Cognitive driver assistance using variable alerts for automated vehicles

Abstract

A cognitive driver assistance system (10) includes an object detection device (18), an operator detection device (22), and a controller (20). The object detection device (18) is operable to detect when an object (16) approaches a host vehicle (14). The operator detection device (22) is operable to determine when an operator (12) of the host vehicle (14) is aware of the object (16). The controller (20) is configured to output an alarm signal (24) for the operator (12) of the host vehicle (14) when the object detection device (18) detects the object (16). The alarm signal (24) is characterized by a variable alarm intensity (28). The controller (20) is configured to increase the alarm intensity (28) when the operator (12) is not aware of the object (16).

Description

[0001] This application is a divisional application. The original application was a patent application filed with the China Patent Office on December 22, 2017 (the international application date is May 18, 2016), with application number 201680036887.7, and the name of the invention is “Cognitive driver assistance using variable alarms for automated vehicles”. Technical Field

[0002] The present disclosure relates generally to cognitive driver assistance systems and, more particularly, to systems that output alerts with increased intensity when an operator of a vehicle is unaware of an object approaching the vehicle. Background Art

[0003] It is known to equip a vehicle with a system that warns an operator of an object approaching the vehicle being driven by the operator, or takes over control of the vehicle from the operator to avoid a collision with an object approaching the vehicle. However, in some cases, if the operator is alert and fully aware of the presence / location of the object, the warning or taking over of control may be unnecessary and / or annoying. Summary of the invention

[0004] Described herein is a cognitive driver assistance system that changes the alert intensity of an alarm or changes the extent to which the system takes over control of a vehicle driven by an operator. The alert intensity and takeover authority are determined based on a measure of the extent to which the operator is aware of a particular object approaching the vehicle or in the vehicle's path of travel. For example, if the operator appears tired or inattentive, the alert intensity of the alarm can be increased to wake the operator, and / or the amount of operator authority allowed to the operator to manually operate the vehicle can be limited so that the automated control provided for automated vehicle operation can replace the manual control operated by the operator and temporarily take over control of the vehicle. Note that the automated operation of the vehicle includes a wide range of options, from partial automation, in which, for example, only speed control is automated, to full automation (i.e., autonomous operation), in which the operator of the vehicle participates in the operation of the vehicle to the same extent as a passenger.

[0005] According to one embodiment, a cognitive driver assistance system is provided. The system includes an object detection device, an operator detection device, and a controller. The object detection device is operable to detect when an object approaches a host vehicle. The operator detection device is operable to determine when an operator of the host vehicle is aware of the object. The controller is configured to output an alarm signal for the operator of the host vehicle when the object detection device detects the object. The alarm signal is characterized by a variable alarm intensity. The controller is configured to increase the alarm intensity when the operator is not aware of the object.

[0006] Other characteristics and advantages will appear more clearly on reading the following detailed description of a preferred embodiment, given by way of non-limiting example only and with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The present invention will now be described by way of example and with reference to the accompanying drawings, in which:

[0008] Figure 1 is a diagram of a cognitive driver assistance system according to one embodiment;

[0009] Figure 2 According to an embodiment Figure 1 Exemplary traffic situations experienced by the system;

[0010] Figure 3 According to an embodiment Figure 1 Exemplary traffic situations experienced by the system;

[0011] Figure 4 According to an embodiment Figure 1 Exemplary traffic situations experienced by the system;

[0012] Figure 5 According to an embodiment Figure 1 exemplary traffic situations experienced by the system; and

[0013] Figure 6 According to an embodiment Figure 1 Example traffic situations experienced by the system. DETAILED DESCRIPTION

[0014] Figure 1 A non-limiting example of a cognitive driver assistance system 10 (hereinafter referred to as system 10) is shown. In general, system 10 is configured to assist an operator 12 in manually operating a host vehicle 14 based on the operator 12's cognitive state of an object 16 approaching the host vehicle 14. As described in more detail below, the level of assistance provided by system 10 to operator 12 can vary from something as simple as illuminating a warning indicator when an object 16, such as another vehicle, is present in a so-called blind spot of the operator 12, to something as complex as taking over complete control of the host vehicle 14 (i.e., completely replacing the operator 12) to avoid a collision with the object 16. System 10 is described herein as having an advantage over prior art driver assistance systems in that system 10 takes into account the cognitive state of operator 12, and thus can determine the level of assistance necessary to assist operator 12. For example, if the operator 12 is not aware of the particular object associated with the alert, the loudness of the audible warning indicator can be increased.

