicle present in the environment, as well as a confidence value for the parameter value. The driver assistance systems exchange the determined parameter values ​​and, based on the confidence values, combine them into an emergency vehicle parameter value. A first driver assistance system determines a first parameter value with a first confidence value, and a second driver assistance system determines a second parameter value with a second confidence value. The first driver assistance system adopts the second parameter value as the emergency vehicle parameter value if the second confidence value is higher than the first confidence value.

[0008] Advantageous embodiments with expedient further developments of the invention are specified in the dependent claims. It should be noted that the exemplary embodiments described in the description are not limiting; rather, any variations of the features disclosed in the description, the claims, and the figures are possible.

[0009] The method serves to operate the driver assistance system. The driver assistance system comprises at least several driver assistance devices and optionally a computing unit, preferably a central computing unit. The driver assistance devices are assigned to several motor vehicles. The driver assistance devices, or the control units of the driver assistance devices used to carry out the method, are preferably components of the motor vehicles, but can of course also exist separately from them, particularly until the driver assistance devices or the control units are mounted on or in the motor vehicles.

[0010] The driver assistance system comprises any number of driver assistance systems, each assigned to a corresponding number of motor vehicles. Preferably, each of the multiple driver assistance systems is assigned to one of several motor vehicles, or each of the multiple motor vehicles has one of the multiple driver assistance systems. The driver assistance systems are, for example, identically configured, at least with regard to the method described here. This means that the driver assistance systems can, in principle, be based on any hardware, but the method implemented with them, as described here, is identical for all driver assistance systems.

[0011] For the sake of simplicity, this description will sometimes refer to the driver assistance system in the singular rather than the plural. The explanations for the driver assistance system are preferably always applicable to several driver assistance systems, in particular to all driver assistance systems within the driver assistance system configuration.

[0012] The driver assistance system serves to support the user of the respective motor vehicle in carrying out the driving operation of that vehicle and preferably, at least temporarily, in carrying out the driving operation of the motor vehicle itself, which in this case is at least partially autonomous. Partially autonomous driving operation means that the driver assistance system independently takes over longitudinal and / or lateral control of the respective motor vehicle, at least temporarily.

[0013] Longitudinal guidance refers in particular to setting the vehicle's speed, for example, by appropriately controlling the vehicle's drive system and / or braking system. The drive system serves to propel the vehicle, thus providing the drive torque directed towards propelling the vehicle. To provide the drive torque, the drive system preferably has at least one drive unit, which can be configured as an internal combustion engine or an electric traction motor. The braking system, on the other hand, serves to brake or decelerate the vehicle. It includes, in particular, a service brake, which exerts a braking force on one or more wheels of the vehicle to slow it down.

[0014] Supporting the user in carrying out driving operations corresponds, for example, to assisted driving according to SAE Level 1. At least partially autonomous driving operations occur in particular within the framework of partial automation according to SAE Level 2, conditional automation according to SAE Level 3, high automation according to SAE Level 4, or full automation according to SAE Level 5. Whenever autonomous driving is mentioned in this description, it always refers to at least partially autonomous driving as defined above.

[0015] Particularly in the context of autonomous driving, the detection and localization of emergency vehicles presents a significant challenge. Ideally, during autonomous driving, emergency vehicles are located, and route planning and / or trajectory selection are performed in such a way that the vehicle does not restrict the emergency vehicles. A short reaction time and high vehicle safety are of paramount importance here. The method according to the invention offers the possibility, especially in the context of autonomous driving, of reacting to the emergency vehicle particularly quickly and precisely.

[0016] The term "emergency vehicle" refers specifically to a service vehicle of a state and / or public institution, such as a police car, a fire engine, or an ambulance. A police car could be, for example, a patrol car, a group transport vehicle, or a command vehicle. A fire engine could be a pumper, a water tender, or a ladder truck. An ambulance could be, for example, a rescue vehicle, a patient transport vehicle, or an emergency physician's vehicle. Due to the large number of different emergency vehicles, it is advantageous to classify the emergency vehicle present in the environment and to trigger a response from the driver assistance system(s) based on this classification.

[0017] Initially, it is planned that each driver assistance system will be assigned an environmental sensing device. This environmental sensing device can be an integral part of the driver assistance system itself, or it can be located on board the same vehicle as the driver assistance system and controlled by it. The environmental sensing device serves to detect the vehicle's surroundings. This process generates environmental data that describes the vehicle's environment.

