Method for assisting a user of a vehicle, control unit for a driver assistance system of a vehicle and vehicle with such a control unit

Abstract

Method for assisting a user of a vehicle (2) wherein a camera (12) of the vehicle (2) captures a detection area (14) of a street scene (1) at least in front of the vehicle (2) and outputs image signals (S12), Driving condition variables (v, a, q, ω, n) are recorded or determined, which describe a driving condition of the vehicle (2), from the image signals (S12) it is determined whether there is another vehicle (7, 8, 9) in the detection area (14) that is emitting flashing signals (S33, S34, S35), If a vehicle (7, 8, 9) is detected that is emitting flashing signals (S33, S34, S35), it is determined from the flashing signals (S33, S34, S35) whether the flashing vehicle (7, 8, 9) is indicating a change of direction, Depending on the driving state variables (v, a, q, ω, n) of the vehicle (2) and depending on the determination of whether other vehicles (7, 8, 9) indicate a change of direction, at least one output signal (S1, S2, S3) is output, characterized by the fact that In the event that, on the one hand, a brake light (32a, 32b) or a direction flashing of a turn signal (33, 34) of another vehicle (8, 9) is detected and, on the other hand, a high probability of a collision with this other vehicle (8, 9) is determined, a braking process of the own vehicle (2) is detected and an output signal (S1, S2, S3) is output, and wherein expected changes in the driving behavior of detected vehicles (7, 8, 9) during changes of direction or braking maneuvers of other detected vehicles (7, 8, 9) are determined and in the event that, on the one hand, a brake light (32a, 32b) or a direction flashing of a turn signal (33, 34) of another vehicle (8, 9) is detected and, on the other hand, it is determined that there is a high probability that a third vehicle (7) will change its driving state due to the change in driving state of the other vehicle (8, 9) and that this results in a high probability of a collision with the third vehicle (7) or another object, a braking maneuver of the own vehicle (2) is determined and an output signal (S1, S2, S3) is output.

Description

State of the art

[0001] Driver assistance systems serve to determine the driving condition and traffic situation of the vehicle and to indicate dangerous situations and advantageous interventions in the driving condition to the driver, and if necessary, to automatically carry out interventions in the driving condition.

[0002] This involves using the vehicle's sensors to measure its own driving condition, such as speed, acceleration, etc., and advantageously also using environmental sensors to detect the vehicle's surroundings, in particular to identify other road users and, if necessary, the roadway.

[0003] Sensors for distance measurement and video cameras can be used as environmental sensors. At least one camera integrated into the vehicle captures the surroundings of the ego-vehicle. This makes it possible to detect lane markings and traffic signs. Furthermore, pedestrians, other vehicles, and other objects can be detected and, in some cases, classified.

[0004] German patent DE 102 38 215 A1 discloses a method and a device for informing and / or reacting to a driver's lane departure. The lane is detected by an image sensor based on the type of lane marking and / or the type of traffic on the adjacent lane. Depending on the detected situation, a warning signal can be issued or the vehicle can intervene.

[0005] Furthermore, distance control systems are known in which the distance to a vehicle driving ahead is determined and kept constant by automatic vehicle interventions.

[0006] Such detection of traffic conditions, through the detection of other road users and lane markings, already allows for early reactions. However, for more complex traffic situations, such as vehicles swerving out and the resulting hazardous situations, such methods alone are often insufficient; furthermore, driver-initiated driving dynamics interventions, such as a target acceleration of the vehicle, can increase the detected risk. Disclosure of the invention

[0007] According to the invention, at least one camera of the vehicle captures a driving scene, at least in front of the vehicle. Vehicles are identified within the captured road scene, and it is checked whether these vehicles are flashing their lights. Advantageously, it is also determined whether the detected vehicles are flashing their brake lights. Thus, the traffic situation can be determined, optionally in conjunction with measurement signals from other environmental sensors.

[0008] Furthermore, according to the invention, driving condition parameters of the vehicle itself, in particular speed, longitudinal and lateral acceleration, and, for example, the yaw rate, wheel speed, wheel slip, slip angle, etc., are taken into account. Based on the determined current traffic situation and the subsequently expected change in the traffic situation due to the determined direction indicators, as well as the determined driving condition of the vehicle itself, an information signal, in particular a warning signal, can be issued and / or a driver assistance function with automatic intervention in the driving condition can be activated or adapted, according to the invention.

[0009] According to the invention, it is advantageously possible to differentiate between the output of a direction-changing flashing light by activating the flashing lights on one side and the output of a hazard warning light by activating the flashing lights on both sides, so that different measures can be taken depending on the result of this differentiation.

[0010] Upon detecting a direction-changing flashing signal from a preceding vehicle in its own or an adjacent lane, the vehicle can automatically intervene in the driving state, advantageously using the surrounding sensors to determine evasive options on adjacent roads or lanes.

