Safety apparatus and method for vehicle

Abstract

The invention relates to a safety device for a vehicle and a corresponding method, the vehicle comprising means for automated longitudinal and transverse driving of the vehicle, in particular for autonomous maneuvering of the vehicle, the vehicle having at least one environment sensor system, and a control unit for controlling the vehicle steering, the vehicle drive and / or the vehicle deceleration device, and for controlling the vehicle when the device for automated longitudinal and transverse driving controls the vehicle into a traffic space through which the vehicle passes and the environment sensor system ascertains a moving object having a possibility of collision with the own vehicle, the own vehicle is braked to a stationary state, the direction of travel is changed, and the reverse is manipulated over a stroke until the possibility of collision is minimized.

Description

Technical Field

[0001] The invention relates to a safety device for a vehicle and a corresponding method, wherein the vehicle comprises a device for automated longitudinal and lateral driving of the vehicle, in particular for autonomous maneuvering of the vehicle, wherein the vehicle has at least one environmental sensor system and an actuation unit for actuating a vehicle steering, a vehicle drive and / or a vehicle deceleration device, and when the device for automated longitudinal and lateral driving actuates the vehicle into a traffic space with vehicles and the environmental sensor system detects a moving object with a possibility of collision with the own vehicle, the own vehicle is braked to a standstill, the driving direction is changed, and reversed over a distance until the possibility of collision is minimized. Background Art

[0002] DE 10 214 029.4 A1 discloses a method and a device for controlling a safety device of a vehicle and a safety system for a vehicle, which responds to an impending collision of the vehicle with a collision object by intervening in the longitudinal and / or transverse driving of the vehicle in the following manner: in the intervention, environmental data and driving data are read in; a velocity, a mass or an acceleration of the collision object in the environment of the vehicle is ascertained, and seat occupancy data about the occupation state of at least one seat by an occupant are ascertained. The expected impact side of the collision object on the vehicle is ascertained and evaluated using the environmental data and the technical data and the seat occupancy data. Summary of the invention

[0003] The core of the invention is to provide a method and a device which make it possible to detect a collision situation in road traffic and to avoid or at least minimize the collision situation in the subsequent process and thus increase safety in road traffic. This is achieved according to the invention by the features of the independent claim. Advantageous improvements and embodiments are derived from the dependent claims.

[0004] It is proposed to further improve a vehicle, which is provided with a device for automated longitudinal and transverse driving of the vehicle and has at least one environmental sensor system for this purpose. Such vehicles usually have a device or method for autonomously manipulating the vehicle, such as a device and / or method, so as to maneuver the vehicle into a parking space or a parking place, maneuver the vehicle out of a parking space or a parking place, maneuver out of an unclear exit or through an unclear intersection. For this purpose, the method or device can have a control unit for vehicle steering or vehicle transverse driving and vehicle longitudinal driving, which is composed of a vehicle drive device and / or a vehicle deceleration device. If an object with the possibility of collision with the own vehicle is identified in the vehicle environment when driving through an unclear traffic space, preferably by means of a device or method for automated longitudinal and transverse driving of the vehicle, the own vehicle can be braked in the automated control, the driving direction can be changed and the vehicle can be maneuvered back a distance until the possibility of collision is minimized. Thus, for example, when driving out of a parking lot from a parking space, the vehicle can quickly approach and, in order to avoid a collision, stop the driving process, change the driving direction of the own vehicle and maneuver back to the parking place or parking space until the risk of collision with the approaching vehicle is minimized.

[0005] In the context of the present invention, low speed is mentioned. Here, the division of low speed from high speed cannot be defined by a certain speed threshold, but low speed is a speed range in which the vehicle is not primarily used to travel a certain distance, but is, for example, maneuvered into a parking space, maneuvered out of a parking space, maneuvered out of an unclear entrance or maneuvered through a difficult-to-see intersection. In contrast, high speed refers to a driving situation in which the travel of a predefined distance is dominant and the vehicle does not have to be maneuvered through unclear traffic sections. Although it is difficult to establish a limit speed for distinguishing between maneuvering speed and driving speed, the range between these two speed ranges should be between about 15 km / h and about 30 km / h, preferably 20 km / h or 25 km / h.

