Method for operating warning system for vehicle exiting parking space, computing device, computer-readable storage medium, warning system, and vehicle

Abstract

A method for operating a warning system for a vehicle exiting a parking space as a function of surroundings information of an adjacent vehicle includes receiving surroundings data from a sensor of the exiting vehicle, the surroundings data describing a surroundings of the exiting vehicle. The method further includes determining an invisible area in the surroundings from the surroundings data, wherein the invisible area cannot be described by the surroundings data due to the neighboring vehicle. The method also includes receiving ambient information provided by an adjacent vehicle and describing at least one approaching object located in at least a portion of the invisible area. Finally, the method comprises outputting a warning signal as a function of the surroundings information, the warning signal being used to warn a user of the driving-out vehicle and / or to warn a driving assistance system of the driving-out vehicle.

Description

TECHNICAL FIELD

[0001] The present invention relates to a method for operating a warning system for a vehicle exiting a parking space in accordance with surrounding information of a neighboring vehicle. Furthermore, the present invention relates to a computing device for a vehicle exiting, a computer-readable storage medium, a warning system and a vehicle. BACKGROUND

[0002] Today, modern vehicles are equipped with numerous driving assistance systems. For example, partially automated parking systems have been known for a long time. For example, modern vehicles can autonomously park after driving over a parking space. Depending on their functional characteristics, such driving assistance systems can navigate a vehicle laterally and / or longitudinally.

[0003] Furthermore, there are many systems that can warn a vehicle user of a potential collision risk and / or intervene in the longitudinal navigation of a vehicle during a braking intervention. For example, a cross-traffic warning system is a known system that can warn a vehicle user of approaching objects when the vehicle is exiting a parking space perpendicular to the road. The cross-traffic warning system is intended to support the vehicle user, especially when the vehicle user has a limited view of the vehicle's surroundings, road traffic or approaching objects. However, this only works if the sensors used by the assistance system can better observe the surroundings, road traffic or approaching objects.

[0004] In order to detect the vehicle's surroundings, such driving assistance systems or warning systems use various vehicle sensors. Ultrasonic and / or radar sensors can be used for this purpose. In general, ultrasonic sensors are particularly suitable for short-range detection, while radar sensors are more suitable for long-range detection.

[0005] Document DE 102011 013 486 A1 describes a vehicle driving assistance system that contains at least one sensor for detecting objects in a rear and / or lateral monitoring area. After detecting an object, the driving assistance system calculates a collision probability. When the calculated collision probability exceeds a threshold value, the driving assistance system triggers a braking operation.

[0006] Furthermore, communication systems are known that allow data exchange between vehicles and / or infrastructure elements. Such systems are often referred to as V2V ("vehicle-to-vehicle") or V2X ("vehicle-to-X"). These communication systems or methods can also be used to exchange sensor data or environmental data. This method is particularly advantageous when a vehicle's sensors cannot detect a certain area of the surroundings.

[0007] Document DE 102018 107 569 A1 describes a method for reducing potential hazards in road traffic caused by limited visibility, the method comprising the steps of: capturing sensor data from a sensor environment of a first vehicle using sensors of a first mobile device, wherein the first mobile device is mounted on the first vehicle; providing the sensor data from the sensor environment of the first vehicle to the second mobile device if the first vehicle is in a communication environment of a second mobile device, wherein the second mobile device is mounted on the second vehicle; and / or providing the sensor data from the sensor environment of the first vehicle to the third vehicle if the first vehicle is in a communication environment of a third vehicle.

[0008] Document DE 102020 112 270 A1 discloses a method for locating a second vehicle with V2X capability from a first vehicle with V2X capability, wherein the first vehicle sends a request to the second vehicle via a V2X communication connection, the first vehicle receives and evaluates sensor data from at least one sensor of the second vehicle via a V2X communication connection, the first vehicle performs at least one action, and the second vehicle is located relative to the first vehicle when at least one action of the first vehicle is detected based on the received sensor data from at least one sensor of the second vehicle. Summary of the Invention

[0009] The purpose of this invention is to provide a solution for improving a driver assistance system that can assist the vehicle user when exiting a parking space.

[0010] This objective is achieved through the subject matter of the independent claims. Advantageous extensions of the invention are given in the dependent claims.

[0011] The term "autonomous driving" should be understood within the scope of this document as driving with automatic longitudinal and / or lateral guidance. Automated driving can include, for example, extended driving on highways or time-limited driving within a parked area. The term "autonomous driving" includes automated driving with any degree of automation. Exemplary levels of automation include Driver Assistance, Partial Automation, Conditional Automation, High Automation, and Full Automation (with progressively higher levels of automation). These five levels of automation correspond to SAE Levels 1 through 5 according to the SAE J3016 standard (SAE - Society of Automotive Engineers) as of April 30, 2021. Under Driver Assistance (SAE Level 1), the system performs longitudinal or lateral guidance based on a determined driving condition. In Partial Automation (SAE Level 2), the system takes over longitudinal and lateral guidance based on a determined driving condition, where the driver must continuously monitor the system as in Driver Assistance. In Conditional Automation (SAE Level 3), the system takes over longitudinal and lateral guidance based on a determined driving condition without requiring continuous driver monitoring; however, the driver must be able to take over vehicle guidance for a specified period after a system request. In highly automated driving (SAE Level 4), the system takes over vehicle guidance under defined driving conditions, even if the driver does not respond to requests for intervention, thus eliminating the need for a driver as a backup. In fully automated driving (SAE Level 5), the system can perform all aspects of dynamic driving tasks that are also under the control of a human driver in every road and environmental condition.

