Method for operating a vehicle and vehicle

Abstract

The present disclosure generally relates to a method (50) of operating a vehicle (10) and a vehicle (10). The vehicle (10) comprises at least a control device (12), a communication device (16) and a sensor device (18). A sensor device (18) acquires environmental data of an environment of the vehicle (10). The communication device (16) receives at least one communication signal from a mobile device (20) of a user (22) of the vehicle (10) located outside the vehicle (10). The control device (12) determines at least one object position (26) and / or at least one object trajectory (28) of at least one object (24) located in the environment of the vehicle (10) on the basis of the acquired environment data. The control device (12) determines a user position (30) and / or a user trajectory (32) of a user (22) of the vehicle (10) located outside the vehicle (10) on the basis of the received communication signal. The control device (12) determines at least one expected distance change (34) between the at least one object position (26) and / or object trajectory (28) and the user position (30) and / or user trajectory (32). The control device (12) triggers the output of an alarm signal when the at least one expected distance change (34) causes the distance between the at least one object (24) and the user (22) to fall below a threshold value.

Description

Technical Field

[0001] This invention relates to a method for operating a vehicle and the vehicle itself. Background Technology

[0002] The development of automated lateral and longitudinal vehicle control has made it possible to assist drivers in a variety of scenarios. These scenarios have become increasingly diverse in recent years, ranging from assisting drivers in completing driving tasks while they are still in the vehicle to scenarios where the driver / user can also leave the vehicle. With increased automation, drivers / users no longer need to monitor vehicle movement. Therefore, autonomous driving functions are now possible in many scenarios. For example, autonomous driving functions can involve package or mail delivery tracking modes, allowing the vehicle to autonomously follow the delivery person without requiring the delivery person to repeatedly drive the vehicle manually. Vehicle automation eliminates the need for users to repeatedly get in, drive, and get out of the vehicle when moving it to the next location.

[0003] Because of autonomous driving capabilities, delivery drivers can focus on other tasks, such as the actual delivery work, which may distract them and limit their perception of traffic conditions to a basic level. Therefore, conflicts may arise between delivery drivers and other road users.

[0004] Against this backdrop, US 10068473 B1 discloses a method for alerting vehicle occupants to an object via notification. However, the alert is only sent to vehicle occupants when the distance is likely to be below a minimum. This limits the applicability of the prior method. Summary of the Invention

[0005] Therefore, it is necessary to eliminate or at least reduce the drawbacks of known methods and vehicles for operating vehicles. In particular, there is a need to provide a method and vehicle applicable to a wider range of application scenarios, such as when the actual vehicle user is not inside the vehicle.

[0006] This objective is achieved through the subject matter of the independent patent claims. Advantageous embodiments are indicated in the dependent patent claims and the following description, and each embodiment may illustrate aspects of this disclosure individually or in (sub)combinations. Some features are described for methods, while others are described for apparatuses. However, the corresponding aspects are applied to each other in a corresponding manner.

[0007] According to one aspect, some embodiments of the present invention relate to a method of operating a vehicle. The vehicle includes at least a control device, a communication device, and a sensor device. The control device is connected to at least the communication device and the sensor device. The method includes at least the following steps: Environmental data of the vehicle's environment is acquired through sensor devices; At least one communication signal is received from a vehicle user's mobile device via a communication device, wherein the user is located outside the vehicle; Based on the acquired environmental data, the control device determines the location of at least one object and / or the trajectory of at least one object located in the vehicle environment. The control device determines the user's location and / or trajectory based on the received communication signals, wherein the user is located outside the vehicle. The control device determines at least one expected distance change between at least one object location and / or object trajectory and user location and / or user trajectory; When at least one expected distance change causes the distance between at least one object and the user to fall below a threshold, an alarm signal is triggered by the control device.

[0008] This method is based on the discovery that vehicle users can also be identified as being outside the vehicle, for example, through a corresponding communication link. Therefore, even if the vehicle user is not inside the vehicle, potential conflicts between the vehicle user and other objects in the vehicle environment can be determined. Advantageously, the vehicle's own equipment (e.g., sensors or communication devices) can be used to identify potential conflicts. This provides a method that can be used for multiple additional application scenarios compared to known methods.