[0006] Minimization of the collision probability can be understood here as a reduction, but it can also be reduced to zero and then completely eliminated. For example, minimization can be that the collision probability is continuously calculated from the traffic situation and the backing maneuver is carried out until this collision probability increases again. In this case, the local minimum has been exceeded, so that stopping after exceeding and slightly increasing again is still understood as minimization of the overall collision risk.

[0007] For example, the collision risk may increase again because the vehicle is maneuvered back into a parking space and now approaches a vehicle parked next to it, whereby the rearward collision risk increases due to the approach of the parked vehicle, while the collision risk of the approaching vehicle in the front area decreases. In this case, the overall collision probability consisting of the two collision risks is a criterion. The overall collision probability must be minimized or reduced to zero.

[0008] Advantageously, the device for automated longitudinal and transverse steering of the vehicle is a device for maneuvering assistance at low speeds. Such maneuvering assistance may be, for example, an automatic parking entry assistant, an automatic parking exit assistant, a maneuvering assistant, an assistant for navigating an unclear intersection, or an assistant for passing an exit, which are known on the market, for example, as FCTA (Front Cross Traffic Assistant) or FRTA (Front Rear Traffic Assistant), i.e., a system with sensors at the front of the vehicle, which detect traffic objects to the left and right substantially perpendicularly to the longitudinal axis of the vehicle, or a system in which a system is arranged at the rear of the vehicle, which monitors the area to the left and right of the vehicle substantially perpendicularly to the longitudinal axis of the vehicle in a direction perpendicular to the own vehicle toward an approaching vehicle.

[0009] Furthermore, it is advantageously provided that the vehicle has a detection unit for detecting the distance traveled, and a memory for storing the longitudinal and lateral movements during the distance traveled. For this purpose, when an object with a possibility of collision with the own vehicle is detected, the own vehicle can be braked to a stationary state, the driving direction can be changed, and the own vehicle can be maneuvered back along the stored distance. In particular, when driving out of a parking space or parking place, the vehicle drives over a driving route, which can be stored in the storage device in terms of speed, distance and steering wheel angle. Such a storage unit can be, for example, an odometer unit. If at this time, when driving out of the parking place or parking space, a collision risk with a vehicle approaching on the roadway is detected, the own vehicle can be braked and driven back along the same distance that the vehicle drove when driving out.

[0010] When driving back, the vehicle surroundings can be detected with respect to previously known objects or also newly approaching objects can be detected, such as pedestrians who cross the driving path of the vehicle behind the vehicle to be parked and are in danger when the vehicle is maneuvered in reverse.

[0011] Furthermore, it is advantageous if the device for maneuvering assistance is an automatic parking and exit system for driving the vehicle out of a parking space, an automatic parking and exit system for driving the vehicle out of a parking space or a parking place, a front cross traffic assistant (FCTA) for driving out of an entrance or for driving into an intersection. Such a system, which is able to monitor the vehicle's surroundings in unclear situations and at the same time monitor the roadway, can already detect approaching objects before the driver can take in the situation because he is sitting in a seat in the vehicle. Such a system can warn the driver and brake the vehicle to a standstill at an early stage.

[0012] Furthermore, it is advantageous if the traffic space with vehicles is a lane of a street or an intersection area of ​​a street intersection. In this case, a traffic space with vehicles refers to a public transportation space that is often obscured by surrounding buildings or by other parked vehicles and is therefore prone to accidents. A traffic space with vehicles does not refer to driving situations such as driving a vehicle into or out of a garage or driving a vehicle into a residential parking space, because in particular the risk of collision with approaching other vehicles or objects should be detected and eliminated.

[0013] Furthermore, it is advantageous if the collision probability is derived from the direction of movement of the object and the vehicle, their speeds for the possibility of avoiding a collision. Here, the collision probability can be a value calculated taking into account the overall situation leading to the collision. If there is enough time for the vehicle to brake from its current speed and stop without a collision, the collision probability can be set to zero. If the speed and distance of the vehicles are such that a collision can no longer be avoided even if the vehicle brakes with the maximum possible deceleration, the collision probability can be considered to be 1. Other collision values ​​can be taken into account here, the more one of the two vehicles must brake, the greater the risk of collision or an uncharacteristic steering movement must be taken to prevent a collision.