[0012] Furthermore, the term "at least partially automated or maneuverable" should be understood within the scope of this document as partially automated, conditionally automated, highly automated, or fully automated. In other words, "at least partially automated" should be understood as an automation level from SAE Level 2 onwards.

[0013] One aspect of a method for operating a warning system for a vehicle exiting a parking space based on ambient information of adjacent vehicles includes: receiving ambient data from sensors of the exiting vehicle, wherein the ambient data describes the surrounding environment of the exiting vehicle. The method further includes: determining, based on the ambient data, an invisible area in the ambient environment, wherein the invisible area is not described by the ambient data due to adjacent vehicles. The method further includes: receiving ambient information, the ambient data being provided by adjacent vehicles and describing at least one approaching object in at least a portion of the invisible area. Finally, the method includes: outputting a warning signal based on the ambient information, wherein the warning signal is used to warn a user of the exiting vehicle and / or a driver assistance system of the exiting vehicle.

[0014] This method can be executed, for example, by means of a computing device. The computing device can be designed, for example, as at least one electronic controller exiting a vehicle, comprising one or more programmable processors. Furthermore, the computing device can have a computer-readable storage medium on which a computer program is stored. To perform the corresponding method steps, such as determining invisible areas in the surrounding environment, the computer program can be executed on the computing device.

[0015] Therefore, the method for operating a warning system for vehicles exiting a parking space assists either the user of the exiting vehicle or the driver assistance system of the exiting vehicle. In particular, this method assists when the exiting vehicle is in a parking space and its field of vision is limited not only by the sensors of the exiting vehicle but also by the user of the exiting vehicle from adjacent vehicles. By means of the method for operating the warning system, lateral traffic warning and / or driver assistance systems for at least partially automated exiting can be extended to situations where the sensors of the exiting vehicle or the user of the exiting vehicle have poor or no vision of the surrounding environment. This method can be used even if the sensors of the exiting vehicle are defective, provide erroneous sensor data, and / or lack corresponding sensors for detecting invisible areas.

[0016] To this end, ambient environmental data is first received from sensors that have exited the vehicle. These sensors can also be multiple sensors. In particular, ultrasonic sensors, radar sensors, lidar sensors, and / or cameras can be used for this purpose. Regardless of the context, the ambient environmental data can be raw data, point clouds, placeholder maps, object lists, etc. Optionally, a so-called environmental model can be created based on the ambient environmental data.

[0017] Subsequently, invisible areas in the surrounding environment of the vehicle can be determined using near-surrounding environment data. These invisible areas may be characterized by being undesirable from surrounding environment data due to adjacent vehicles. However, it is also possible that invisible areas cannot be described by surrounding environment data due to defective and / or absent sensors, malfunctioning sensors, etc.

[0018] To further enable the output of warning signals for users and / or driver assistance systems that warn vehicles exiting the vehicle, ambient information provided by neighboring vehicles can be received. This ambient information can describe at least one approaching object in at least a portion of an invisible area. Here, the ambient information can also exist in the form of raw data, point clouds, placeholder maps, object lists, etc. Approaching objects can be, for example, bicycles, pedestrians, vehicles, etc. The approaching object may move towards the exiting vehicle's path and may collide with it without appropriate intervention. Therefore, a collision probability can be determined. If the collision probability exceeds a threshold, a warning signal can be output accordingly.

[0019] In addition, warning signals can also be descriptions of one or more approaching objects, which can be used to project the corresponding information onto rearview mirrors, head-up displays, screens, etc. Thus, the user exiting the vehicle is warned about approaching objects in the surrounding environment.

[0020] Surrounding environment information and data can be fused together. This sensor fusion can at least narrow down the invisible areas in the environment surrounding the vehicle. Optionally, the invisible areas can be extended to the direction of (higher-level) objects. In other words, surrounding environment data and information do not necessarily need to exist in the same data format.

[0021] Information about the surrounding environment can be provided here by neighboring vehicles, since the invisible areas in the surrounding environment of the exiting vehicle cannot be described by surrounding environment data. In other words, the neighboring vehicle can therefore provide data and thus assist the exiting vehicle, its user, or its driver assistance system. Another important aspect is the establishment of a communication channel between the neighboring vehicle and the exiting vehicle, which will be described in more detail later.

[0022] Adjacent vehicles do not necessarily have to be adjacent vehicles. In other words, adjacent vehicles can also be adjacent to adjacent vehicles. Correspondingly, further cascading is also possible. It can be particularly advantageous for adjacent vehicles and exiting vehicles to be oriented in a similar manner. In this particular case, the same sensors of the adjacent vehicles or their data can be used. If, for example, invisible areas of the surrounding environment cannot be described by means of a right rear short-range radar, then data from the right rear short-range radar of the adjacent vehicle can be used directly if necessary.