[0011] The method according to the invention can be used in particular in a distance control system, e.g. ACC (Adaptive Cruise Control). In this context, distance control, e.g. by a distance-controlled cruise control system, can be carried out by incorporating the camera images and the potentially occurring hazards determined from them.

[0012] The invention is based on the idea that a conventional driver assistance system can detect hazards arising from a lane change by a vehicle ahead via the vehicle's environmental sensors as soon as the lane change is completed or initiated. However, when the hazard, particularly the risk of collision, is detected, the signal output to the driver or an automatic control intervention may occur relatively late. Thus, the lane change of an object is only reliably detected once it is already underway and the measurable parameters differ significantly from those of normal driving.

[0013] According to the invention, the flashing signals of other vehicles are therefore detected, which already indicate the intention to change lanes and are thus usually issued before the actual lane change or at the beginning of the lane change.

[0014] Several seconds may elapse between the earliest possible video-based detection of the lane change intention and the earliest possible geometry-based detection of the lane change, which, according to the invention, can be used by a driver assistance function to intervene in a vehicle system, in particular a braking system, engine management system or steering system, and optionally additionally to display information signals and / or warning signals to the driver.

[0015] It is recognized that the flashing signals emitted by other, especially preceding, vehicles differ significantly in their flashing frequency and pulse duration from other potentially occurring light influences, particularly the activation of brake lights and light reflections on vehicles or other objects. According to the invention, it is advantageous that the flashing frequency and pulse duration of vehicles encountered on the road today deviate only slightly from a predetermined standard, and thus limit values ​​for the flashing frequency and pulse duration can be specified for determining a flashing event. This also allows reflections of sunlight on the windshield of an object and other light reflections to be excluded.

[0016] Furthermore, brake lights of preceding vehicles can also be detected, thus taking into account the current and expected driving behavior of these vehicles as determined from flashing and braking signals.

[0017] As a result of the detection and analysis, automatic braking of the vehicle's own vehicle or ego-vehicle can be initiated, as well as interventions in the engine management system, in particular the prevention or limitation of acceleration in the event of a detected potential collision, and possibly also steering interventions. Furthermore, targeted braking can be initiated in response to detected obstacles, such as the end of a traffic jam. According to the invention, the ego-vehicle can also emit wireless signals, such as radio signals or infrared signals, for use by traffic control systems and / or for directly informing other vehicles.

[0018] According to the invention, it is particularly advantageous that the differentiation between a direction-changing flashing signal and a hazard warning flashing signal is possible with surprisingly little effort by checking whether the two lateral regions of the detected preceding vehicle, where the two flashing lights are highly likely to be present, are flashing synchronously or simultaneously. Thus, depending on the detection of whether there is no flashing signal, a direction-changing flashing signal, or a hazard warning signal, different output signals can be generated to convey different information to the user and / or trigger different vehicle interventions.

[0019] Furthermore, a driving path can be determined on which the own vehicle or ego-vehicle will subsequently be located at the current or planned speed, and compared with the determined current and expected driving conditions of the preceding vehicles, so that the control signals and information signals are output depending on this comparison.

[0020] Ego-position information, e.g., from a GPS device, as well as street map information, can also be used. For example, a detected change of direction can be assigned to a turning maneuver onto a road that turns in the corresponding direction.

[0021] According to one embodiment, the vehicle measures a distance to at least one vehicle in front and the driver assistance control includes a distance control procedure for adjusting the distance.

[0022] According to one embodiment, warning signals can be issued as information signals when a hazardous situation is detected. According to another embodiment, external output signals can be sent to external receivers, e.g., to other vehicles and / or a traffic control system.

[0023] According to one embodiment, brake signals and / or flashing signals can also be determined from the image signals in image areas where no vehicle is detected, and subsequently one or more vehicles can be assigned to the determined brake signals and / or flashing signals.

[0024] According to one embodiment, brake lights, turn signals and taillights can be differentiated in the captured image by their spectral composition or color.

[0025] According to one embodiment, a light source can be recognized as a brake light if it exhibits a time-varying signal behavior with non-periodic signal changes or a rapidly pulsed signal behavior with a higher frequency than a predefined flashing pulse frequency. In this case, a different braking effect of the detected vehicle can be associated with a detected brake pulse frequency or a variable signal strength of the detected brake light.

[0026] According to one embodiment, when a direction change flashing is detected, map data signals and / or position data can be used to determine whether there is a high probability that the flashing vehicle is about to turn.

[0027] DE 10 2005 002 504 A1 describes a driver assistance system for motor vehicles with sensors for detecting the traffic environment, a prediction device for predicting a driving path and an assistance function that uses the predicted driving path, wherein the prediction device simultaneously tracks several driving path hypotheses and makes them available to the assistance function.