[0014] Furthermore, it is advantageous if the vehicle is maneuvered back on the stored path until there is no longer a risk of collision. Once the vehicle has been maneuvered back into the original position of the parking space or parking bay or exit (as originally parked), traffic space with vehicles is open, i.e. a traffic lane of the adjacent street with vehicles, and the risk of collision can therefore be considered to be zero, provided that one of the adjacent parked vehicles has not moved in the meantime or other road users (e.g. pedestrians or cyclists) have approached the original parking position.

[0015] In addition, it is advantageously provided that when the vehicle is maneuvered backward on the stored itinerary, the detection area of ​​the environmental sensor system is monitored by means of at least one environmental sensor system and when another object is recognized within the stored itinerary, the vehicle is braked to a stationary state, or the vehicle is manipulated with respect to the recognized other object. If the environmental sensor system recognizes that there is enough maneuvering space, a driving trajectory can be planned as a collision avoidance trajectory, in which steering is performed with respect to the object. Therefore, an avoidance maneuver based on a steering maneuver can also be envisioned to avoid a collision with an approaching object. In this case, an avoidance trajectory is determined, which is not equivalent to the avoidance trajectory or maneuvering trajectory that was just previously used to cross the intersection.

[0016] Furthermore, it is advantageous that at least one environmental sensor system consists of at least one radar sensor or multiple radar sensors, at least one video sensor or multiple video sensors, one or more ultrasonic sensors, one or more laser radar sensors or a combination of these sensor types. They are advantageously fixed at the vehicle corners of the vehicle so that the area in front of and / or behind the vehicle is detected. Optionally, it is also conceivable that the area is detected both in the left direction and in the right direction beside the area and / or beside the vehicle behind the vehicle. Within the framework of Crossstraffic-Assist CTA, i.e., for the auxiliary system of cross traffic warning, the sensor is usually installed at the corner of the vehicle so that its main radiation direction is oriented perpendicular to the longitudinal axis of the vehicle and monitors the area on the left and right side of the vehicle. Therefore, although the driver still cannot see this area clearly due to his recessed seat position in the vehicle, he can detect the intersection traffic in time with the front sensor when driving out of the house or groping into the intersection. Here, such a cross traffic auxiliary sensor can be used particularly advantageously. Furthermore, it is advantageous that the device for automated longitudinal and transverse driving of the vehicle is a device for maneuvering assistance at low speeds.

[0017] Furthermore, it is advantageously provided that the travelled distance is detected in a detection unit which has a memory. The longitudinal and transverse movements during the travelled distance can be stored in the memory. The device can advantageously be referred to as an odometer unit. When an object with a potential for collision with the host vehicle is detected, the host vehicle can be braked to a standstill, the driving direction can be changed, and the host vehicle can be maneuvered in reverse over the stored distance over which the host vehicle was driven.

[0018] Advantageously, the vehicle can be maneuvered and / or maneuvered back up to a predetermined maximum speed. This maximum speed should distinguish the maneuvering speed from the driving speed and is, for example, between 10 and 25 kilometers per hour, advantageously within the range of 10 km / h or 15 km / h.

[0019] The method can be implemented, for example, in the form of software or hardware or in the form of a mixture of software and hardware, for example in a control unit.

[0020] The method proposed here also makes possible a distance controller which is designed to execute, control or carry out the steps of the variant of the method presented here in a corresponding device.

[0021] The safety device can be an electronic device having at least one computing unit for processing signals or data, at least one storage unit for storing signals or data, and at least one interface and / or communication interface for reading in or outputting data embedded in a communication protocol. The safety device can be, for example, a signal processor, so-called system or a microcontroller for processing sensor signals and outputting data signals according to the sensor signals. The safety device can be, for example, a flash memory, an electronic memory or a magnetic storage unit. The interface can be configured as a sensor interface for reading in sensor signals from a sensor and / or as an actuator interface for outputting data signals and / or control signals to an actuator. The communication interface can be configured to read in or output data wirelessly and / or wiredly. The interface can also be, for example, a software module that exists on a microcontroller together with other software modules.