[0015] Thus, the system 10 includes an object detection device 18 operable or usable to detect when an object 16 is in proximity to the host vehicle 14. The object detection device 18 may include, but is not limited to, a camera, a radar unit, and / or a lidar unit appropriately configured to detect various objects around the host vehicle 14. By way of other example and not limitation, a camera may be used to capture images of objects such as other vehicles, buildings, road signs, pedestrians, lane markings, road hazards, construction zone markings, and other objects in proximity to or disposed around the host vehicle 14.

[0016] The information from the camera may be combined with the detection information from the radar unit and / or lidar unit to form a two-dimensional or three-dimensional map of various objects in the area surrounding the host vehicle 14. Information gathered by the operation of the object detection device 18 may be provided to the controller 20 for further analysis. That is, the object detection device 18 may not be able to actually determine the position or classification of the object 16 by itself. Typically, this task falls to the controller 20, but this is not a requirement of the system 10. In other words, either the object detection device 18 or the controller 20 may perform the data or signal processing necessary to determine the relative position or classification of the object 16.

[0017] Object detection device 18 may also include a vehicle-to-vehicle (V2V) transceiver. If object 16 is another vehicle also equipped with a V2V transceiver, system 10 is able to notify operator 12 that the other vehicle is approaching, even if operator 12 cannot see the other vehicle due to obstructed line of sight between the two vehicles.

[0018] The system 10 can be configured to classify the object 16 based on the signal received from the object detection device 18. For example, if the object 16 is a pedestrian walking perpendicular to the direction of travel of the host vehicle 14, the signal from the lidar unit or radar unit can have a unique signature due to the alternating movement of the pedestrian's legs. Similarly, the radar echo reflected from the moving vehicle can include small fluctuations due to the rotational movement of the wheels of the moving vehicle. This information can be optionally combined with other known image processing techniques to classify the object as, for example, a pedestrian, another vehicle, a construction area sign, an animal, a road obstacle, etc. Information about the movement of the object 16 can also be used to classify the object 16 and assign parameters related to the movement to the object 16, such as speed, trajectory, acceleration / deceleration, etc. In this way, the object detection device 18 can be operated to detect when the object 16 is close to, i.e., adjacent to, or close to the path of travel of the host vehicle 14 in the travel path.

[0019] It should be apparent to those skilled in the art that the controller 20 may include a processor (not specifically shown), such as a microprocessor or other control circuitry, such as analog and / or digital control circuitry, including an application specific integrated circuit (ASIC) for processing data. The controller 20 may include a memory (not specifically shown), including a non-volatile memory, such as an electrically erasable programmable read-only memory (EEPROM), for storing one or more routines, thresholds, and collected data. The one or more routines may be executed by the processor to perform the steps described herein for processing signals received by the controller 20 to operate the host vehicle 14.

[0020] The system 10 also includes an operator detection device 22 that is operable or useful for determining when an operator 12 of the host vehicle 14 is aware of the object 16. The operator detection device 22 may include a camera configured to capture an image of the operator 12 in the visible spectrum and / or the infrared spectrum, and a light source that emits light in an appropriate portion of the spectrum so that the camera can see the operator 12 regardless of ambient lighting conditions. The image of the operator 12 may be processed / analyzed by the operator detection device 22 or the controller 20 to determine, for example, whether the eyes of the operator 12 are closed (closure indicating that the operator 12 is sleeping), whether the operator's head posture changes in a manner indicating that the operator 12 is tired, and / or whether the operator's 12 eye gaze direction indicates that the operator 12 has or has not seen the object 16. Image processing techniques are well known to determine the cognitive state of the operator 12, such as where the operator is looking (eye gaze direction) and / or whether the operator 12 is alert (eye blinking, head posture change).