[0009] According to one aspect, some embodiments of the present invention relate to a vehicle having at least a control device, a communication device, and a sensor device. The control device is connected to at least the communication device and the sensor device. The sensor device is used to acquire environmental data of the vehicle's environment. The communication device is used to receive at least one communication signal from a mobile device of a vehicle user located outside the vehicle. The control device is used to: Based on the acquired environmental data, determine the location of at least one object and / or the trajectory of at least one object located in the vehicle environment; Based on the received communication signals, determine the user's location and / or user trajectory, wherein the user is located outside the vehicle; Determine at least one expected distance change between at least one object location and / or object trajectory and the user location and / or user trajectory; and An alarm signal is triggered when at least one expected distance change causes the distance between at least one object and the user to fall below a threshold.

[0010] The advantages achieved by the method described in this paper are also achieved in a corresponding manner by the electronic steering system.

[0011] Optionally, the communication device is used to allow bidirectional communication with external mobile devices. This allows for both receiving and sending communication data.

[0012] Preferably, the communication device is used to communicate via at least one of the following communication standards: WLAN, Bluetooth, ultra-wideband, 4G, LTE (long term evolution), 5G, or 6G.

[0013] The vehicle may also include different communication devices for various communication standards.

[0014] In some embodiments, the sensor device is used to detect the vehicle environment based on at least one of radar, lidar, or visual inspection (such as an optical camera). This allows for the detection of potential objects in the environment based on different detection technologies, thereby improving accuracy.

[0015] Of course, the vehicle may also include multiple complementary sensor devices, which may be of the same type or different, and each sensor device is connected to the control device.

[0016] Sensor devices are used to transmit corresponding measurement data or measurement signals to control devices.

[0017] In some embodiments, the mobile device is a smartphone, tablet, handheld device, laptop, etc.

[0018] The control device is used to retrieve location information stored in communication signals received from the user's mobile device. Based on the location information, the control device determines the user's location and / or user trajectory.

[0019] To enable communication signals to include the user's location information, control and mobile devices can also use dedicated communication routines, such as within an application (app) customized according to this method.

[0020] Objects can be stationary objects under specific traffic conditions, but they can also be other road users, such as pedestrians or cyclists. Of course, regardless of whether a vehicle is moving or stationary, another vehicle can be detected as an object. In addition, objects can also be environmental areas under specific traffic conditions, such as bike lanes, intersections, traffic light areas, lane boundaries, etc.

[0021] Considering the detected environment, the object trajectory should be understood as the object's direction of movement. The object trajectory represents the object's actual direction of movement; that is, the actual path the object travels within the detection interval of the environmental data.

[0022] Preferably, the control device is used to determine a hypothetical future trajectory of the object based on its trajectory. For example, the control device can use interpolation methods to predict the evolution of the object's trajectory within a prediction interval. The simplest case assumes that the object's speed and direction of motion are constant. Of course, specialized prediction models can also be used.

[0023] Accordingly, the user trajectory should be understood as the actual movement path of the user within the detection interval, and the control device can determine the path based on one or more communication signals.

[0024] Optionally, for the user, the control device also determines the user's hypothetical future trajectory based on the user's trajectory. Interpolation methods can also be used here.

[0025] Preferably, both the detection interval and the prediction interval are individually predefined or variable. For example, the interval may depend on the available environmental data for the sensor devices. Similarly, the length of the interval may depend on the number of sensor devices. For example, when multiple sensor devices are present and the data obtained can be used to determine the object, the interval can, in principle, be shorter than when only one or a few sensor devices are present. This is because multiple sensor devices ensure higher accuracy and reliability, as well as mutual redundancy in object detection.

[0026] Preferably, the expected distance change is predicted based on the actual distance change. This can be performed by the control device based on the object trajectory and the actual user trajectory or the evolution of the object's position relative to the user's position. In this context, the control device may also use interpolation methods to determine the expected future distance change.

[0027] Alternatively or additionally, the control device may also determine the expected distance change based on assumed future object trajectories and user trajectories.