[0022] Advantageously, a computer program product or a computer program with a program code can be stored on a machine-readable carrier or storage medium, such as a semiconductor memory, a hard disk memory or an optical memory, and is used to execute, implement and / or control the steps of the method according to one of the above-described embodiments, in particular when the program product or program is executed on a computer, a programmable controller or a similar device.

[0023] Several possible features and advantages of the present invention are described with reference to various embodiments as methods for regulating a safety device. Those skilled in the art recognize that these features can be combined, adjusted or exchanged in a suitable manner to achieve further embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The following is an explanation of an embodiment of the present invention based on the accompanying drawings. It shows:

[0025] Figure 1 The first traffic situation is used to explain the present invention.

[0026] Figure 2 Another traffic situation for explaining the present invention,

[0027] Figure 3 Another traffic situation for explaining the present invention,

[0028] Figure 4Another traffic situation for explaining the present invention,

[0029] Figure 5 a schematic block diagram for explaining an embodiment of the safety device according to the invention, and

[0030] Figure 6 Schematic flow chart for explaining the method according to the invention. DETAILED DESCRIPTION

[0031] Figure 1An exemplary traffic situation is shown which illustrates a street intersection 2. A host vehicle 1 is approaching the street intersection 2. Due to the unclear nature of the intersection 2, the host vehicle 1 is only slowly groping its way into the intersection area of ​​the street intersection 2. The host vehicle 1 has an environmental sensor system 3, which can, for example, consist of a plurality of environmental sensors 3, wherein the environmental sensors 3 can in turn consist of different types of sensors, such as radar sensors, video sensors, ultrasonic sensors or lidar sensors. An environmental sensor system 3 is shown by way of example, which has a sensor 3 at the front of the vehicle, which covers a detection area 4 in front of the host vehicle 1, so that this first environmental sensor 3 covers the future route area of ​​the host vehicle 1. Furthermore, environmental sensors 3 are drawn at the vehicle corners of the host vehicle 1, whose detection areas 4 or detection areas 4 have main radiation directions oriented such that they are, for example, perpendicular to the longitudinal axis of the vehicle. This makes it possible to detect in good time traffic objects 5, 6 that cross the detection area 4 of the surroundings sensor 3 arranged at the corner of the vehicle 1 when the vehicle 1 is groping its way into the traffic intersection 2, even though the driver still cannot recognize the object 5, 6 because the driver's seat position in the vehicle 1 is further back than the surroundings sensor 3 in the driving direction 7. If the vehicle 1 now gropes into the street intersection 2 and moves at the same time with the velocity vector 7, the crossing traffic objects 5, 6 can be detected, which themselves move towards the vehicle 1 at the velocity v. If a collision risk is detected due to the distance and velocity v of the approaching vehicle 5 from the left and the approaching vehicle 6 from the right, the safety device and the safety method can now initiate corresponding measures in the vehicle 1. For example, the collision risk can be calculated by calculating the braking deceleration required to avoid the collision and evaluating the collision risk based on the level of the required braking deceleration of the approaching vehicles 5, 6 according to the deceleration magnitude that has been determined. Avoiding approaching vehicles 5, 6 can also be taken into account. If a risk of collision is now detected when the vehicle is groping its way into the street intersection 2, the vehicle 1 is braked according to the invention in its driving direction 7, a change of direction of the vehicle 1 is initiated, and the vehicle 1 is again maneuvered away from the intersection area 2 in the opposite direction of the original driving direction 7. In the case of a vehicle 1 with an internal combustion engine and an automatically shifting transmission, the change of direction can be configured, for example, so that in the stationary state, the reverse gear is engaged and the vehicle 1 is moved further backwards. In the case of a vehicle 1 with an electric drive, the change of driving direction can be achieved by reversing the rotation direction of the electric machine or, when a transmission is used, also changing its driving direction via the transmission.