[0018] To detect the environment and provide environmental data, the environmental detection system has one or more environmental sensors. Examples of sensors used for environmental detection include: radar sensor, sonar sensor, lidar sensor, image sensor (camera), and microphone. The radar sensor uses electromagnetic waves, the sonar sensor uses sound waves, and the lidar sensor uses light to detect the environment. The sonar sensor, for example, is designed as an ultrasonic sensor, meaning it uses sound waves in the ultrasonic range. The radar sensor, sonar sensor, and lidar sensor are all reflective sensors, meaning they are active sensors that emit an output signal into the environment and receive the reflected output signal as an input signal.

[0019] The environmental sensing device, or at least one environmental sensing sensor, serves to detect obstacles present in the environment. The captured environmental data is thus evaluated to identify the obstacles. Where the term "obstacles" is used in the plural within this description, this does not imply a quantification. Rather, the term encompasses any number of obstacles that are detected or identified using the environmental sensing device. Thus, it is possible that the environmental sensing device detects no obstacle, exactly one obstacle, or multiple obstacles. These cases are each covered by the term "obstacles." It stands as a representative of any number of obstacles, for example, at least one obstacle.

[0020] It may be possible for the driver assistance system to perform autonomous driving at least temporarily based on environmental data. This means that the environmental data is evaluated, particularly regarding obstacles in the vicinity of the vehicle, and the longitudinal and / or lateral guidance of the vehicle is carried out based on this evaluation, i.e., depending on the obstacles detected by the environmental sensing device. During autonomous driving, standard traffic rules are preferably observed. For example, the vehicle stays within a designated lane, adheres to its lane, and obeys traffic signs and signals. This ensures the safe flow of road traffic.

[0021] For each of the driver assistance systems or each of the vehicles, environmental data describing the surroundings of the respective vehicle is available. Preferably, the environmental data of the multiple vehicles overlap at least partially, and in particular completely. The respective surroundings of the vehicles thus form a common environment in which the emergency vehicle is located. The vehicles have different relative positions with respect to the emergency vehicle, so the environmental sensing systems also provide different environmental data, which depict the emergency vehicle differently. The driver assistance systems therefore have different environmental data for the common environment.For example, the environmental data may describe the emergency vehicle from different directions, or the emergency vehicle may not be shown at all or only partially shown in the environmental data of one of the driver assistance systems, for example because it is obscured by another vehicle or by infrastructure.

[0022] For this reason, the parameter value for the emergency vehicle parameter and the confidence value for that parameter value are to be determined from the environmental data of each environmental detection device or vehicle. In other words, each driver assistance system determines the parameter value and the confidence value from the environmental data available to it, resulting in multiple parameter values ​​and multiple confidence values—namely, as many or at least as many parameter values ​​and confidence values ​​as there are driver assistance systems. This applies particularly when only one emergency vehicle is present; if multiple emergency vehicles are detected, the above applies to each of them.

[0023] The parameter value is a value of the emergency vehicle parameter. The emergency vehicle parameter, and therefore also the parameter value, describes the emergency vehicle. The emergency vehicle parameter can be a state variable or an operating variable. For example, the vehicle type of the emergency vehicle and / or a vehicle segment of the emergency vehicle is used as an emergency vehicle parameter. In this case, the emergency vehicle parameter describes a geometry of the emergency vehicle.

[0024] The confidence value indicates the probability that a parameter value accurately describes the emergency vehicle's parameter. For example, the confidence value is expressed as a percentage, with 0% representing a very low probability and 100% a very high probability that the parameter value accurately reflects the emergency vehicle's parameter. The confidence value can therefore also be referred to as a reliability value. It is a statistical value that describes the precision of the parameter value.

[0025] After the parameter values ​​and confidence values ​​have been determined by the driver assistance systems, the parameter values ​​and confidence values ​​are exchanged between the driver assistance systems, i.e., transferred between the driver assistance systems, so that each of the driver assistance systems has several of the parameter values ​​and confidence values, in particular all parameter values ​​and confidence values.

[0026] For example, a first parameter value and a first confidence value are determined by a first driver assistance system, and a second parameter value and a second confidence value are determined by a second driver assistance system. Preferably, the second driver assistance system transmits the second parameter value and the second confidence value to the first driver assistance system, and / or the first driver assistance system transmits the first parameter value and the first confidence value to the second driver assistance system. The first driver assistance system and the second driver assistance system, respectively, then each have access to the first parameter value, the second parameter value, the first confidence value, and the second confidence value.