[0028] The warning signal enables the user, and optionally other road users, to be aware that a collision with an object may occur. Therefore, the user and optionally other road users can, based on the warning signal, understand that they can or should adjust their behavior, such as their movement trajectory, accordingly to prevent a collision.

[0029] Optionally, the control device determines the positions or trajectories of multiple objects within the vehicle environment based on acquired environmental data. Then, for each object, the control device determines the expected distance change between the corresponding object and the user. This means that the control device not only determines the expected distance change relative to, for example, the nearest object relative to the vehicle, but also comprehensively assesses traffic conditions that may lead to a collision with the user, thereby improving the reliability of outputting appropriate warning signals to all road users.

[0030] Preferably, the alarm signal is transmitted via communication equipment to the user's mobile device, the object's mobile device, and / or other vehicles. The user thus receives notification of the alarm signal directly through their mobile device, increasing the likelihood that the user will perceive the alarm signal.

[0031] Alternatively or additionally, the alarm signal is output through the vehicle's output device. The alarm signal can thus be perceived by other road users or by the user if, for example, the user is distracted and does not perceive the alarm signal on their mobile device.

[0032] In another alternative, the warning signal can also be transmitted to other mobile devices or other vehicles belonging to the object. This can alert multiple road users to a potential collision.

[0033] In some embodiments, the output device includes lighting equipment and / or a loudspeaker. The corresponding road user or user can thus perceive the alarm signal visually and audibly, thereby increasing the likelihood that the corresponding road user or user will perceive the alarm signal. The loudspeaker can be, for example, a vehicle horn.

[0034] Of course, the vehicle may also include multiple output devices that work together to output alarm signals.

[0035] Optionally, the threshold can be predefined or variable. Preferably, the threshold is variable. Predefined thresholds reduce the cost of implementing the method. Variable thresholds allow for more appropriate consideration of conditions specific to traffic situations.

[0036] In some embodiments, the control device determines the object speed of at least one object and / or the user speed of a user. Optionally, the threshold also depends on at least the object speed and / or the user speed. For example, this could be interpreted as the fact that the higher the object speed, the longer the distance traveled within the reaction time of the user or the object (if the object is a road user).

[0037] Preferably, the threshold also depends at least on the size of the user-centric imaginary personcorridor. The control device can thus assume a conceptual volume that must be prevented from colliding with objects as an aid. For example, this can ensure that the user's personal space is as free of objects as possible.

[0038] In another approach, the threshold depends on the relative speed between the detected object and the user. A higher threshold can be used if the relative speed is high, to reflect a passageway with a larger user size. A lower threshold can be used if the relative speed between the user and the detected object is low.

[0039] Optionally, the threshold may also depend on other parameters, such as weather conditions, visibility conditions, the number of objects detected in the vehicle environment, and the environmental scenario. The environmental scenario should be understood as, for example, road type. For instance, a larger threshold could be used if the vehicle is located in a main road area compared to if the vehicle is located in a slow-moving side road area.

[0040] In some embodiments, the expected distance change is also determined for objects that satisfy the condition that there is at least one other object between the corresponding object and the user. This means that the expected distance change can also be determined for objects that are obscured by other objects and cannot be seen by the user, or for objects that the user cannot directly see (e.g., because the user is in a loading area of ​​a vehicle without windows). This further increases the benefit of the method, as it can assess indirect object-user distance.

[0041] Optionally, the alarm signal may include behavioral information. For example, if the alarm signal is sent to a user's mobile device, it may include a request to adjust (e.g., stop) the movement path or speed. In other scenarios, the alarm signal may include behavioral information about whether or not to perform a vehicle-specific task (e.g., keeping a specific door closed or opening a door only from the outside). This improves user comfort and the reliability of preventing collisions with the user.

[0042] In the case of audio signals, behavioral information can be output as voice commands.

[0043] When an alarm signal is output through the vehicle's output device, behavioral information can be conveyed, for example, through voice notifications based on the vehicle's environment. This behavioral information can also be used to notify other road users that specific actions can be taken to prevent collisions with them.