[0032] Figure 2A further exemplary traffic situation is shown, in which the host vehicle 1 is parked in a parking space 8, so that the vehicle longitudinal direction of the host vehicle 1 is oriented perpendicularly to the usual driving direction on a public street 9. A further parking object 10 is shown laterally next to the host vehicle A1, which limits the view of the driver of the host vehicle 1 to the approaching traffic object 5. Within the framework of an automated parking process or also within the framework of a manually performed parking maneuver, the host vehicle 1 together with its surroundings sensor system 3 is maneuvered out of the parking space along a velocity vector 11. As soon as the host vehicle 1 has left the parking space in the forward direction so far that the surroundings sensors 3 at the front vehicle corners can see into the street to the left and right with respect to the driving direction of the host vehicle 1 with their detection range 4, approaching traffic objects such as the vehicle 5 shown by way of example can be detected, and a possible collision risk of the approaching vehicle 5 with the host vehicle 1 can be calculated. If the collision risk between the approaching vehicle 5 and the host vehicle 1 is determined to be sufficiently high, according to the invention the host vehicle 1 is braked, the driving direction 11 is changed to the opposite direction, and the host vehicle 1 is maneuvered into the parking space. In this case, the vehicle 1 is advantageously only maneuvered into the parking space until the original parking position is reached in order to avoid driving onto an adjacent sidewalk or colliding with adjacent buildings or traffic signs. The host vehicle 1 can be braked, the driving direction of the host vehicle 1 can be changed, and the reverse maneuvering can be performed, regardless of whether this is an automatically executed parking process of the host vehicle or whether the parking process is manually performed by the driver of the host vehicle 1 and in this case the driver is overridden by the safety device with regard to his driving and brake pedal operation.

[0033] Figure 3 It is shown in Figure 2 The vehicle 1 is once again parked in a parking space oriented perpendicular to the direction of travel of the public street 9. The vehicle is parked adjacent to parked objects 10 on the longitudinal side and on the right, so that the driver's field of vision is limited to the street 9. Figure 2 The situation is different in Figure 3In the example of FIG. 1 , the host vehicle 1 is parked in such a way that it must be moved in the opposite direction 12 in order to exit the parking space 8, which in turn reduces visibility and increases the risk of collision with an approaching vehicle 5. In this case, the host vehicle 1 together with the surrounding sensor system 3 is maneuvered in the opposite direction 12 out of the parking space 8, wherein the exit maneuver is performed either by means of an automatic parking assistant or an automatic exit assistant or by manual operation by the driver of the host vehicle 1. If the host vehicle 1 has already moved far enough out of the parking space 8 that the vehicle sensor system 3 at the rear vehicle corner can detect the street 9 with its detection range perpendicular to the driving direction 12 of the host vehicle 1, an approaching object, such as the vehicle 5 shown as an example, can be detected. If an increased risk of collision is calculated due to the distance and relative speed between the approaching vehicle 5 and the host vehicle 1, the safety device can brake the parked vehicle 1 to a standstill, change the driving direction of the host vehicle 1 from rearward to forward, and maneuver the host vehicle 1 in the forward direction into the parking space 8 in order to minimize or eliminate the risk of collision with the approaching vehicle 5. In this case, the safety device and the corresponding method can interrupt the maneuver in the case of an automatic parking maneuver and accordingly steer the host vehicle 1 back into the parking space or, in the case of a manual parking maneuver performed by the driver of the host vehicle 1, override the driver's request via the accelerator pedal, brake pedal and steering device. In this case, the host vehicle 1 is only driven into the parking space 8 to such an extent that a collision with adjacent objects or driving onto the sidewalk is avoided. This can be achieved by only steering the host vehicle 1 into the parking space 8 to the original parking position. In this case, this should actually be saved and the corresponding vehicle movement along the trajectory during parking should be stored.