[0023] Here, outputting a wake-up signal, which describes the directional effect of the wake-up signal and is used to wake up neighboring vehicles to establish communication with them, can be advantageous. When exiting a parking space, neighboring vehicles are typically locked and therefore in standby mode. Typically, neighboring vehicles have not previously monitored their surroundings. In other words, it may be necessary to request surrounding environment information from neighboring vehicles, and then the neighboring vehicles begin to detect their surroundings and thus provide that information.

[0024] To avoid unnecessarily requesting environmental information from every vehicle in the surrounding environment after the vehicle has left, it can be advantageous to output the wake-up signal only in a defined direction. Modern vehicles now typically have more than one ultrasonic sensor arranged around the vehicle. The wake-up signal itself can now describe its directional effect. Based on the directional effect, the ultrasonic sensor emitting the wake-up signal can now be predefined, thereby achieving the directional effect of the wake-up signal.

[0025] Similarly, more complex scenarios can be envisioned. For example, directional effects could be achieved using digital beamforming. Furthermore, it's possible to use radar or lidar sensors instead of ultrasonic sensors. The wake-up signal could also be output via headlights, optionally designed as matrix headlights.

[0026] Since the corresponding sensors in adjacent vehicles must continuously "listen" or wait to receive a wake-up signal when necessary, it can be advantageous to use sensor technology capable of operating efficiently to output / receive wake-up signals. The output of a wake-up signal can be analogous to sending a Ping. When sending a Ping, an echo request packet is sent to the host's target address. The host must then return an echo response (pong). This allows verification of the host's availability.

[0027] Since the target addresses of neighboring vehicles are typically unknown, a wake-up signal can be sent in a predetermined direction, determined by the directional effect of the wake-up signal. The neighboring vehicle can then send a response signal, similar to a pong echo. For example, this response signal can inform the departing vehicle of the neighboring vehicle's target address for WLAN communication.

[0028] In other words, a wake-up signal can be used to "wake up" neighboring vehicles in order to establish a communication channel for exchanging information about the surrounding environment. Additionally, the wake-up signal and optional response signals can be used to exchange target addresses, encrypted parameters, etc., between the departing vehicle and its neighbors.

[0029] Furthermore, it can be advantageous to output a request signal describing a request for information about the surrounding environment from neighboring vehicles. For example, a wake-up signal can be used to "wake up" neighboring vehicles. However, it is not necessarily the following information that the outgoing vehicle uses to request surrounding environment information from neighboring vehicles. In other words, the outgoing vehicle must inform the neighboring vehicle what information it needs. To do this, the outgoing vehicle determines the invisible areas of the surrounding environment. Now, the outgoing vehicle can request surrounding environment information about the invisible areas of the surrounding environment from neighboring vehicles using a request signal.

[0030] The request signal can describe the invisible area of ​​the surrounding environment of the vehicle itself. However, the request signal can also query data from the determining sensors of adjacent vehicles. Therefore, it may be advantageous for the request signal to describe at least one desired sensor of an adjacent vehicle, by means of which the adjacent vehicle can describe at least one approaching object in at least a portion of the invisible area. Here, it may be advantageous for the departing vehicle to determine the orientation of the adjacent vehicles. If the departing vehicle cannot describe the invisible area of ​​the surrounding environment using surrounding environment data due to the adjacent vehicle obstructing its right rear short-range radar, the request signal can be used as at least one desired sensor to describe the right rear short-range radar sensor of the adjacent vehicle. However, typically, the adjacent vehicles do not need to be oriented in the same way as the departing vehicle.

[0031] An initial check to determine if a vehicle has exited a parking space can also be advantageous. This initial check can be used to begin the method. In other words, if the initial check determines that a vehicle has exited a parking space, a method for operating a warning system for vehicles exiting a parking space can be initiated. For example, high-precision GPS data can be used to determine whether the exiting vehicle is within the parking lot or a parking space.

[0032] Alternatively, the spatial position of the exiting vehicle can be determined using, for example, a SLAM (Simultaneous Localization and Mapping) algorithm. This spatial position can then be used to determine the exit status. Another method for determining the exit status is through input from the user exiting the vehicle. For example, the user can optionally pre-indicate the existence of an exit status by pressing a button. Similarly, parking status can be identified based on adjacent vehicles.

[0033] Using historical data describing the end of a previous journey of a departing vehicle to perform an initial check of the parking status can be particularly advantageous. If the departing vehicle parked during a previous journey, for example, with the aid of a parking assist device, this information can be stored and subsequently used to identify the departure status. In other words, historical data can describe the driving maneuvers of the previous journey and / or the use of assistance functions or systems of the departing vehicle. For example, historical data can be stored on a computer-readable storage medium.

[0034] In another configuration of the invention, it is advantageous that the previous departure of the vehicle is completed at least partially automatically. To improve the automation of vehicle departure, or to enable users of the departing vehicle to achieve at least partially automatic departure in addition to at least partially automatic parking, it can be helpful to store relevant historical data of previously performed at least partially automatic parking maneuvers. Similar applications have been derived for so-called property parking systems, remote parking systems (remote parking), etc.

[0035] The term "property parking assist" here refers to a parking and motor assistance system with learning and operating modes. In learning mode, a trajectory is stored in a first driving zone, such as the trajectory of a vehicle user passing through a property entrance. This stored trajectory can then be at least partially automatically retraced in a second driving zone. In particular, lateral guidance of the vehicle is typically taken over by the assist system. Additionally or alternatively, the trajectory stored in the first driving zone can also be at least partially automatically driven away in the opposite direction.