[0044] Preferably, the control device additionally triggers at least one disable signal related to a vehicle component based on the alarm signal. For example, the control device can trigger a disable signal to prevent a specific door from being opened from the inside. To this end, the control device can be connected to a higher-level driving control system of the vehicle, which ultimately performs a corresponding disable function based on the disable signal. This also reliably prevents collisions between objects and the user.

[0045] In some embodiments, the alarm signal includes the location information of the vehicle user, who is located outside the vehicle. The user location information may be provided to the user on their mobile device, for example, in the form of a region map. Objects whose expected distance changes are below a threshold can then be marked on the region map. Alternatively, other objects whose expected distance changes are not below the threshold can also be marked on the region map.

[0046] Alternatively, the vehicle may include an externally visible display device that shows the user's location information to other road users.

[0047] In another alternative, user location information can be indicated based on a specific light pattern that is made visible to other road users via an output device, such as a vehicle lighting system.

[0048] Optionally, at the start of the method, user identification of the vehicle user is performed at least based on the bidirectional communication link between the communication device and the user's mobile device and / or sensor data from the vehicle's sensor devices. For example, user identification can be performed as part of a predefined process in which the user logs into the vehicle control device via a mobile device. The user can thus be reliably distinguished from other objects, allowing the control device to determine the user within the vehicle environment based on received communication signals and / or acquired environmental data. This allows for user tracking within the vehicle environment based on either the received communication signals or the acquired environmental data.

[0049] Optionally, the method is configured as a computer-implemented method. This means that the method steps can be executed with the assistance of one or more data processing devices. In particular, the data processing devices can trigger or execute specific steps.

[0050] According to another aspect, the present invention also relates to a computer program product comprising commands that, when executed by a computer, cause the computer to perform the methods described herein. The advantages achieved by the methods described herein are also achieved in a corresponding manner by the computer program product.

[0051] According to another aspect, the present invention also relates to a computer-readable storage medium comprising commands that, when executed by a computer, cause the computer to perform the methods described herein. The advantages achieved by the methods described herein are also realized in a corresponding manner through the computer-readable storage medium.

[0052] Within the scope of this disclosure, vehicles may specifically include land vehicles, particularly off-road and on-road vehicles, such as passenger cars, buses, trucks, and other commercial vehicles. Vehicles may be manned or unmanned. Vehicles may be at least partially electric, including an internal combustion engine and / or an electric motor for driving them.

[0053] Alternatively, the vehicle may be a delivery vehicle and / or transport vehicle, specifically used for delivering goods.

[0054] All features described in relation to each aspect can be combined individually or in combination with other aspects. Attached Figure Description

[0055] The present disclosure and its other advantageous embodiments and improvements will now be described and illustrated in more detail with reference to the examples shown in the accompanying drawings, in which: Figure 1 A simplified schematic diagram of a vehicle and a mobile device according to one embodiment is shown; Figure 2 A simplified schematic diagram illustrating the method of operating the vehicle is shown; and Figure 3 A simplified diagram illustrating possible application scenarios related to this method is shown. Detailed Implementation

[0056] The following detailed description, taken in conjunction with the accompanying drawings, is intended to describe different embodiments of the disclosed subject matter and does not represent the only embodiments, in which the same reference numerals relate to the same elements. Each embodiment described in this disclosure is used as an example or illustration only and should not be construed as being more preferred or advantageous than other embodiments. The exemplary embodiments contained herein are not exhaustive and do not limit the claimed subject matter to the precise forms disclosed. Various modifications of the described embodiments will readily occur to those skilled in the art, and the general principles defined herein can be applied to other embodiments and applications without departing from the spirit and scope of the described embodiments. Therefore, the described embodiments are not limited to the forms shown but have the maximum possible scope of application compatible with the principles and features disclosed herein.

[0057] All features disclosed below with respect to exemplary embodiments and / or drawings may be combined individually or in any desired sub-combination with features of various aspects of this disclosure (including features of preferred embodiments), provided that the resulting combination of features is meaningful to those skilled in the art.