[0027] Based on the parameter values, the driver assistance systems determine the emergency vehicle parameter value. The multiple parameter values ​​are incorporated into the emergency vehicle parameter value, or at least they are taken into account when determining the emergency vehicle parameter value. The emergency vehicle parameter value, like the parameter value itself, is a value of the emergency vehicle parameter; it is therefore of the same type as the parameter value, or rather, it describes the same quantity. This means that the emergency vehicle parameter value is determined, for example, using a mathematical relationship between the parameter values.

[0028] For example, the emergency vehicle parameter value is determined using a weighted average of the parameter values, taking the confidence values ​​into account, or the confidence values ​​are used to decide which parameter value will be used as the emergency vehicle parameter. In the latter case, for example, the parameter value with the highest confidence value is used as the emergency vehicle parameter. It should be noted that only simple and easily implemented methods for determining the emergency vehicle parameter value are mentioned here. Of course, more complex methods can also be used to determine the emergency vehicle parameter from the parameter values ​​and their confidence values.

[0029] The aggregation of the parameter values ​​to obtain the emergency vehicle parameter value is performed by at least one of the driver assistance systems, preferably by several or all of them. This aggregation can be carried out in the same way or using different methods in the driver assistance systems. Preferably, the aggregation is performed separately by each of the driver assistance systems, so that each system independently determines the emergency vehicle parameter value from the parameter values ​​and the confidence values. The emergency vehicle parameter values ​​determined by the driver assistance systems can be identical.It is also possible that different methods of data aggregation may lead to different results for the driver assistance systems, meaning that the emergency vehicle parameter values ​​may differ at least partially from one another.

[0030] The described procedure allows the emergency vehicle parameter value to be determined with high accuracy by the driver assistance system(s), largely independent of whether the respective environmental sensing device detects the emergency vehicle completely, only partially, or not at all. The described method can be used, for example, for the following purposes: detecting the existence of the emergency vehicle, detecting the vehicle type of the emergency vehicle, locating the emergency vehicle, determining a likely route of the vehicle, and / or determining an evasive maneuver for one or more vehicles.

[0031] The tasks mentioned are each demanding and must be completed within a short timeframe. This means that particularly accurate values ​​for the emergency vehicle parameters are required for their implementation. This is especially true if several or all of the tasks mentioned are to be completed. The high level of accuracy is primarily achieved through the collaborative approach used to determine the emergency vehicle parameter values.

[0032] A further development of the invention provides that at least one of the following parameters is used as an emergency vehicle parameter: position, speed, direction of travel, orientation, trajectory, route, vehicle type, and vehicle segment. Position describes the current position of the emergency vehicle, speed its current speed, and direction of travel the direction in which the speed is being traveled. Orientation refers in particular to the alignment of at least one axis of the emergency vehicle, for example, a longitudinal axis and / or a transverse axis of the vehicle.

[0033] The trajectory encompasses, in particular, the vehicle's speed and direction of travel, thus combining these two factors. The route is understood to be the path that the emergency vehicle is expected to travel from its current position. The route therefore includes a starting position, specifically corresponding to the current position, and an end position, corresponding to the vehicle's anticipated destination.

[0034] The vehicle type refers to the type of emergency vehicle, specifically describing its intended use. For example, the vehicle type indicates whether the emergency vehicle is a police car, a fire engine, or an ambulance. The intended use can also be further subdivided. For example, a police vehicle might be specified as a patrol car, a group transport vehicle, a command vehicle, or something similar.

[0035] Firefighting vehicles can be categorized into types such as fire engines, water tenders, ladder trucks, and so on. An ambulance, in turn, can be a rescue vehicle, an emergency physician's vehicle, or a patient transport vehicle. The vehicle segment describes, for example, a vehicle class, particularly according to the definition of the European Commission or the German Federal Motor Transport Authority (KBA). The vehicle segment depends, for instance, on the vehicle type.

[0036] It is possible to use only one of the aforementioned parameters as an emergency vehicle parameter. Preferably, however, several or even all of the aforementioned parameters are used. In the case of multiple parameters, a parameter value and a confidence value are preferably determined for each emergency vehicle parameter, and the parameter values ​​and confidence values ​​of the multiple driver assistance systems for each parameter are combined into a single emergency vehicle parameter value. The use of one or more of the aforementioned parameters as emergency vehicle parameters enables a precise description of the emergency vehicle and, accordingly, an appropriate response from other vehicles to its presence.