[0036] In other words, a parking situation may also exist when property parking machines, remote parking systems, etc., are activated. An initial check of the exit situation can also be achieved by recognizing the activation of parking and motor assistance systems. As mentioned above, if the current position of the exiting vehicle was achieved during previous driving by at least partially automatic maneuvering performed by the exiting vehicle using parking and motor assistance systems, remote parking systems, etc., an initial check of the exit situation can also be achieved based on historical data.

[0037] A computing device for exiting a vehicle is configured to execute a method and extension thereof for operating a warning system for a vehicle exiting a parking space based on ambient information of adjacent vehicles. The computing device may, for example, be designed as an electronic controller including one or more programmable processors.

[0038] A computer-readable storage medium includes instructions that, when executed by a computing device, cause the computing device to perform a method and extension thereof for operating a warning system for vehicles exiting a parking space based on ambient information of adjacent vehicles.

[0039] A warning system for a vehicle exiting a parking space includes a computing device configured to execute a method and extension thereof for operating the warning system based on ambient information of adjacent vehicles. Furthermore, the warning system includes a communication device configured to receive ambient information from adjacent vehicles and forward it to the computing device, and also configured to receive a wake-up signal from the computing device and send it to the adjacent vehicles. Finally, the warning system includes a warning device configured to receive a warning signal from the computing device and subsequently output the warning to the user of the exiting vehicle.

[0040] Another aspect of the invention relates to a vehicle, particularly a passenger car, including the warning system described above.

[0041] Another aspect of the invention relates to a communication method for a departing vehicle to receive ambient information from neighboring vehicles. The method includes transmitting a wake-up signal via a primary communication technology, wherein the wake-up signal is transmitted by the departing vehicle substantially toward the neighboring vehicle. Furthermore, the communication method includes receiving a response signal via the primary communication technology, wherein the response signal is transmitted by the neighboring vehicle substantially toward the departing vehicle, and the response signal describes secondary communication parameters of the neighboring vehicle. Additionally, the communication method includes establishing a communication channel using the secondary communication parameters via a secondary communication technology, through which ambient information from neighboring vehicles can be received.

[0042] Typically, adjacent vehicles can be considered to be in standby mode and therefore must continuously "listen" or wait to receive a wake-up signal. In this context, using energy-efficient communication technologies to send the wake-up signal can be advantageous. For example, ultrasound can be used as the primary communication technology.

[0043] However, ultrasound is not always suitable for transmitting information about the surrounding environment of adjacent vehicles to outgoing vehicles. Therefore, a primary communication technology is used to "push" adjacent vehicles. Subsequently, the primary communication technology can be used to exchange necessary communication parameters, such as network addresses, which may be a more suitable communication technology.

[0044] In other words, communication parameters can be exchanged by sending wake-up signals and receiving reply signals. Communication using the master communication technology can be directed towards the corresponding vehicle. This can be achieved, as previously mentioned, using digital beamforming or addressing a single sensor. Therefore, other road users will not be aware of the communication, nor will they be "wake up" and / or interfered with by communication between adjacent vehicles and exiting vehicles.

[0045] Secondary communication parameters are transmitted using primary communication techniques or via response signals. For example, a secondary communication parameter could be the network address of a neighboring vehicle. Using the network address of the neighboring vehicle, the departing vehicle can locate the neighboring vehicle using secondary communication techniques. This establishes a communication channel between the neighboring vehicle and the departing vehicle.

[0046] Additionally or alternatively, secondary communication parameters may also describe the key used for the encryption method. For example, secondary communication parameters may describe the public key used to encrypt communication between adjacent vehicles and departing vehicles within the scope of secondary communication technologies.

[0047] In this respect, it is advantageous that the wake-up signal describes the first-level communication parameters of the departing vehicle, and is encrypted using the first and second-level communication parameters of the communication channel. Fully encrypted communication between adjacent vehicles and the departing vehicle within the scope of secondary communication technology can only be achieved using the first-level communication parameters that describe the public key of the departing vehicle.

[0048] However, it is usually necessary that the second-level communication parameters describe the private key of the neighboring vehicle. When only the first-level communication parameters describe the private key of the departing vehicle, information about the surrounding environment of the neighboring vehicle can also be encrypted and transmitted to the departing vehicle. In addition to the implementation of the described public-key encryption method, the main communication technique can also be used for so-called Diffie-Hellman key exchange.

[0049] In an additional or alternative implementation, the secondary communication parameters describe the identification number of the neighboring vehicle. For example, this identification number could be a network address in a WLAN. Using this network address, the departing vehicle can "contact" the neighboring vehicle via WLAN or secondary communication technology and request necessary surrounding environment information. Alternatively, the departing vehicle can inform the neighboring vehicle of its own network address or (another) departing vehicle identification number, allowing the neighboring vehicle to send surrounding environment information to the departing vehicle using the (other) identification number.

[0050] As described above, in a further advantageous extension, ultrasound can be used as the primary communication technology, where the directional effect of the wake-up signal is achieved by selectively manipulating individual ultrasonic sensors exiting the vehicle and / or through digital beamforming. As has been described many times, ultrasound is particularly suitable for this purpose due to its energy efficiency.