[0028] DE 197 43 726 A1 describes a control unit for a vehicle with a position data acquisition unit for capturing position data of a vehicle ahead, an image acquisition unit for capturing an image facing forward in a direction of travel, a driving operation data acquisition unit for capturing driving operation data of the vehicle ahead and a control unit for carrying out a predetermined control based on the captured data.

[0029] DE 10 2004 056 426 A1 describes an accident prevention system for a vehicle, wherein a photodiode is arranged in the headlight, which senses the light of a vehicle driving ahead and transmits it to an evaluation unit, wherein the diode is simultaneously designed for the lighting function of the headlight and as a photodiode.

[0030] From DE 196 37 245 A1, a method and a device for controlling the speed of a vehicle are known, which are designed to control the vehicle's speed taking into account vehicles ahead. In order to select a vehicle ahead as the control target, a future lane alignment is determined, and if the controlled vehicle intends and / or begins to change lanes, the determined future lane is widened.

[0031] DE 10 2004 027 983 A1 describes a method and a device for detecting lane-changing processes for a vehicle, in which an observation variable is determined that describes the lane-changing behavior of an observed foreign vehicle, wherein, depending on the at least one observation variable, a lane-changing variable is determined that characterizes a lane-changing intention of the foreign vehicle.

[0032] DE 11 2006 003 277 T5 describes a method for detecting or predicting a vehicle merging into the lane, wherein a camera is attached to a front section of the vehicle in question, which has a field of view to detect indicator activity on the merging vehicle when it is adjacent to and / or in front of the vehicle being merged into the lane.

[0033] DE 10 2004 027 983 A1 describes a method for detecting lane-changing vehicles for a vehicle in which at least one observation parameter is determined that describes the lane-changing behavior and, depending on the observation parameter, a lane-changing parameter is determined that characterizes the lane-changing intention.

[0034] According to the invention, driving condition variables can be detected or determined by sensors of the vehicle or determined from the image signals of the camera.

[0035] According to the invention, a vehicle is further provided for carrying out a method according to the invention and / or with a control device according to the invention, a camera for capturing a detection area of ​​a street scene at least in front of the vehicle and self-state sensors for determining driving state variables of the vehicle.

[0036] The control device according to the invention preferably receives signals describing the vehicle's driving state variables from the vehicle's self-state sensors. Furthermore, it can receive signals from the vehicle's environmental sensors. Brief description of the drawings Fig. 1 a street scene with a vehicle according to the invention in top view; Fig. 2 the camera of the vehicle in Fig. 1 captured image; Fig. 3. A representation of an image detection system for the identification of a vehicle in Fig. 2 and its relevant sub-areas; Fig. 4 a block diagram of a detection and control device according to the invention. embodiment of the invention

[0037] Fig. Figure 1 shows a street scene 1 in which a vehicle 2 according to the invention is traveling at speed v2 on the middle lane 3b of a three-lane roadway 3. The roadway further comprises a right lane 3a and a left lane 3c, which are separated from the middle lane by dashed lane markings 4a and 4b and are separated to the outside by solid lane markings 5a, b from a right and left outer area 6a, b.

[0038] As an alternative to the street scene 1 shown, the right lane 3a could also form the hard shoulder, in which case the lane marking 4a would be continuous. In the surrounding areas 6a and b, there may be, for example, traffic signs 11, stationary vehicles, and other objects 39 such as houses and trees. To the left of the left surrounding area 6b, there may be an oncoming lane, which is not considered further here.

[0039] In the depicted street scene 1, vehicle 2 is traveling at a speed v2. In front of it, another vehicle 7 is traveling at a speed v7. Diagonally ahead of it, in the left lane 3c, another vehicle 8 is traveling at a speed v8, and correspondingly in the right lane 3a, another vehicle 9 is traveling at a speed v9; if the right lane 3a is a hard shoulder, it will generally be stationary at a speed v9=0 or, during a stopping or starting maneuver, will also be traveling at a low speed v9. Behind vehicle 2, another vehicle 10 is traveling at a speed v10 in the same lane 3b.

[0040] The vehicle 2 according to the invention has a camera 12 which, with a detection range 14, essentially captures the road scene 1 in front of the vehicle 2, in particular the lanes 3a, b, c and optionally also the surrounding areas 6a, b. Furthermore, the vehicle 2 advantageously has one or more additional environmental sensors 15, in particular a distance sensor 15, e.g., a radar sensor, lidar sensor, range-detection video sensor, PMD (photoelectric detector) sensor and / or ultrasonic sensor, which detect the road scene 1 or parts thereof, and optionally a sensor for the road surface condition. The environmental sensors 15 can also detect the road scene 1 outside the detection range 14, e.g., also to the side of the vehicle 2 and to the rear.