[0037] A further development of the invention provides that each of the driver assistance systems creates an environment model based on the environmental data and, to determine the emergency vehicle parameter value, inserts the parameter value of another of the driver assistance systems into the environment model, taking into account the corresponding confidence value. The environment model describes the surroundings of the respective vehicle. For example, it is created using the respective environmental data and / or map data. The emergency vehicle parameter value is generated using the environment model. For this purpose, at least the parameter value of the respective driver assistance system is fed into the environment model. The emergency vehicle parameter value is the output of the environment model.

[0038] In addition, it is now planned to use not only the parameter value of the respective driver assistance system as an input for the environment model, but also the parameter value of the other driver assistance system or several other driver assistance systems. The consideration of the parameter value(s) is based on the confidence levels. In any case, a high degree of accuracy of the emergency vehicle parameter is achieved using the environment model.

[0039] The invention provides that a first of the driver assistance devices determines a first parameter value with a first confidence value and a second of the driver assistance devices determines a second parameter value with a second confidence value, wherein the first driver assistance device adopts the second parameter value as the emergency vehicle parameter value if the second confidence value is higher than the first confidence value, in particular by at least one difference confidence value.

[0040] The availability of the first parameter value, the first confidence value, the second parameter value, and the second confidence value has already been mentioned. It is intended that the parameter value with the higher confidence value will be used as the emergency vehicle parameter value. Thus, if the first confidence value is higher than the second confidence value, the first driver assistance system will use the first parameter value as the emergency vehicle parameter value. However, if the second confidence value is higher than the first confidence value, it will use the second parameter value as the emergency vehicle parameter value.

[0041] Preferably, this only applies if the second confidence value exceeds the first confidence value by at least the difference confidence value, i.e., if it is larger. Preferably, the first driver assistance system uses the first parameter value it has determined itself as the emergency vehicle parameter value. However, if the confidence values ​​indicate that the second parameter value is more accurate than the first parameter value, the first driver assistance system uses the second parameter value as the emergency vehicle parameter value. This ensures high accuracy of the emergency vehicle parameter value with high reliability.

[0042] A further development of the invention provides that a third driver assistance system determines a third parameter value with a third confidence value, wherein, in the event of a match between two of the parameter values, a value determined from the two parameter values ​​is used as the emergency vehicle parameter value, irrespective of the confidence values. The third driver assistance system, the third parameter value, and the third confidence value are provided in addition to the first driver assistance system, the first parameter value, and the first confidence value, and the second driver assistance system, the second parameter value, and the second confidence value.

[0043] If two parameter values ​​match, particularly when considering a tolerance range, the emergency vehicle parameter value is determined from these two values, specifically set to one of them. This occurs independently of the confidence values. Therefore, it is not intended to rely solely on the confidence values ​​to decide which parameter value will be used as the emergency vehicle parameter value. Rather, the parameter values ​​themselves are also used as a basis for this decision. This, in turn, ensures the high accuracy of the emergency vehicle parameter value.

[0044] A further development of the invention provides that the driver assistance systems divide the environment into segments and, based on the parameter value, determine a specific prediction segment within these segments in which the vehicle is located. If different prediction segments are determined, they are combined into a single environmental segment. The environmental segments are areas of the environment. For example, each driver assistance system divides the environment of the respective vehicle into its own segments. However, it is also possible for the driver assistance systems to jointly divide the common environment into these segments, particularly through appropriate communication with each other.

[0045] Each driver assistance system is designed to identify the environmental segment in which the emergency vehicle is likely to be located. This environmental segment is then used by the respective driver assistance system as a prediction segment. Accordingly, each driver assistance system identifies one of the environmental segments as its prediction segment, resulting in a total of several prediction segments. If the prediction segments of the driver assistance systems match, it is concluded that the emergency vehicle is located in that environmental segment.

[0046] However, if the driver assistance systems identify different prediction segments, these segments are combined, meaning the environmental segments serving as prediction segments are merged into a single, unified environmental segment. This unified environmental segment then replaces the previously combined segments. Subsequently, the environmental segments will always include an environmental segment within which the driver assistance systems assume the emergency vehicle is present. This enables a uniform approach by the driver assistance systems when the emergency vehicle is present, particularly ensuring consistent execution of autonomous driving operations.