[0021] If it is observed or determined via the operator detection device 22 that the operator 12's eye gaze direction is not in a direction that allows the operator 12 to see the object 16 directly, via a mirror, or via peripheral vision, then that may be an indication that the operator 12 is not aware of the object 16. If the system 10 determines that the operator 12 is not aware of the object 16, and the relative position of the object 16 relative to the host vehicle 14 is such that a collision or conflict is likely to occur, then the system 10 can take various actions to assist the operator 12 in avoiding a collision or conflict with the object 16. As used herein, conflict with the object 16 means that the trajectory of the host vehicle 14 and the object 16 is such that a collision is likely to occur if either does not change. By way of example and not limitation, an example of a conflict occurs when the object 16 is another vehicle traveling in a lane next to the host vehicle 14 and in the blind spot of the operator 12, and the operator 12 operates the host vehicle 14 in a manner that causes the other vehicle to turn to avoid a collision. That is, no collision occurs, but the collision is avoided due to the action of the other vehicle to avoid a collision with the host vehicle 14.

[0022] In one embodiment of the system 10, the controller 20 may be configured to output an alert signal 24 to the operator 12 of the host vehicle 14 when the object detection device 18 detects the object 16. The alert signal 24 is provided to an alert device 26, which may include, for example, a visual alert device (e.g., an illuminated indicator or highlighted area of ​​a reconfigurable display), an audible alert device (e.g., a buzzer or speaker), and / or a tactile alert device (e.g., a vibration device located in a seat or steering wheel of the host vehicle 14).

[0023] In the present embodiment, the alarm signal 24 is characterized by a variable alarm intensity 28. For example, the intensity of the alarm of the alarm device 26 can be increased by increasing the loudness of the audible alarm, increasing the highlight intensity of the visual alarm or causing it to flash violently, and / or combining two or more of the types of alarms available from the alarm device 26 at the same time. It is contemplated that the alarm intensity 28 can be initially set to zero or nothing so that no alarm is given, i.e., the alarm device is not activated, and increasing the alarm intensity 28 corresponds to changing from giving no alarm to giving some alarm. That is, it is not required that increasing the alarm intensity 28 necessarily means that the initial alarm intensity is not zero or nothing.

[0024] The system 10 described herein is an improvement over prior art systems because the controller 20 is configured to increase the alert intensity 28 when the operator 12 is unaware of the object 16. That is, rather than sounding the alert at the same intensity when the operator 12 is alert and aware of the object 16 and when the operator 12 is drowsy and unaware of the object 16, the system 10 changes the alert intensity 28 based on the cognitive state of consciousness of the operator 12, and in particular, whether the operator 12 is aware of the presence of the object 16. Several specific traffic scenarios are described later in this document that will make the advantages of the system 10 described herein readily apparent.

[0025] In another embodiment, the system 10 includes a control override device 30 operable to limit the operator authority 32 of the operator 12 while the operator 12 is driving the host vehicle 14. As used herein, "limiting operator authority" means limiting the operator's ability to manually control some aspect of the operation of the host vehicle 14, that is, preventing or limiting to some extent the operator's 12 ability to fully manually control the host vehicle 14. The controller 20 indicates that the operator authority 32 is limited by setting the operator authority 32 to an authority other than "full authority". The controller 20 completely or partially overrides manual control of the host vehicle 14 by activating the control override device 30. By way of example and not limitation, the control override device 30 may include one or more of a steering override device 34, an accelerator override device 36, and a brake override device 38.

[0026] By way of further example, the steering override device 34 may be operated by the controller 20 to override the steering wheel input from the operator 12 to prevent the operator 12 from making a lane change because the object detection device 18 has detected another vehicle in the vicinity of the host vehicle 14 and a collision would result if the lane change was made. Similarly, the steering override device 34 may be operated by the controller 20 to override the operator 12 holding the steering wheel in a fixed position to steer the host vehicle 14 to avoid certain debris in the lane of travel of the host vehicle 14.

[0027] In one non-limiting configuration, the steering override device 34 can apply a force to the steering system of the host vehicle 14 that physically overwhelms any attempt by the operator 12 to affect the steering of the host vehicle 14. This configuration may be preferred when there is an uninterruptible mechanical connection between the steering wheel used by the operator 12 to steer the host vehicle 14 and the steerable wheels (e.g., the front wheels) of the host vehicle 14. In alternative configurations, the steering system may include a steering clutch operable to mechanically decouple the steering wheel from the front wheels, or the steering system may be a steer-by-wire type system so that steering wheel rotations by the operator 12 can be easily ignored.