[0058] For the purposes of this disclosure, the phrase "at least one of A, B, and C" means, for example, (A), (B), (C), (A and B), (A and C), (B and C), or (A, B, and C), including all further possible combinations when more than three elements are listed. In other words, the expression "at least one of A and B" generally means "A and / or B," i.e., "A" alone, "B" alone, or "A and B."

[0059] Figure 1 A simplified schematic diagram of a vehicle 10 and a mobile device 20 according to one embodiment is shown, the mobile device 20 being used by a user 22 of the vehicle 10. Figure 2 Method 50 and other activities are shown.

[0060] The vehicle 10 includes a control device 12, which has at least a data processing device 14. The control device 12 is connected to a communication device 16 and at least one sensor device 18. The communication device 16 may also be located inside the control device 12.

[0061] Against this backdrop Figure 2 A simplified schematic diagram of a method 50 for operating vehicle 10 according to one embodiment is shown. Optional steps are shown in dashed lines.

[0062] In optional step S1, user identification is performed between user 22 in vehicle 10 and control device 12 based on bidirectional communication between communication device 16 and user's mobile device 20. Alternatively or supplementarily, sensor measurements acquired by sensor device 18 can also be used for user identification. For example, when using camera-based technology, sensor device 18 can record an image of user 22, which can then be used to repeatedly identify the user later. This avoids redundant user identification. Through user identification, communication signals, i.e., communication signals from mobile device 20, are communicated to control device 12, and user 22 can be identified again based on these signals. For user identification, user 22 can be located inside or outside vehicle 10.

[0063] In step S2, environmental data about the environment of the vehicle 10 is acquired by sensor device 18. This means that sensor device 18 is used to acquire sensor measurements about the environment of the vehicle 10. In this case, sensor device 18 is used to acquire sensor measurements based on LiDAR. Other sensor technologies are also conceivable, such as camera-based devices or radar.

[0064] In step S3, at least one communication signal transmitted by the mobile device 20 of the user 22 of the vehicle 10 is received by the communication device 16 of the vehicle 10. The user 22 does not need to be located inside the vehicle, but can also be located outside the vehicle 10. The communication signal received by the communication device 16 is transmitted to the control device 12. In this case, the communication device 16 is used to receive communication signals based on Bluetooth. Of course, other wireless transmission technologies are also conceivable, such as WLAN or mobile communication standards.

[0065] In the next step S4, the control device 12 determines the object 24 in the environment of the vehicle 10 based on the received sensor measurements (i.e., the acquired environmental data). This means that the object 24 is determined based on the environmental data acquired by the sensor device 18. Here, the control device 12 is used to determine the object position 26 of the object 24 at a specific time. Furthermore, the sensor device 18 detects the object 24 within a detection interval. This means that the sensor device 18 is able to acquire, for example, multiple sensor measurements about the object 24 within the detection interval. Based on the multiple sensor measurements, the control device 12 can be used to determine the actual object trajectory 28 traveled by the object 24 within the detection interval, that is, the movement of the object 24 that is clearly (due to the acquired sensor measurements) within the detection interval, including speed and direction.

[0066] Object 24 can be, for example, other road users, such as cyclists or pedestrians. However, object 24 can also be a rigid object, such as a boundary, road lighting, stationary vehicles, etc.

[0067] although Figure 1Only a single object 24 is shown in the diagram, but in step S4, the control device 12 can also determine the object position 26 and / or object trajectory 28 of multiple different objects 24 in the environment of the vehicle 10 based on the received sensor measurements.

[0068] In step S5, even if user 22 is outside the vehicle, control device 12 determines user position 30 of user 22 based on communication signals received from mobile device 20. Similarly, a detection interval can be used for user 22, during which migration device 16 receives multiple communication signals from mobile device 20. Using these multiple communication signals, control device 12 can determine the actual user trajectory 32 traveled by user 22 within the detection interval. Alternatively, the user trajectory 32 can be indicated in the transmitted communication signals.

[0069] In the next step S6, the control device 12 determines at least one expected distance change 34 between at least one object location 26 and / or object trajectory 28 and user location 30 and / or user trajectory 32.