[0047] A further development of the invention provides that the driver assistance systems determine an evasive trajectory for each vehicle based on the emergency vehicle parameter value and, at least temporarily, perform at least partially autonomous driving of the respective vehicle using the respective evasive trajectory. Each of the driver assistance systems determines a driving maneuver, defined by the evasive trajectory, to create space for the emergency vehicle. This preferably occurs in a coordinated manner. Accordingly, the driver assistance systems determine the evasive trajectory in such a way that, overall, i.e., considering all vehicles, the space for the emergency vehicle is as large as possible, and in particular, maximized.

[0048] Furthermore, the evasive trajectories are determined in such a way as to avoid collisions between the vehicles; the evasive trajectories are defined with a certain distance between them. These evasive trajectories are then used as the basis for the at least partially autonomous driving operation of the vehicles, in particular for fully autonomous driving. This means that the driver assistance systems control the vehicles to follow the evasive trajectories. This achieves the advantages already mentioned.

[0049] A further development of the invention provides that at least one quantity selected from a parameter value, confidence value, emergency vehicle parameter value, and evasive trajectory is transmitted to a computing unit and combined with emergency vehicle data stored in the computing unit. The emergency vehicle data is then transmitted to the driver assistance systems and used by these systems to determine the quantity. The computing unit is preferably a computing unit located at a distance from the motor vehicle, and in particular a stationary computing unit. Preferably, the computing unit has a computing power greater than that of any single driver assistance system.

[0050] At least one of the aforementioned quantities—parameter value, confidence value, emergency vehicle parameter value, or evasive trajectory—is transmitted to the computing unit. Preferably, several or all of the aforementioned quantities are transmitted to the computing unit. There, the at least one transmitted quantity is combined with the emergency vehicle data stored in the computing unit. The emergency vehicle data consists, for example, of previously transmitted values ​​of the quantity. This combination of the quantity with the emergency vehicle data is performed, for example, using artificial intelligence, in particular an artificial neural network.

[0051] After aggregation, the emergency vehicle data is transferred to and stored by the driver assistance systems. These systems then primarily use the emergency vehicle data to determine the constituent parameters, such as the parameter value, the confidence value, the emergency vehicle parameter value, and / or the evasive trajectory. In this context, the emergency vehicle data represents training data that relates the environmental data to the constituent parameters. For example, the first set of environmental data yields a first value for the constituent parameter, and the second set of environmental data yields a second value for the constituent parameter. Using the emergency vehicle data enables particularly reliable detection of the emergency vehicle and / or an appropriate response from the vehicle(s) to the emergency vehicle.

[0052] The invention further relates to a driver assistance device arrangement, in particular for carrying out the method as described in this description, wherein the driver assistance device arrangement comprises several driver assistance devices for motor vehicles. Each of the driver assistance devices is provided and configured to acquire, at least temporarily, environmental data describing the environment of the respective motor vehicle by means of an environment sensing device of the respective motor vehicle, and to determine, based on the environmental data, a parameter value of an emergency vehicle parameter of an emergency vehicle present in the environment, as well as a confidence value for the parameter value. The driver assistance device is also provided and configured to exchange the determined parameter values ​​and, based on the confidence values, in particular,to combine the emergency vehicle parameter values ​​into one, wherein a first driver assistance system determines a first parameter value with a first confidence value and a second driver assistance system determines a second parameter value with a second confidence value, wherein the first driver assistance system adopts the second parameter value as the emergency vehicle parameter value if the second confidence value is higher than the first confidence value.

[0053] The advantages of such a design for the driver assistance system and such a procedure have already been mentioned. Both the driver assistance system and the procedure for operating it can be further developed as described in this document, and reference is made to these details.

[0054] Furthermore, the invention relates to a computer program product comprising commands that cause the driver assistance system to execute the described method as described herein. For the advantages and possible advantageous embodiments, reference is made to the description in its entirety.

[0055] The features and combinations of features described in the description, in particular those described in the following figure description and / or shown in the figures, can be used not only in the combinations specified, but also in other combinations or individually, without departing from the scope of the invention. Thus, embodiments that are not explicitly shown or explained in the description and / or the figures, but which emerge from or can be derived from the explained embodiments, are also to be considered as encompassed by the invention.