[0028] As described in the above example and other examples given below, when the operator 12 is unaware of the existence of the object 16 and a collision or conflict may occur, the content indicated by the operator 12 for the desired operation of the host vehicle 14 can be limited or ignored to facilitate the operation of the host vehicle 14 according to the controller 20. That is, the controller 20 can be configured to operate the control override device 30 according to the operator authority 32 to override the operator 12 and avoid a conflict with the object 16 when the operator 12 is unaware of the object 16.

[0029] Figure 1 Two levels of authority are shown: full authority and limited authority. However, many levels of partial authority are contemplated, and the assigned level will be based on periodic observations of the operator by the operator detection device 22. It is also contemplated that the actions of providing an alert to the operator 12 and overriding the operator's 12 efforts to manually control the host vehicle may be combined. For example, when the controller 20 determines that the operator 12 is unaware of the object 16, the controller 20 may first activate the alert device 26 at a lower level of alert intensity 28, and then increase the alert intensity 28 to a higher level before the controller 20 determines to limit the operator authority 32 by activating the control override device 30.

[0030] The controller 20 may also be configured to determine an operator behavior characteristic 40 of the operator 12 based on previous traffic maneuvers 42 performed by the operator 12. As used herein, the operator behavior characteristic 40 is used to characterize the driving habits or driving style of the operator 12. The operator behavior characteristic 40 may include or relate to, but is not limited to, how fast the operator 12 drives relative to the posted speed limit, i.e., how many miles per hour the operator 12 typically drives above or below the posted speed limit. Other examples include how quickly the operator 12 accelerates from a stop, how quickly the operator 12 decelerates to a stop when approaching an intersection, how often the operator 12 looks at the rearview mirror and side mirrors or otherwise scans the area near the host vehicle 14, and how often the operator 12 activates a turn signal before making a lane change. The controller 20 may calculate a previous object detection score 44 based on the percentage of time that the operator 12 appears to have actually detected the presence of an object detected and / or tracked by the system 10.

[0031] The controller 20 may also be configured to determine a collision risk 46 indicating a probability of a collision between the host vehicle 14 and the object 16. As used herein, "collision probability" includes, but is not limited to, an estimate of the probability of an actual collision, and / or an estimate of the probability of certain changes in the observed behavior of the operator 12, the host vehicle 14, or some other vehicle (or object) proximate to the host vehicle 14 that are necessary to avoid a collision. The controller 20 may determine the alert intensity 28 and / or the operator authority 32 based on the previous traffic maneuvers 42 and the collision risk 46. Examples of various traffic situations are provided below to further explain how the controller 20 described so far works to assist the operator 12 in operating the host vehicle 14.

[0032] Figure 2 A non-limiting example is shown in which the host vehicle 14 is approaching a truck 48 traveling on a road 50, where the truck 48 is traveling slower than the host vehicle 14 and in the same lane, so the host vehicle 14 may want to overtake the truck 48. In this example, the object 16 is another vehicle 52 that is traveling faster than the host vehicle 14 and is in a lane that the host vehicle 14 may use to overtake the truck 48. The operator behavior characteristics 40 observed by the controller 20 may include an indication that the operator 12 tends to slow down when approaching another vehicle in front of the host vehicle 14 instead of maintaining a constant speed and making a lane change in a timely manner. Moreover, when the operator 12 performs a lane change, the controller 20 may be configured to measure the time it takes the operator 12 to complete the lane change. That is, the operator behavior characteristics 40 may include a lane change duration (not shown) stored in the controller 20 and based on a previous lane change (previous traffic maneuver 42) performed by the operator 12.

[0033] Thus, the risk of conflict 46 may include an estimate of a time left to conflict 54 for a conflict between another vehicle 52 and the host vehicle 14. The controller 20 may be configured to determine the alert intensity 28 based on a comparison of the length of the lane change to the time left to conflict 54. For example, when the operator 12 appears to be considering a lane change, the loudness of the alert may increase as the time left to conflict 54 ( Figure 1 Alternatively, or in combination with changing the alert intensity 28, the controller 20 may limit the operator authority 32 and prevent the operator 12 from changing lanes to pass the truck 48 to avoid a significant conflict when another vehicle 52 is approaching too quickly.