[0051] Alternatively, electromagnetic radiation in the visible light frequency range of automotive lidar sensors or automotive radar sensors can be used as the primary communication technology. In other words, wake-up signals can be sent / received using light, lidar sensors, or radar sensors. In particular, headlights, interior lighting, light blankets, etc., of the vehicle leaving and / or adjacent vehicles can be used to emit / receive light. It is particularly advantageous here that the pulse frequency of the light is oriented towards or dependent on the sampling rate of the cameras or optical sensors of the adjacent or leaving vehicles. This makes it possible, provided the sampling rate is high enough, for the human eye to perceive little or no communication.

[0052] It is particularly advantageous here to use ambient information received via a communication channel to describe at least one approaching object in at least a portion of the invisible area of ​​the exiting vehicle, wherein the invisible area is not described by the ambient data detected by the exiting vehicle due to adjacent vehicles. This ensures that the ambient information actually helps in detecting the ambient environment by the exiting vehicle.

[0053] Another aspect of the invention relates to a cascaded communication method for adjacent vehicles, used to forward a wake-up signal from a departing vehicle. The cascaded communication method includes receiving the wake-up signal via a primary communication technology, wherein the wake-up signal is transmitted by the departing vehicle substantially toward the adjacent vehicle. Furthermore, the cascaded communication method includes sending a response signal via the primary communication technology, wherein the response signal is transmitted by the adjacent vehicle substantially toward the departing vehicle and describes secondary communication parameters of the adjacent vehicle. Additionally, the cascaded communication method includes establishing a communication channel using the secondary communication parameters via a secondary communication technology. The cascaded communication method also includes receiving a request signal, wherein the request signal is transmitted by the departing vehicle using the communication channel, and wherein the request signal describes a request for ambient information directed toward the adjacent vehicle. The cascaded communication method also includes checking the request, wherein it is checked whether the ambient information can be provided by the adjacent vehicle. Finally, the cascaded communication method includes forwarding the wake-up signal, wherein forwarding depends on the result of the request check, and the wake-up signal is forwarded substantially toward a pre-given direction by the departing vehicle.

[0054] A neighboring vehicle cascading communication method for forwarding wake-up signals from departing vehicles is used to forward request signals from departing vehicles. Forwarding request signals can be particularly advantageous if neighboring vehicles (as adjacent vehicles) cannot provide the surrounding environment information requested by the departing vehicle. This may be the case, for example, if the neighboring vehicle's view of an invisible area or part of an invisible area of ​​the departing vehicle's surroundings is obstructed by another adjacent vehicle of the neighboring vehicle.

[0055] In other words, the cascading communication method described above can be used to re-execute the communication method for a departing vehicle from the perspective of an adjacent vehicle. Therefore, the communication method is replicated using the cascading communication method. Adjacent vehicles are thus used as nodes in a communication chain or so-called proxy.

[0056] In the cascaded communication method, the wake-up signal is forwarded after receiving the wake-up signal, sending a reply signal, establishing a communication channel, receiving a request signal, and checking the request. For this purpose, the wake-up signal can be pre-buried if necessary. Therefore, the step of forwarding the wake-up signal can be analogous to transmitting a wake-up signal in the context of a communication method for a vehicle leaving a parking space. It is advantageous that all vehicles in the surrounding environment can perform the cascaded communication method. This allows the wake-up signal to be relayed or forwarded at any distance. Thus, information about the surrounding environment can be exchanged even with vehicles at greater distances. Therefore, the safety of the vehicle while leaving the parking space is improved.

[0057] Another aspect of the invention relates to a communication system for a vehicle leaving the vehicle, the communication system including a main transmitting device configured to directionally transmit a wake-up signal using a main communication technology. The communication system for the vehicle leaving the vehicle also includes a main receiving device configured to receive a response signal from a neighboring vehicle, wherein the response signal is transmitted using the main communication technology and describes secondary communication parameters of the neighboring vehicle. Finally, the communication system for the vehicle leaving the vehicle includes a secondary receiving device configured to receive ambient information from the neighboring vehicle using a communication channel established by the secondary communication parameters, wherein the ambient information is transmitted using the secondary communication technology.

[0058] Advantageously, the communication system for the departing vehicle may also include a secondary transmitting device. The secondary transmitting device can be used to send request signals describing a request for environmental information from neighboring vehicles, or to enable bidirectional communication between the secondary transmitting device and the departing vehicle. However, the secondary transmitting device typically does not necessarily perform the communication method for the departing vehicle. Nevertheless, the secondary transmitting device is necessary for advantageous extensions of this communication method.

[0059] Primary communication technologies could include, for example, Bluetooth and WLAN. Technologies supplemented by mobile wireless networks, such as LTE and 5G, are also conceivable.

[0060] Finally, another aspect of the invention relates to a cascaded communication system for adjacent vehicles, comprising a primary receiver configured to receive a wake-up signal from a departing vehicle, wherein the wake-up signal is transmitted using primary communication technology. Furthermore, the cascaded communication system includes a primary transmitter configured to directionally transmit a response signal using the primary receiver, wherein the response signal describes secondary communication parameters of the adjacent vehicle, and directionally forwards the wake-up signal using primary communication technology. Additionally, the cascaded communication system includes a secondary receiver configured to receive a request signal using a communication channel established by means of secondary communication parameters, wherein the request signal is transmitted by the departing vehicle using secondary communication technology, and wherein the request signal describes a request for ambient information directed to the adjacent vehicle. Finally, the cascaded communication system includes a second computing device configured to check whether ambient information can be provided by the adjacent vehicle.