[0034] Figure 4 A further traffic situation is shown, in which parking places 14 or parking spaces 14 are arranged along a public street 13 in a direction parallel to the driving direction of the street 13. The vehicle 1 is parked in one of the parking spaces and is surrounded by parked objects 15 on the front and rear sides. The vehicle 1 wants to drive out of the parking space and must execute a combined steering and driving trajectory according to arrow 16 for this purpose. For this purpose, the environmental sensors 3 are used to detect approaching objects, such as the approaching vehicle 18 shown as an example. If a risk of collision with an approaching vehicle 18 is detected by the environmental sensor system 3, then in this case, the exit maneuver of the vehicle 1 along the exit trajectory 16 is also interrupted or the maneuver performed by the driver is overridden by the vehicle 1 being braked to a standstill, its driving direction is changed and the vehicle 1 is again maneuvered into the parking space between the parked objects 15. In this case, in all exemplary embodiments, in particular Figure 2 , 3It is important for the vehicle 1 to detect other objects in the vehicle environment, such as the pedestrian 17 shown, by means of the environmental sensor system 3. If the position of the pedestrian 17 approaches between the vehicle's exit process and the maneuvering back, the vehicle 1 may only be maneuvered back into the parking space or parking bay to such an extent that the pedestrian 17 is not touched. If necessary, the maneuvering back of the vehicle 1 must be completed before the original parking position is reached. Alternatively, it is also conceivable to bypass the object 17 that is close to its parking position by an additional steering movement, wherein no collision with other objects is allowed.

[0035] Figure 5 An exemplary embodiment of a safety device 20 is shown in . Here, the safety device 20 includes a device for automated longitudinal and lateral driving of the vehicle 1, as it can be known from the prior art. However, within the framework of the present invention, the device for automated longitudinal and lateral driving of the vehicle 1 can also be accommodated in a separate controller, and the safety device 20 and the separate controller are connected by means of a data bus system. The safety device 20 has an input circuit 21, via which input signals 22, 23, 24, 25 from devices 26, 27, 28, 29 for providing input signals are input. For example, an environmental sensor system signal 22 of an environmental sensor system 26 is input to the input circuit 21. Here, the environmental sensor system 26 has access to environmental sensors 3 at the vehicle corners and in the vehicle exterior area of ​​the vehicle 1. It is also conceivable that the environmental sensors 3 input their data into a data fusion model, which calculates the environmental model as software, and the calculated environmental model is obtained by Figure 5The environmental sensor system 26 in the vehicle 20 is provided to the input circuit 21 via the environmental sensor system signal 22 for use. In addition, the infrastructure vehicle signal 23 is input to the input circuit 21, which can be provided by the data receiving unit 27 for use. In the case where sensors are present in other vehicles, collect environmental data and can provide them to the vehicle 1 for use, or in the case where environmental data is collected at the edge of the street or in a parking lot by means of infrastructure-based sensors and provided to the vehicle 1 via infrastructure-to-vehicle communication for use, these externally detected data can also be used to perform the method according to the invention. However, the use of this external object data from the receiving device 27 is only an optional component of the device according to the invention. In addition, the automatic measurement signal 24 from the automatic measurement unit 28 is provided to the input circuit 21 for use. In the case of the vehicle 1 driving out of the parking space, the automatic measurement unit 28 stores data about the speed of the vehicle 1, the distance traveled, the driving direction and the turn signal associated therewith. By knowing these automatic measurement signals, it is possible to drive along the driving path that has been driven in the opposite direction and reach the original parking position again if no other movable objects cross the driving path during this period. Furthermore, an operating signal 25 of an operating device 29 is input to the input circuit 21, by which, for example, the device according to the invention can be activated or additional settings can be activated or deactivated. The input signals 22, 23, 24, 25 input to the input circuit 21 are input to a computing device 31 via a data bus device 30, which can be, for example, a microprocessor or a microcomputer, on which the method according to the invention is executed as software. The signals input to the computing device 31 are processed as input signals, and an output signal according to the invention is generated thereby, which is output by the computing device 31 via a data exchange device 33 to an output circuit 32. The output circuit 32 outputs output signals 33, 34, 35, 36 to downstream devices 37, 38, 39, 40. For example, an acceleration signal 33 is output to an acceleration actuator 37, whereby the vehicle 1 can accelerate in its current direction of travel. Furthermore, a deceleration signal 34 is output via the output circuit 32, which can control a deceleration device 38, in particular brake the vehicle 1, and thus can decelerate the vehicle in its current direction of travel. This deceleration is possible until the host vehicle 1 comes to a standstill. The output circuit 32 also outputs a longitudinal signal 35 to a steering actuator 39, so that the host vehicle 1 can also be steered accordingly during its exit maneuver in order to maneuver the host vehicle 1 on the public transport space 2, 9, 13 so that the host vehicle 1 can start its travel and can merge into the flowing traffic. In addition, a driving direction change signal 36 is output via the output circuit 32 and is input to a driving direction actuator 40.Driving direction actuator 40 is capable of changing the driving direction of host vehicle 1 , for example by configuring driving direction actuator 40 as an automatically shifting transmission which can change the driving direction from forward to reverse or vice versa via corresponding input signals.