[0034] Continue to refer Figure 2 As another example, the object 16 may be another vehicle 56 traveling in a so-called blind spot of the operator 12 of the host vehicle. The operator behavior characteristics 40 may include a measure of a change in lane position 58 of the host vehicle 14 when the operator 12 turns the host vehicle 14. The controller 20 may also determine similar characteristics of the other vehicle 56 based on a previous travel path 59 of the other vehicle 56. The determination of the risk of conflict 46 by the controller 20 may include determining a probability of conflict (not specifically shown) between the other vehicle 56 and the host vehicle 14 when the other vehicle 56 is beside the host vehicle 14. That is, the controller 20 may estimate the risk of a collision due to the host vehicle 14 and / or the other vehicle 56 being traversed.

[0035] If the vehicle is not weaving and the operator 12 is aware of the other vehicle 56, the controller 20 may sound the alarm using a lower intensity blind spot alarm. However, if the estimated probability of conflict is greater than a risk threshold (not shown) stored in the controller 20, the controller 20 may increase the alarm intensity 28 by making the audible alarm louder and / or displaying a message on the display to indicate that the operator 12 is weaving excessively when the other vehicle 56 approaches the host vehicle 14. Alternatively, or in combination with increasing the alarm intensity 28, the controller 20 may limit the operator authority 32 and prevent the operator 12 from weaving by providing some steering damping to the steering system via the steering override device 34 in an attempt to reduce the value of the lane position change 58.

[0036] Figure 3 Another non-limiting example is shown in which the host vehicle 14 is traveling on a road 60 and an object 16 is stationary at a location in the travel path 62 of the host vehicle 14. For example, the object 16 may be debris 64 that fell from a truck (not shown) that was previously traveling on the road 60. The controller 20 may be further configured to estimate the time remaining for the host vehicle 14 to collide with the object 16 (debris 64) ( Figure 1 ). It is contemplated that the remaining time 66 until the collision occurs is calculated based on the assumption that the vehicle continues along the travel path 62 without changing its speed or trajectory.

[0037] If the time remaining to impact is long, such as greater than five seconds, the controller 20 may set the alarm intensity 28 to be relatively low and illuminate only an indicator that is observable by the operator 12 of the host vehicle 14. However, if the time remaining to impact 66 is less than a time threshold (not shown) stored in the controller 20, such as less than two seconds, and / or the gaze direction of the operator 12 indicates that the operator is unaware of the debris 64, the controller 20 may increase the alarm intensity 28 by additionally activating an audible alarm and / or activating a haptic device to vibrate the seat of the operator 12. Alternatively, or in combination with increasing the alarm intensity 28, the controller 20 may limit the operator authority 32, activate the steering override device 34, and operate the steering override device 34 to avoid the object 16 when the operator 12 is unaware of the object 16.

[0038] Continue to refer Figure 3 , the object 16 may be a pedestrian or an animal 68 approaching the travel path 62 of the host vehicle 14. The controller 20 may be further configured to estimate a time remaining to impact 66 for the pedestrian or animal 68 and the host vehicle 14 based on the speeds or relative trajectories of both. If the object is a pedestrian (e.g., a person), the gaze direction of the pedestrian may be determined using a camera of the object detection device 18 to determine whether the pedestrian is aware of the host vehicle 14. The controller 20 may increase the alert intensity 28 when the time remaining to impact 66 is less than a time threshold (e.g., 2 seconds) and the operator 12 is not aware of the pedestrian or animal 68. Alternatively, or in combination with increasing the alert intensity 28, the controller 20 may activate or operate the brake override device 38 and / or the accelerator override device 36 to stop the host vehicle 14 when the operator 12 is not aware of the pedestrian or animal 68.

[0039] Figure 4 Another non-limiting example is shown in which the host vehicle 14 is traveling on a road 70 and the object 16 is a traffic light 72 in the travel path 74 of the host vehicle 14. The controller 20 ( Figure 1 ) may be further configured to estimate the remaining time 76 for the vehicle 14 to violate the traffic light 72 if the operator 12 does not initiate braking and stop the vehicle at the intersection 78 ( Figure 1 ), and when the time remaining to infringe 76 is less than a time threshold (e.g., three seconds) and the operator 12 is not aware of the object 16 (traffic light 72), the alert intensity 28 is increased. It is contemplated that the threshold time will change based on the current driving speed of the host vehicle 14, for example, the threshold time is greater for a greater driving speed. Alternatively, or in combination with increasing the alert intensity 28, the controller 20 can activate or operate the brake override device 38 and / or the accelerator override device 36 to stop the host vehicle 14 before entering the intersection 78 when the operator 12 is not aware of the traffic light 72.