[0056] The invention is explained in more detail below with reference to the exemplary embodiments shown in the drawing, without limiting the invention. The only embodiment shown is... Fig. 1 A schematic representation of a traffic situation with several motor vehicles and an emergency vehicle.

[0057] The Fig.Figure 1 schematically depicts a traffic situation in which several vehicles 1, 2, and 3, as well as an emergency vehicle 4, are traveling in the same direction on a roadway 5 with multiple lanes 6 and 7. The emergency vehicle 4 is approaching vehicles 1, 2, and 3 from behind, traveling at a higher speed than these vehicles. The trajectory of the emergency vehicle 4 is indicated by arrow 8. Vehicles 1, 2, and 3 are operating autonomously. Nevertheless, they are expected to react appropriately to the approaching emergency vehicle 4.

[0058] Each of the motor vehicles 1, 2, and 3 is equipped with a driver assistance system 9, one of which, a sensor 10, is schematically indicated. The sensor 10 has at least one environmental sensor, for example, a reflection sensor, in particular a radar sensor or a lidar sensor, by means of which the environment 11 of the respective motor vehicle 1, 2, or 3 is detected. The emergency vehicle 4 is located within the environment 11 of all motor vehicles 1, 2, and 3 and is accordingly detected by the respective sensor 10s. The fields of view present are indicated by reference numerals 12, 13, and 14.

[0059] It is evident that the vehicles 1, 2, and 3, or rather their environmental sensing devices 10, detect the emergency vehicle 4 in different ways, particularly at different distances and from different directions. For example, the environmental sensing device 10 of vehicle 2 has a good view of the front of the emergency vehicle 4 and can therefore determine its frontal area and / or width with high accuracy, but not its side area and / or length. Accordingly, vehicle 2 cannot, for example, determine the vehicle type or vehicle segment of the emergency vehicle 4, or can only do so with low accuracy. Vehicle 3, or rather its environmental sensing device 10, on the other hand, has a good view of the side area of ​​the emergency vehicle 4, but not of its front area.The environmental detection device 10 of the motor vehicle 1 can only detect the emergency vehicle 4 with low accuracy due to the large distance.

[0060] It is therefore planned that each of the motor vehicles 1, 2 and 3, or each of the driver assistance systems 9, uses its respective environmental sensing device 10 to detect the corresponding environment 11, thereby generating environmental data. Based on this environmental data, each of the driver assistance systems 9 determines a parameter value of an emergency vehicle parameter for the emergency vehicle 4. Additionally, a confidence value is determined, which indicates the accuracy of the parameter value.

[0061] The driver assistance systems 9 exchange the determined parameter values ​​and confidence values ​​with each other. Each of the driver assistance systems 9 combines the parameter values, taking the confidence values ​​into account, to determine an emergency vehicle parameter. The emergency vehicle parameter value is a value of the emergency vehicle parameter that describes the emergency vehicle 4. Examples of emergency vehicle parameters used include position, speed, direction of travel, orientation, trajectory, route, vehicle type, and / or vehicle segment of the emergency vehicle 4. Through the exchange of parameter values ​​and confidence values, all driver assistance systems 9 have sufficient information to determine the emergency vehicle parameter value with high accuracy.Preferably, it is provided that the driver assistance systems 9 perform at least partially autonomous driving of the motor vehicles 1, 2 and 3 based on the respective determined emergency vehicle parameter value.

[0062] The driver assistance systems 9 of the motor vehicles 1, 2, and 3 form a driver assistance system arrangement 15. Preferably, this arrangement includes, in addition to the driver assistance systems 9, a central computing unit 16, which is connected to the driver assistance systems 9 via a data transmission link 17. Preferably, the parameter value and / or the confidence value and / or the emergency vehicle parameter value are transmitted from the driver assistance systems 9 to the computing unit 16. There, they are combined with emergency vehicle data already present in the computing unit 16.