[0036] The following Figure 6, an exemplary embodiment variant of the method according to the present invention is shown in FIG. The method starts at step S41, which is performed by starting the method according to the present invention (for example, by activating the method of the safety device 20). In the subsequent step S42, it is determined whether the driver assistance system is engaged or activated. The driver assistance system can be, for example, a parking exit system in order to maneuver the vehicle 1 out of a parking space or a parking space. If it is determined as "no" in step S42, the method branches back to step S42 and waits until the loop is determined as "yes" in step S42. If the driver assistance system is engaged, step S42 branches to "yes" and continues to step S43 by determining whether there is a maneuver in a traffic space with vehicles. Here, the traffic space with vehicles can be a public street, on which the parking space is oriented parallel to the driving direction of the street or perpendicular to the driving direction of the adjacent street. Here, the public transportation space can also be a residential exit or intersection that is almost invisible, or other traffic conditions that are almost invisible, and thus cause an increased risk of collision. As long as such a traffic situation is not detected, step S43 branches back to step S43. If such a traffic situation is detected in step S43, step S43 branches to "yes" and continues in step S44, in which the probability of collision with the approaching objects 5, 6 is determined. If the determined collision probability is higher than a predetermined threshold value, which can be determined, for example, from the distance and relative speed of the approaching objects 5, 6 to the host vehicle 1, step S44 branches to "yes" and continues in step S45. As long as the collision probability does not exceed the predetermined threshold value in step S44, the method branches back and continues again in step S43. If it has been determined in step S44 that the collision probability has increased, the host vehicle 1 is braked in the subsequent step S45 until it reaches a standstill. Subsequently, a change of direction of the host vehicle 1 is introduced in step S46, and the journey is reversed in the subsequent step S47. In this case, in step S47, the previously traveled route can be reversed to the original stop position, or alternative routes can also be reversed, for example when an object is detected by means of the surrounding sensor system, which object could enter or drive into the previously traveled route during the exit maneuver or during the maneuvering into an unclear intersection and could therefore cause a collision due to the return maneuver. In the subsequent step S48, during the reverse maneuver, it is continuously checked whether the possibility of collision has been minimized or eliminated. The possibility of collision is minimized or eliminated because the host vehicle 1 has left the driving path of the approaching object 5, 6 and the approaching object 5, 6 can no longer collide with the host vehicle 1 or can be easily maneuvered around the host vehicle 1.During step S48, not only is the collision probability of the host vehicle 1 with the approaching objects 5, 6 determined, but also other objects 17 in the vehicle environment are monitored, such as pedestrians, which may move into the passing trajectory of the host vehicle during the exit process and thus collide with the movable object 17 during the reverse maneuver of the host vehicle 1. The object 17 is based on. Figure 1 In the case of a street intersection, it can also be a vehicle behind, which is approaching the host vehicle 1 to such an extent that the host vehicle 1 can no longer move backwards. If the overall collision probability (which consists of the collision probability with the approaching objects 5, 6 and the collision probability with other movable environmental objects 17) is further minimized in step S48, step S48 is continued in step S47 by further actuating the reverse stroke. This situation continues until a minimum value is reached, that is, the collision probability increases slightly again or the collision probability drops completely to zero. If this local minimum value is reached in step S48, the method according to the invention ends in step 49 and the collision situation without collision can be successfully ended.

Claims

1. A safety device (29) for a vehicle (1), wherein: The vehicle (1) comprises a device for automated longitudinal and lateral driving of the vehicle, in particular for autonomous control of the vehicle, the vehicle (1) having at least one environmental sensor system (3), having a control unit (37, 38, 39) for controlling the vehicle steering, vehicle drive and / or vehicle deceleration, characterized in that when the device for automated longitudinal and lateral driving controls the vehicle into a traffic space (9, 13) with vehicles passing through and the environmental sensor system (3) determines a moving object (5, 6, 18) with a potential for collision with the host vehicle (1), the host vehicle (1) is braked to a standstill, the driving direction is changed, and the host vehicle (1) is controlled to reverse over the distance until the potential for collision is minimized.