[0070] To improve the accuracy of determining the expected distance change 34, the control device 12 can also determine the expected object trajectory 36 of the object 24. For example, the expected object trajectory 36 can be interpolated by the control device 12 based on the actual object trajectory 28 traveled within the detection interval. Similarly, the control device 12 can determine the expected user trajectory 38 of the user 22, for example, based on the interpolation of the actual user trajectory 32 traveled within the detection interval. This allows the expected distance change 34 to be determined by considering the hypothetical future movements of the object 24 and the user 22, thereby improving prediction accuracy.

[0071] In step S6, the expected distance change 34 is determined for all detected objects 24 in the environment of vehicle 10.

[0072] In the next step S7 of method 50, when at least one anticipated distance change 34 causes the distance between at least one object 24 and user 22 to fall below a threshold, control device 12 triggers the output of at least one alarm signal. In other words, the threshold is used as a reference value from which a collision between user 22 and object 24 is highly likely. In this respect, if the distance is below the threshold, control device 12 takes measures to prevent such a collision where possible. Therefore, the alarm signal is adjusted to alert user 22 and / or object 24 to the potential collision.

[0073] The output of the alarm signal triggered in step S7 can be configured in different ways. For example, according to optional step S8, the alarm signal can be implemented through communication between communication device 16 and mobile device 20, and then through the output device of mobile device 20. Therefore, user 22 can receive notifications on his mobile device 20. Alternatively or additionally, for the alarm signal, mobile device 20 may also output audio signals, visual signals, and / or tactile signals to user 22.

[0074] Alternatively or additionally, an alarm signal may be output through the output device 40 of the vehicle 10 according to step S8. Figure 1 In one embodiment, the output device 40 of the vehicle 10 is a speaker. However, alternatively or additionally, the output device 40 may also include a display device or a lamp, thereby enabling the output of visual signals.

[0075] Method 50 can be extended with additional optional steps. For example, the threshold used in step S7 can be predefined according to step S9. This results in a very low evaluation cost for the control device 12.

[0076] However, in another case, the threshold can also be variable and then adjusted according to the specific circumstances.

[0077] For example, according to optional step S10, the threshold may also depend at least on the pedestrian walkway 42 that is theoretically to be considered around user 22, and in particular on the size of the pedestrian walkway. Pedestrian walkway 42 represents the area centered on user 22 and where possible, to prevent overlap with object 24. The size of pedestrian walkway 42 may be predefined or variable. For example, the size of pedestrian walkway 42 may depend on the speed of user 22, which may be determined by control device 12 based on received communication signals from mobile device 20.

[0078] Alternatively or additionally, according to optional step S11, the threshold may depend on the user speed of user 22 and / or the object speed of object 24. As already explained, the user speed of user 22 may be determined by control device 12 based on communication signals received from the mobile device 20 of user 22. The object speed of object 24 may be determined by control device 12 in a corresponding manner based on sensor measurements of object 24 acquired by sensor device 18. This opens up the possibility of providing a higher threshold, particularly when the relative speed between user 22 and object 24 is high, thus taking into account a larger tolerance range. In contrast, when the relative speed is low, a lower threshold can be provided, thereby improving the prediction accuracy of possible collisions between user 22 and object 24 by reducing the prediction variance.

[0079] According to optional step S12, the alarm signal triggered in step S7 of method 50 may also include behavioral information. For example, the audio or visual signal may include corresponding instructions to user 22 and / or object 24, said instructions being adapted to prevent collision between user 22 and object 24. Behavioral information may include, for example, adjusting the direction or speed of movement, such as a stop prompt, etc. Behavioral information may also include instructions to perform or not perform a specific task, such as instructions to keep a specific door of vehicle 10 closed or to open a specific door only from the outside. Behavioral information may be in the form of voice commands and / or text output.

[0080] Method 50 can also be extended by an optional step S13, in which the control device 12 additionally triggers a disable signal during the triggering of the alarm signal. The disable signal can be used to perform specific functions of the vehicle 10. For example, the disable signal can be output by the control device 12 to a vehicle control device, which then locks specific doors of the vehicle 10 so that they cannot be opened from the interior of the vehicle 10, at least temporarily.