[0063] The emergency vehicle data is then transmitted from the computer unit 16 via the radio link 17 back to the driver assistance systems 9. These systems evaluate the environmental data acquired by the environmental sensing devices 10 using the emergency vehicle data to determine the parameter value of the emergency vehicle parameter and the confidence value. This creates a self-learning system that determines the emergency vehicle parameter value with high accuracy and accordingly implements the autonomous driving operation of the vehicles 1, 2, and 3 with high reliability and safety. REFERENCE MARK LIST: 1 motor vehicle 2 motor vehicles 3 Motor vehicle 4 emergency vehicles 5 lanes 6 lanes 7 lanes 8 Trajectory 9 Driver assistance system 10 Environmental sensing device 11 Environment 12 Viewing area 13 Viewing area 14 Viewing area 15 Driver assistance equipment arrangement 16 Computing equipment 17 Radio connection

Claims

[1] Method for operating a driver assistance device arrangement (15) with several driver assistance devices (9) for motor vehicles (1, 2, 3), wherein each of the driver assistance devices (9) at least temporarily acquires environmental data describing the environment (11) of the respective motor vehicle (1, 2, 3) by means of an environment detection device (10) of the respective motor vehicle (1, 2, 3), characterized by, that based on the environmental data, a parameter value of an emergency vehicle parameter of an emergency vehicle (4) present in the environment (11) and a confidence value for the parameter value are determined, wherein the driver assistance devices (9) exchange the determined parameter values ​​and combine them into an emergency vehicle parameter value of the emergency vehicle parameter based on the confidence values, wherein a first of the driver assistance devices (9) determines a first parameter value with a first confidence value and a second of the driver assistance devices (9) determines a second parameter value with a second confidence value, wherein the first driver assistance device (9) adopts the second parameter value as the emergency vehicle parameter value if the second confidence value is higher than the first confidence value. [2] Method according to claim 1, characterized by, that at least one of the following parameters is used as an emergency vehicle parameter: position, speed, direction of travel, orientation, trajectory, route, vehicle type and vehicle segment. [3] Method according to any one of the preceding claims, characterized by , that each of the driver assistance devices (9) creates an environment model based on the environment data and, in order to determine the emergency vehicle parameter value, inserts the parameter value of another of the driver assistance devices (9) into the environment model taking into account the corresponding confidence value. [4] Method according to any one of the preceding claims, characterized by, that a third of the driver assistance devices (9) determines a third parameter value with a third confidence value, wherein, in the event of a match between two of the parameter values, a value determined from the two parameter values ​​is used as the emergency vehicle parameter irrespective of the confidence values. [5] Method according to any one of the preceding claims, characterized by , that the driver assistance devices (9) divide the environment (11) into environment segments and, based on the parameter value, determine a prediction segment of the environment segments in which the emergency vehicle (4) is located, whereby if different prediction segments are determined, the prediction segments are combined into one environment segment. [6] Method according to any one of the preceding claims, characterized by, that the driver assistance systems (9) determine an evasive trajectory for the respective motor vehicle (1, 2, 3) based on the emergency vehicle parameter value and carry out at least temporarily at least partially autonomous driving of the respective motor vehicle (1, 2, 3) using the respective evasive trajectory. [7] Method according to claim 1 or 6, characterized by , that at least one quantity selected from parameter value, confidence value, emergency vehicle parameter value and evasive trajectory is transmitted to a computing device (16) and combined with emergency vehicle data available in the computing device (16), wherein the emergency vehicle data is transmitted to the driver assistance devices (9) and used by the driver assistance devices (9) to determine the quantity. [8] Driver assistance device arrangement (15), in particular for carrying out the method according to one or more of the preceding claims, wherein the driver assistance device arrangement (15) has several driver assistance devices (9) for motor vehicles (1, 2, 3), wherein each of the driver assistance devices (9) is provided and designed to acquire, at least temporarily, environmental data describing the environment of the respective motor vehicle (1, 2, 3) by means of an environment detection device (10) of the respective motor vehicle (1, 2, 3), characterized by, that based on the environmental data, a parameter value of an emergency vehicle parameter of an emergency vehicle present in the environment (4) and a confidence value for the parameter value are determined, wherein the driver assistance devices (9) are also designed and configured to exchange the determined parameter values ​​and to combine them into an emergency vehicle parameter value of the emergency vehicle parameter based on the confidence values, wherein a first of the driver assistance devices (9) determines a first parameter value with a first confidence value and a second of the driver assistance devices (9) determines a second parameter value with a second confidence value, wherein the first driver assistance device (9) adopts the second parameter value as the emergency vehicle parameter value if the second confidence value is higher than the first confidence value. [9] Computer program product comprising commands that cause the driver assistance device arrangement (15) according to claim 8 to execute the method according to one or more of claims 1 to 7.

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