[0061] If the check performed by the second computing device determines that the surrounding environment information cannot be provided by adjacent vehicles, the wake-up signal can be forwarded in a targeted manner using the main communication technology.

[0062] The cascaded communication system may also include a secondary transmitter configured to send ambient information from adjacent vehicles to departing vehicles via a communication channel established using secondary communication parameters. The ambient information can be transmitted using secondary communication technology. In other words, the cascaded communication system can be configured to forward a wake-up signal accordingly using primary communication technology if it cannot respond to a request for ambient information from a departing vehicle. However, if it can respond to a request for ambient information from a departing vehicle, the ambient information can be sent to the departing vehicle using the secondary transmitter.

[0063] The preferred embodiments and advantages described with reference to the method according to the invention are correspondingly applicable to the computing device according to the invention, the computer-readable storage medium according to the invention, and the auxiliary system according to the invention. Furthermore, the preferred embodiments and advantages described with reference to the method according to the invention are also applicable to the computer program according to the invention and the vehicle according to the invention.

[0064] Further features of the invention are derived from the claims, the drawings, and the description of the drawings. The features and combinations thereof mentioned above in the specification, and the features and combinations thereof mentioned in and / or shown individually in the drawings below, may be used not only in their respective specified combinations, but also in other combinations or individually, without departing from the scope of the invention.

[0065] It is important to note that features of an appendix to an independent patent claim, even if they do not contain any features of the independent patent claim, or are used only in combination with some features of the independent patent claim, can constitute a separate invention independent of all combinations of features of the independent patent claim. This separate invention can be the subject of an independent claim, a divisional application, or a subsequent application. The same applies to the technical teachings described in the specification, which can constitute an invention independent of the features of the independent patent claim. Attached Figure Description

[0066] The invention will now be described in more detail with reference to preferred embodiments and the accompanying drawings. The drawings show:

[0067] Figure 1 A schematic diagram of a vehicle exiting the road is shown, in which the surrounding environment data of the sensors of the vehicle exiting the road cannot be described due to the proximity of the object to the adjacent vehicle.

[0068] Figure 2 A schematic diagram showing a departing vehicle, including a communication system, and adjacent vehicles including cascaded communication systems;

[0069] Figure 3 Showing according to Figure 1 A diagram showing vehicles leaving the area, where adjacent vehicles can also detect approaching objects;

[0070] Figure 4 This diagram illustrates another traffic situation where approaching objects cannot be described by sensors on the surrounding environment of vehicles because adjacent vehicles cannot exit the vehicle. Detailed Implementation

[0072] In the accompanying drawings, the same or functionally identical elements use the same reference numerals.

[0073] Figure 1 A schematic diagram of a departing vehicle 1 is shown, where the approaching object 3, represented here by a cyclist, cannot be described by the surrounding environment data from the sensor 4 of the departing vehicle 1, as adjacent vehicles 2 are not readily available. The departing vehicle 1, moving along trajectory 13, includes sensor 4, which can describe the surrounding environment 5 of the departing vehicle 1 using ambient environmental data. Figure 1 The field of view 6 in the image shows a portion of the surrounding environment 5 as described by the surrounding environment data from sensor 4. With the aid of computing device 7, an invisible region 8 can be determined as part of the field of view 6 within the surrounding environment 5. The invisible region 8... Figure 1 It is shown in shaded area.

[0074] Near object 3 is located Figure 1 Within the invisible region 8. The invisible region 8 can be described by the adjacent vehicle 2 in the form of surrounding environment information using sensor 4'. Now, this surrounding environment information can be requested by the vehicle 1 that has driven out.

[0075] For this purpose, the departing vehicle 1 has a communication device 9. The communication device 9 is configured to receive ambient information from the adjacent vehicle 2 and forward it to the computing device 7. In addition, the communication device 9 is also configured to receive a wake-up signal 16 from the computing device 7 and transmit it to the adjacent vehicle 2.

[0076] The wake-up signal 16 can be transmitted in a specific direction. In other words, the wake-up signal can describe the directional effect of the wake-up signal 16 itself. The wake-up signal 16 can be used to wake up the adjacent vehicle 2 in order to initiate communication with the adjacent vehicle 2. The wake-up signal 16 can be compared to a ping request. The wake-up signal 16 can be used here to initiate communication between the adjacent vehicle 2 and the departing vehicle 1.

[0077] The surrounding environment information can then be evaluated by the computing device 7. Based on the surrounding environment information, the computing device 7 can output a warning signal. For example, the warning signal can be output to the warning device 10. The warning device 10 can be configured to warn the user exiting the vehicle 1 of an impending collision with the approaching object 3 using this warning signal. Alternatively or additionally, the warning signal can be output by the computing device 7 to the driver assistance system of the exiting vehicle 1. The computing device 7, the communication device 9, and the warning device 10 constitute a warning system 101 for exiting the vehicle 1. In other preferred embodiments, the warning system 101 may also include additional devices. Furthermore, the warning system 101 may also include a sensor 4 for exiting the vehicle 1.