[0040] Figure 5 Another non-limiting example is shown, where the host vehicle 14 is traveling on the road 80, and the object 16 is another vehicle 82 approaching the intersection 84 via the intersection lane 86 of the intersection 84. In this case, the host vehicle 14 is stopped and ready to enter the intersection 84 to start turning or straight driving. There is no need to stop traffic in the intersection lane 86, so if the host vehicle 14 continues to enter the intersection 84 before the other vehicle 82 reaches the intersection 84, the time left for the conflict should be considered ( Figure 1 ) and / or the time remaining to impact 66. Preferably, the control override device 30 includes an accelerator override device 36, and the controller 20 can operate the accelerator override device 36 to prevent the operator 12 from entering the intersection 84 when the operator 12 is unaware of the other vehicle 82. Alternatively, or in combination with operating the brake override device 38, the controller 20 can increase the alert intensity 28 when the operator 12 is unaware of the other vehicle 82, and / or the controller 20 can activate or operate the accelerator override device 36 to move the host vehicle 14 away from the illustrated position.

[0041] and Figure 5 A related alternative scenario is when the host vehicle 14 is stopped as shown and preparing to make a right turn, and there is a bicycle (not shown) approaching the intersection behind the host vehicle 14. The system 10 may determine that the bicycle will collide or conflict with the host vehicle 14 if the right turn is initiated, and increase the alert intensity 28 before the conflict occurs.

[0042] Figure 6 Another non-limiting example is shown in which the host vehicle 14 is traveling on a road 90, and the object 16 is a train 92 approaching a rail-road intersection 94 of the road 90. The control override device 30 advantageously includes a brake override device 38, and the controller 20 operates the brake override device 38 to prevent the operator 12 from stopping at the rail-road intersection 94 when the operator 12 is unaware of the train 92. It is contemplated that the host vehicle 14 may need to continue forward and contact the stopped vehicle 96 to avoid being struck by the train 92. Alternatively, or in combination with operating the accelerator override device 36, the controller may increase the alarm intensity 28 when the operator 12 is unaware of the train 92, and / or the controller 20 may activate or operate the brake override device 38 to keep the host vehicle 14 in the illustrated position.

[0043] Thus, a cognitive driver assistance system (system 10) and a controller 20 for the system 10 are provided. The controller 20 is capable of determining the cognitive state of the operator 12, such as determining when the operator is alert and aware of objects arranged around the host vehicle 14, and when the operator is not alert and unaware of a particular object (object 16). If the controller 20 determines that the operator 12 is not aware of the object 16 when some action other than the action the operator is doing, the controller can increase the alert intensity 28 of the alert provided to the operator 12, and / or completely or partially take over control of the host vehicle 14 and operate the host vehicle 14 so as to avoid a collision or conflict with the object 16.

[0044] While the present invention has been described with respect to the preferred embodiments thereof, it is not intended to be limited thereto but only to the scope of the claims that follow.

Claims

1. A driver assistance system, comprising: A controller for a vehicle, the controller being configured to: predicting a maneuver of the host vehicle based on previous maneuvers of the host vehicle; In response to detecting a second vehicle, selecting an alert intensity by determining whether the second vehicle conflicts with the predicted maneuver; outputting a warning signal at a selected warning intensity, the warning signal indicating that the second vehicle is in conflict with the predicted maneuver; as well as After outputting the alarm signal at the selected alarm intensity, the alarm intensity is increased and the operator authority is limited in response to determining that the second vehicle is in conflict with the predicted maneuver and the operator's cognitive state of awareness of the second vehicle, wherein limiting the operator authority refers to limiting the operator's ability to manually control the operation of the vehicle.

2. The driver assistance system according to claim 1, wherein: The controller is configured to determine whether the second vehicle conflicts with the predicted maneuver by: estimating a time when the second vehicle will conflict with the predicted maneuver; as well as The alert intensity is selected based on the time at which the second vehicle violates the predicted maneuver.