[0081] According to optional step S14, the alarm signal may also include user location information. For example, if the alarm signal is an audio signal, it may indicate that user 22 is in a specific location or is moving in a specific direction. If it is a visual signal, the user location information may be provided by, for example, frequency modulation and / or amplitude modulation (e.g., flashing). This can indicate the location of object 24 at user 22's location.

[0082] Against this backdrop Figure 3 An exemplary application scenario of method 50 is shown.

[0083] Figure 3 The following application scenario 52 is shown: User 22 has delivered a package and is now returning to his vehicle 10 to pick up his next package. When User 22 returns to vehicle 10, he is usually busy entering the required information into the management system or looking for his next delivery information, while he crosses the bike path with an approaching bicycle.

[0084] User 22's vehicle 10 is parked in lane 54. Adjacent to lane 54 is a bicycle lane 56, and object 24 (the cyclist) is approaching this lane. Adjacent to bicycle lane 56 is parking lane 58, where other objects 24A to 24C (parked vehicles) are parked. Adjacent to parking lane 58 is a sidewalk 60, from which a building access road 62 leads, along which user 22 is moving.

[0085] Even if other objects (such as stationary object 24B) are located between user 22 and object 24, control device 12 determines the expected distance change 34 between user 22 and object 24. This allows it to determine whether user 22 and object 24 will collide at meeting point 44. In this context, control device 12 considers a threshold, and according to this embodiment, also considers the expected object trajectory 36 and the expected user trajectory 38. If the expected distance change 34 falls below the threshold, control device 12 triggers an alarm signal to be output to user 22 and object 24.

[0086] It is particularly clear here that the alarm signal can be simultaneously output to user 22's mobile device 20 to immediately alert user 22 to the potential collision at merging point 44, and can also be used with the vehicle 10's own output devices to alert other objects 24 (e.g., road users) to the collision. For example, the vehicle 10's speakers, turn indicators, or lighting elements can be used to alert object 24 traveling on bike lane 56 to the collision. The alarm signal can then also include relevant behavioral information, such as signaling to cyclists that a collision can be prevented by changing route or speed.

[0087] In this case, for example, the control device 12 can trigger a disabling signal based on specific traffic conditions, such as to prevent the user 22 from opening the door from inside the vehicle 10, thereby creating an obstacle for the approaching object 24.

[0088] All embodiments of method 50 can increase the probability of preventing object 24 from colliding with user 22.

[0089] The specific embodiments disclosed herein use circuits (e.g., one or more circuits) to implement the standards, protocols, methods, or technologies disclosed herein, functionally connecting two or more components to generate information, process information, analyze information, generate signals, encode / decode signals, convert signals, send and / or receive signals, control other devices, etc. Any type of circuit can be used.

[0090] In one embodiment, circuitry such as a control device includes one or more data processing devices, such as a processor (e.g., a microprocessor), a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a system-on-a-chip (SoC), or any desired combination thereof, and may include discrete digital or analog circuit elements or electronic devices or combinations thereof. In one embodiment, the circuitry includes a hardware circuitry implementation (e.g., an implementation in analog circuitry, an implementation in digital circuitry, or a combination thereof).

[0091] In one embodiment, the circuitry includes a combination of circuitry and computer program products with software or firmware commands stored on one or more computer-readable storage devices and working together to cause a device to perform one or more of the protocols, methods, or techniques described herein. In one embodiment, the circuitry technology includes circuitry that requires software, firmware, etc., to operate, such as a microprocessor or components of a microprocessor. In one embodiment, the circuitry includes one or more processors or components thereof, along with associated software, firmware, hardware, etc.

[0092] Quantities and figures are referenced in this disclosure. Unless explicitly stated otherwise, these quantities and figures should not be considered as limitations, but rather as examples of possible quantities or figures in relation to this disclosure. In this regard, the term "multiple" may also be used in this disclosure to refer to quantities or figures. In this respect, the term "multiple" means any number greater than one, such as two, three, four, five, etc. The terms "approximately," "about," "close to," etc., indicate plus or minus 5% of the stated value.