[0078] Figure 2 A schematic diagram of a departing vehicle 1 is shown, including a communication system 11, and an adjacent vehicle 2 including a cascaded communication system 12. The communication system 11 of the departing vehicle 1 can be compared analogously to a communication device 9. However, it should be noted that the communication device 9 is not necessarily configured to receive reply signals or output request signals. The communication system 11 will be described in more detail below.

[0079] The communication system 11 for exiting vehicle 1 includes a main transmitter 14 configured to directionally transmit a wake-up signal 16 using main communication technology. Figure 2 In this embodiment, the main transmitter 14 is shown as a PDC sensor. The PDC sensor here acts not only as the main transmitter 14 but also as the main receiver 15 and is therefore shown in two colors in the figures. The directional effect of the directional wake-up signal 16 should be indicated by arrow 16'. This directional effect can be achieved here through digital beamforming, manipulation of a single PDC sensor, etc.

[0080] The main receiver of the communication system 11 of the vehicle 1 is configured to receive a reply signal 17 from the adjacent vehicle 2, wherein the reply signal 17 is transmitted via main communication technology (in... Figure 2 In this embodiment, ultrasonic waves are used to transmit and describe the secondary communication parameters of the adjacent vehicle 2. The secondary communication parameters of the adjacent vehicle 2 may, for example, describe the network address of the adjacent vehicle 2.

[0081] With the aid of the secondary receiving device 18, a communication channel for transmitting information about the surrounding environment of the neighboring vehicle 2 can be established using secondary communication parameters. Therefore, information about the surrounding environment of the neighboring vehicle 2 can be transmitted using secondary communication technology (e.g., WLAN). Using the secondary communication parameters, the departing vehicle 1 can "address" the neighboring vehicle 2 via WLAN. The neighboring vehicle 2 then also knows the network address of the departing vehicle 1 and can therefore transmit its surrounding environment information via WLAN. The secondary communication parameters can be encoded in the response signal 17.

[0082] existFigure 2 In one embodiment, the communication system 11 of the departing vehicle 1 further includes a first communication control device 19. The first communication control device 19 can be configured to control communication with the adjacent vehicle 2 via a main transmitter 14, a main receiver 15, and a secondary receiver 18. The first communication control device 19 can, for example, be an electronic controller of the departing vehicle 1. However, it is also possible to... Figure 2 In contrast to the illustrations of the embodiments in the figure, the first communication control device 19 is also designed as a distributed system of electronic controllers, which constitutes part of the main transmitting device 14, the main receiving device 15 and / or the secondary receiving device 18.

[0083] Therefore, the first communication control device 19 can, for example, transmit second-level communication parameters that can be encoded in the response signal 17 to the secondary receiving device 18. Thus, by using the second-level communication parameters, a communication channel for transmitting ambient information from the adjacent vehicle 2 to the departing vehicle 1 can be established by means of the secondary receiving device 18.

[0084] exist Figure 2 In the embodiment of the cascaded communication system 12 for adjacent vehicles 2 shown, a main receiver 15 is included, which is configured to receive a wake-up signal 16 from the departing vehicle 1. The wake-up signal 16 can be transmitted here using a main communication technology, such as ultrasound. Figure 2 In this embodiment, the main receiving device 15 is shown in the form of a PDC sensor. Therefore, the PDC sensor of the adjacent vehicle 2 acts not only as the main transmitting device 14 but also as the main receiving device 15, and is therefore again shown in two colors.

[0085] The main transmitter 14 of the cascaded communication system 12 is configured to transmit a response signal 17 directionally using a main communication technology, such as ultrasound. The directional effect of the directionally transmitted response signal 17 is indicated by arrow 17'. The directional effect can be achieved through digital beamforming, controlling a single PDC sensor, or other methods.

[0086] Response signal 17 describes the secondary communication parameters of the neighboring vehicle 2. As previously mentioned, the secondary communication parameters may be, for example, the network address of the neighboring vehicle 2 and / or encryption parameters, such as the public key of the neighboring vehicle 2, used for asymmetric encryption of communication using secondary communication techniques.

[0087] The cascaded communication system 12 of the adjacent vehicle 2 also includes a second communication control device 20. The second communication control device 20 can be configured, similar to the first communication control device 19 of the communication system 11 of the departing vehicle, to control communication with the departing vehicle 1 via a main transmitter 14, a main receiver 15, and a secondary receiver 18. The second communication control device 20 can similarly be an electronic controller of the adjacent vehicle 1. Alternatively, it can be... Figure 2In contrast to the exemplary embodiment, the second communication control device 20 may also be designed as a distributed system of electronic controllers, which constitutes part of the main transmitting device 14, the main receiving device 15 and / or the secondary receiving device 18.

[0088] Cascaded communication system 12 may also include a secondary transmitting device, which in Figure 2 Not shown in detail. Figure 2 In this configuration, the secondary receiving device is also configured to transmit information about the surrounding environment. This is indicated by the double arrows connecting the secondary receiving device 18 to the second communication device 20.

[0089] For this purpose, the second communication control device 20 can be (electronically) connected to the second computing device 7' of the adjacent vehicle for bidirectional communication. It should be noted that the second computing device 7' and / or sensor 4' of the adjacent vehicle are not necessarily part of the adjacent vehicle's warning system 101.