3. The driver assistance system according to claim 1, wherein: The controller is configured to determine whether the second vehicle conflicts with the predicted maneuver by comparing a probability of the second vehicle conflicting with the predicted maneuver to a risk threshold.

4. The driver assistance system according to claim 1, wherein: The controller is configured to predict that the maneuver of the host vehicle is a lane change into a path of the second vehicle during a specific time interval.

5. The driver assistance system according to claim 1, wherein: The controller is configured to predict that the maneuver of the host vehicle is a change in lane position that reduces a distance between the host vehicle and the second vehicle.

6. The driver assistance system according to claim 4, wherein: The controller is configured to predict that the maneuver of the host vehicle is a change in lane position that reduces a distance between the host vehicle and the second vehicle further in response to determining that the second vehicle is in an adjacent lane alongside the host vehicle.

7. The driver assistance system according to claim 1, wherein: The controller is further configured to: estimating a time at which the host vehicle collides with the second vehicle; as well as After the alarm signal is output at the selected alarm intensity, the alarm intensity is further increased in response to determining that the time at which the impact occurs is less than a time threshold.

8. The driver assistance system according to claim 1, wherein: The controller is further configured to: estimating the time at which the vehicle collides with a pedestrian or an animal on the vehicle's travel path; As the time decreases, the alarm signal is output by increasing the alarm intensity.

9. The driver assistance system according to claim 1, wherein: The controller is further configured to: An estimated time at which the vehicle violated a traffic signal; As the time decreases, the alarm signal is output by increasing the alarm intensity.

10. A driver assistance method implemented by a controller of a vehicle, comprising: predicting a maneuver of the host vehicle based on previous maneuvers of the host vehicle; In response to detecting a second vehicle, selecting an alert intensity by determining whether the second vehicle conflicts with the predicted maneuver; outputting a warning signal at a selected warning intensity, the warning signal indicating that the second vehicle is in conflict with the predicted maneuver; as well as After outputting the alarm signal at the selected alarm intensity, the alarm intensity is increased and the operator authority is limited in response to determining that the second vehicle is in conflict with the predicted maneuver and the operator's cognitive state of awareness of the second vehicle, wherein limiting the operator authority refers to limiting the operator's ability to manually control the operation of the vehicle.

11. The driver assistance method according to claim 10, wherein: Determining whether the second vehicle conflicts with the predicted maneuver includes: estimating, by the controller, a time at which the second vehicle will conflict with the predicted maneuver; and The alert intensity is selected based on the time at which the second vehicle violates the predicted maneuver.

12. The driver assistance method according to claim 10, wherein: Determining whether the second vehicle conflicts with the predicted maneuver includes comparing a probability that the second vehicle conflicts with the predicted maneuver to a risk threshold.

13. The driver assistance method according to claim 10, wherein: Predicting the maneuver of the host vehicle includes predicting the maneuver to be a lane change into a path of the second vehicle during a particular time interval.

14. The driver assistance method according to claim 10, wherein: Predicting the maneuver of the host vehicle includes predicting that the maneuver is a change in lane position that reduces a distance between the host vehicle and the second vehicle.

15. The driver assistance method according to claim 14, wherein: Predicting the maneuver of the host vehicle includes predicting the maneuver to be a change in lane position that reduces a distance between the host vehicle and the second vehicle further in response to determining that the second vehicle is in an adjacent lane alongside the host vehicle.

16. The driver assistance method according to claim 10, further comprising: estimating a time at which the host vehicle collides with the second vehicle; as well as After the alarm signal is output at the selected alarm intensity, the alarm intensity is further increased in response to determining that the time at which the impact occurs is less than a time threshold.

17. The driver assistance method according to claim 10, further comprising: estimating the time at which the vehicle collides with a pedestrian or an animal on the vehicle's travel path; As the time decreases, the alarm signal is output by increasing the alarm intensity.

18. The driver assistance method according to claim 10, further comprising: An estimated time at which the vehicle violated a traffic signal; As the time decreases, the alarm signal is output by increasing the alarm intensity.

19. A driver assistance system comprising means for executing any one of the methods of claims 10-18.

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