[0093] Although the invention has been shown and described in conjunction with one or more embodiments, those skilled in the art will be able to make equivalent changes and modifications after reading and understanding this specification and the accompanying drawings.

Claims

1. A method (50) for operating a vehicle (10), said vehicle (10) having at least a control device (12), a communication device (16), and a sensor device (18), said method (50) comprising at least the following steps: The sensor device (18) acquires environmental data of the vehicle (10) environment. At least one communication signal is received via the communication device (16) from the mobile device (20) of a user located outside the vehicle (10). Based on the acquired environmental data, the control device (12) determines at least one object position (26) and / or at least one object trajectory (28) of at least one object (24) located in the environment of the vehicle (10). The control device (12) determines the user location (30) and / or user trajectory (32) of the user (22) in the vehicle (10) based on the received communication signals, wherein the user is located outside the vehicle (10). The control device (12) determines at least one expected distance change (34) between the at least one object location (26) and / or object trajectory (28) and the user location (30) and / or the user trajectory (32). When the at least one expected distance change (34) causes the distance between at least one object (24) and the user (22) to fall below a threshold, the output of an alarm signal is triggered by the control device (12).

2. The method (50) according to claim 1, characterized in that, The control device (12) determines multiple object positions (26) and / or object trajectories (28) of multiple objects (24) in the environment of the vehicle (10) based on the acquired environmental data, and determines the expected distance change (34) for each object (24).

3. The method (50) according to claim 1 or 2, characterized in that, The alarm signal is transmitted via the communication device (16) to the mobile device (20) of the user (22), the mobile device (20) of the object (24), and / or to other vehicles (10), and / or the alarm signal is output via the output device (40) of the vehicle (10).

4. The method (50) according to claim 3, characterized in that, The output device (40) includes lighting equipment and / or speakers.

5. The method (50) according to any one of the preceding claims, characterized in that, The threshold is variable.

6. The method (50) according to any one of the preceding claims, characterized in that, The control device (12) determines the object speed of the at least one object (24) and / or the user speed of the user (22), and the threshold also depends on the object speed and / or the user speed.

7. The method (50) according to any one of the preceding claims, characterized in that, The threshold also depends at least on the size of the hypothetical passageway (42) centered on the user (22).

8. The method (50) according to any one of the preceding claims, characterized in that, The expected distance change (34) is also determined for objects (24) that meet the following condition: there is at least one other object (24) between the corresponding object (25) and the user (22).

9. The method (50) according to any one of the preceding claims, characterized in that, The alarm signal includes behavioral information.

10. The method (50) according to any one of the preceding claims, characterized in that, The control device (12) additionally triggers at least one disable signal for vehicle components based on the alarm signal.

11. The method (50) according to any one of the preceding claims, characterized in that, The alarm signal includes the user location information of the user (22) of the vehicle (10), the user being located outside the vehicle (10).

12. The method (50) according to any one of the preceding claims, characterized in that, At the start of the method (50), user identification of the user (22) of the vehicle (10) is performed at least based on the bidirectional communication link between the communication device (16) and the mobile device (20) of the user (22) and / or based on the sensor data of the sensor device (18) of the vehicle (10).

13. A vehicle (10) having at least a control device (12), a communication device (16), and a sensor device (18), wherein the sensor device (18) is configured to acquire environmental data of the environment of the vehicle (10), the communication device (16) is configured to receive at least one communication signal from a mobile device (20) of a user (22) of the vehicle (10), the user being located outside the vehicle (10), and the control device (12) is configured to: Based on the acquired environmental data, determine at least one object location (26) and / or at least one object trajectory (28) of at least one object (24) in the environment of the vehicle (10). Based on the received communication signals, the user location (30) and / or user trajectory (32) of the user (22) in the vehicle (10) are determined, wherein the user is located outside the vehicle (10). Determine at least one expected distance change (34) between the at least one object location (26) and / or object trajectory (28) and the user location (30) and / or the user trajectory (32), and When the at least one expected distance change (34) causes the distance between at least one object (24) and the user (22) to fall below a threshold, an alarm signal is triggered.

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