[0090] The secondary transmission device can be configured to send environmental information from the adjacent vehicle 2 to the departing vehicle 1 via a communication channel established using secondary communication parameters. The surrounding environmental information can be transmitted here using secondary communication technology. The cascaded communication system 12 can be configured to, if unable to respond to an environmental information request from the departing vehicle 1, use primary communication technology to forward the wake-up signal 16 in a directed manner. Figure 2 (Represented by signal 16"). The second computing device 7' can check whether the request from the departing vehicle 1 can be answered. The environmental information can also be sensor data from sensor 4' and processed by the second computing device 7'. If the environmental information request from the departing vehicle 1 can be answered, the environmental information can be sent to the departing vehicle 2 using an auxiliary transmission device.

[0091] Figure 3 Showing according to Figure 1 A schematic diagram of the exiting vehicle 1, in which the approaching object 3, again shown as a cyclist, can also be detected by the adjacent vehicle 2'. In other words, the approaching object 3 is also located within the invisible area 8' of the adjacent vehicle 2'. The ambient information necessary for the warning system cannot therefore be provided by the adjacent vehicle 2' 101.

[0092] However, information about the surrounding environment can be provided by the adjacent vehicle 2, which is in Figure 3In this example, the vehicle is not directly adjacent to the exiting vehicle 1. The wake-up signal 16 is first transmitted towards the adjacent vehicle 2'. Following the response signal 17 from the adjacent vehicle 2', a request signal can be transmitted from the exiting vehicle 1 to the adjacent vehicle 2' using secondary communication technologies, such as WLAN. The adjacent vehicle 2' can then check whether it can provide the surrounding environmental information necessary for the exiting vehicle 1 or its warning system 101. This is because the invisible area 8' of the adjacent vehicle 2' is... Figure 2 The example in which this is not feasible is therefore the wake-up signal 16 can be forwarded to the adjacent vehicle 2'. For this purpose, the adjacent vehicle 2' includes a cascaded communication system 12.

[0093] Furthermore, the cascaded communication system 12 can also act as a proxy for communication between the adjacent vehicle 2 and the departing vehicle 1 using the main communication technology. In other words, the reply signal 17 transmitted by the adjacent vehicle 2 can be forwarded to the departing vehicle 1 by the adjacent vehicle 2'. Therefore, the cascaded communication system 12 can also be used to forward the reply signal 17.

[0094] Figure 4 A schematic diagram of another traffic situation is shown, in which the approaching object 3, represented again as a cyclist, cannot be described by the surrounding environmental data of the sensors of the adjacent vehicle 2 that have exited the vehicle. Figure 4 The traffic conditions shown could be, for example, parking maneuvers performed using a property parking system. It is conceivable that the surrounding environment information necessary for vehicle 1 to exit could also be provided by another vehicle 2''.

Claims

1. A method for operating a warning system (101) for a vehicle (1) exiting a parking space based on ambient information of an adjacent vehicle (2), comprising the steps of: - Receive ambient environmental data from the sensors of the departing vehicle (1), wherein the ambient environmental data describes the ambient environment (5) of the departing vehicle (1). - Determine an invisible area (8) in the surrounding environment (5) based on the surrounding environment data, wherein the invisible area (8) is not described by the surrounding environment data due to the adjacent vehicle (8); - Receive surrounding environment information, the surrounding environment information being provided by the adjacent vehicle (2) and the surrounding environment information describing at least one approaching object (3) in at least a portion of the invisible area (8); and - Output a warning signal based on the surrounding environment information, wherein the warning signal is used as a warning to the user of the vehicle (1) and / or a warning to the driving assistance system of the vehicle (1).

2. The method according to claim 1, Its features are, Output a wake-up signal (16), the wake-up signal describing the directional effect (16') of the wake-up signal (16) and used to wake up the adjacent vehicle (2) to establish communication with the adjacent vehicle (2).

3. The method according to claim 1 or 2, Its features are, Output a request signal, which describes a request for information about the surrounding environment to the adjacent vehicle (2).

4. The method according to claim 3, Its features are, The request signal describes at least one desired sensor of the adjacent vehicle (2), by means of which the adjacent vehicle (2) is able to describe at least one approaching object (3) in at least a portion of the invisible area (8).

5. The method according to any one of the preceding claims, Its features are, The initial check is to see if the vehicle has left the area.

6. The method according to claim 5, Its features are, The initial check of the departure status is performed based on historical data, which describes the previous end of the departure of the vehicle (1).

7. The method according to claim 6, Its features are, The previous driving of the departing vehicle (1) is completed at least partially automatically.

8. A computing device (7) for driving out of a vehicle (1), the computing device being configured to perform the method according to any one of the preceding claims.

9. A computer-readable storage medium comprising instructions that, when executed by a computing device (7), cause the computing device (7) to perform the method according to any one of claims 1 to 7.

10. A warning system (101) for exiting a vehicle (1), comprising: - The computing device (7) according to claim 8; - Communication device (9), which is configured on the one hand to receive ambient information from the adjacent vehicle (2) and forward it to the computing device (7), and on the other hand to receive a wake-up signal (16) from the computing device (7) and transmit it to the adjacent vehicle (2); - Warning device (10), which is configured to receive the warning signal from the computing device (7) and thus output a warning to the user of the vehicle (1) that has driven out.

11. A vehicle (1), particularly a passenger car, comprising a warning system (101) according to claim 10.

Images