2. The safety device according to claim 1, characterized in that The device for automated longitudinal and lateral steering of the vehicle is a device for assisting maneuvering at low speeds.

3. The safety device according to claim 1 or 2, characterized in that: The vehicle has a detection unit for detecting a traveled distance, a memory for storing longitudinal and transverse movements during the traveled distance, and when an object with a potential for collision with the host vehicle is detected, the host vehicle is braked to a standstill, the driving direction is changed, and the host vehicle is maneuvered in reverse over a stored distance over which the host vehicle has been driven by the maneuvering assistance device.

4. A safety device according to any one of the preceding claims, characterised in that Devices for maneuvering assistance are automatic park-and-go systems for maneuvering the vehicle out of a parking space, front cross traffic assist (FCTA) for exiting an entrance or for entering an intersection.

5. A safety device according to any one of the preceding claims, characterised in that Traffic space with cars is the lane of a street or the intersection area of ​​a street intersection.

6. A safety device according to any one of the preceding claims, characterised in that The probability of a collision results from the directions of movement of the object and the vehicle, their speeds and the probability of avoiding a collision.

7. A safety device according to any one of the preceding claims, characterised in that The vehicle is maneuvered in reverse on the stored route until there is no longer a risk of collision.

8. A safety device according to any one of the preceding claims, characterised in that When the vehicle is being maneuvered in reverse on a stored route, the detection range of the surroundings sensor system is monitored by means of at least one surroundings sensor system, and when a further object is detected within the stored route, the host vehicle is braked to a standstill or the host vehicle is maneuvered around the detected further object.

9. A safety device according to any one of the preceding claims, characterised in that The at least one environmental sensor system consists of radar sensors, video sensors, ultrasonic sensors, lidar sensors or a combination of these types of sensors, which are fixed at the vehicle corners of the vehicle so that they detect the area in front of and / or behind the vehicle, and optionally also the area to the left and right of the area in front of and / or behind the vehicle.

10. A method for operating a safety device of a vehicle, wherein: The vehicle has a method for automated longitudinal and lateral driving of the vehicle, in particular for autonomous control of the vehicle, signals of at least one environmental sensor system are input to the safety device, and a control unit is capable of controlling a vehicle steering, a vehicle drive and / or a vehicle deceleration device in order to autonomously drive the vehicle, characterized in that when the device for automated longitudinal and lateral driving controls the vehicle into a traffic space with vehicles and the environmental sensor system detects a moving object with a potential collision with the host vehicle, the host vehicle is braked to a standstill, the driving direction is changed, and the host vehicle is controlled to reverse over the distance until the potential collision is minimized.

11. The method according to claim 10, characterized in that The device for automated longitudinal and lateral steering of the vehicle is a device for maneuvering assistance at low speeds.

12. The method according to claim 10 or 11, characterized in that: The traveled distance is detected in a detection unit, the longitudinal and transverse movements during the traveled distance are stored in a memory, and when an object with a possibility of collision with the host vehicle is detected, the host vehicle is braked to a standstill, the driving direction is changed, and the host vehicle is maneuvered back over the stored distance on which the host vehicle has already driven.

13. The method according to any one of claims 10 to 12, characterized in that Maneuvering the vehicle and / or maneuvering the vehicle in reverse is only possible within a predefined maximum speed, which is limited in particular to 10 km / h or 5 km / h.

14. The method according to any one of claims 10 to 13, characterized in that Devices for maneuvering assistance are automatic park-and-go systems for maneuvering the vehicle out of a parking space, front cross traffic assist (FCTA) for exiting an entrance or for entering an intersection.

15. The method according to any one of claims 10 to 14, characterized in that Traffic space with cars is the lane of a street or the intersection area of ​​a street intersection. 16 . A computer program product, which is configured to execute, implement and / or control the method according to claim 10 .

17. A machine-readable storage medium on which the computer program product according to claim 16 is stored.

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