[0041] The vehicle 2 generally also has one or more self-state sensors 16, which in particular detect its own driving speed v2, wheel rotation speeds n, longitudinal acceleration a, yaw rate ω about the vertical axis, and optionally also the pitch rate about the lateral axis and the roll rate about the longitudinal axis, as well as accelerations, e.g., lateral acceleration q. Furthermore, the vehicle 2 may have, for example, a position determination device 17, e.g., a GPS receiver 17 with corresponding control unit, and optionally also a stored or remotely received digital map 18.

[0042] Vehicle 2 further comprises one or more vehicle dynamics control systems, such as a brake control system like ABS and / or a vehicle dynamics program like ESP, as well as, where applicable, engine management control systems. Accordingly, multiple control units may be provided in Vehicle 2.

[0043] Furthermore, the vehicle 2 has longitudinal control and, if applicable, lateral control, in particular a distance control system, e.g. an adaptive distance control system such as ACC, which regulates the distance d to the vehicle 7 driving ahead.

[0044] Fig. Figure 2 shows the image 22 taken by camera 12, in which lanes 3a, 3b, 3c, vehicles 7, 8, 9 and road markings 4a, 4b are captured.

[0045] According to the invention, an object recognition algorithm is implemented in which the vehicles 7, 8, 9 shown in Figure 22 are recognized as objects. Such recognition algorithms are known as such; they include, in particular, edge detection to identify the detected vehicles as a surface, especially a surface with a rectangular shape. This is particularly evident in the dynamic image. Here, the vehicles 7, 8, 9 or their chassis area are each detected and recognized as a substantially rectangular object that moves uniformly. Fig. 2 and Fig. Thus, the areas K7, K8, K9, drawn with dashed lines, are placed on the vehicles 7, 8, 9.

[0046] Vehicles 7, 8, and 9 are equipped, in a manner known per se, with left and right brake lights 32a and 32b, as well as left turn signals 33 and right turn signals 34, on their rear sides. If necessary, when vehicles 8 and 9 are viewed obliquely in Figure 22, a side-mounted turn signal 33a or 34a may also be detected. Furthermore, the rear lights 36 of the vehicles are also detected in Figure 22.

[0047] According to the invention, the surfaces K7, K8, K9 are subdivided into sub-areas in order to locate the light sources 32a, 32b, 33, 34 and thus determine their signal output. This is in Fig. Figure 3 shows the lower central section K7-1 for vehicle 7, the lower left section K7-2 for the left turn signal 33 and the left brake light 32a, and the lower right section K7-3 for the right turn signal 34 and the right brake light 32b. Additionally, an upper central section K7-4 can be created, for example, for a possible third brake light 32c. The applied sections can also overlap to ensure the relevant light sources are captured with a high degree of certainty. Furthermore, unlike in [reference missing], Fig. Figure 3 shows that the central section K7-1 can also be wider than the outer sections. In particular, the rear lights 36 can be located in the lower central section K7-1 as well as in the lower outer sections K7-2 and K7-3. Furthermore, different light signals can also be generated by a common light source, as shown in Figure 3. Fig. Figure 2 shows vehicle 7, where the indicator lights 33 and 34 are each combined with a rear light 36 to form a single light source, e.g., a bulb or LED array. If a vehicle, e.g., vehicle 9, is viewed obliquely or from a perspective angle, its left front or side indicator light 33a can thus be viewed slightly to the left of indicator light 33 and therefore in a further partial area or as an extension of the lower left partial area.

[0048] A precise detection of the individual light sources 32a, 32b, 33, 34 and, if necessary, their differentiation from each other and from the rear lights 36 is subsequently carried out in the object detection or image processing.

[0049] Advantageously, other objects can also be identified in Figure 22, in particular the road markings 4a, 4b and 5a, 5b, and optionally also objects 11 next to the roadway 3, and used for the method according to the invention.

[0050] Signal acquisition, object detection, and object tracking are shown in the block diagram of the Fig. 4 is described in more detail. In block 26, object detection and tracking are performed using the recognition algorithm, for which signals S12, S15, and S16 from camera 12, environmental sensors 15, and self-state sensors 16 are used, and optionally also position signals S17 from GPS receiver 17 and map data S18 from digital map 18. In block 27, the light signals of objects 7, 8, and 9 identified in block 26 are detected. This includes, in particular, spatial and temporal / frequency analysis, and optionally also spectral analysis and evaluation.

[0051] In the spatial analysis or differentiation, the detected objects 7, 8, 9 are each considered in spatially resolved sub-areas, e.g., K7-1 to K7-4. This allows the detected light sources or signal sources to be assigned to their respective lateral position, i.e., left or right, so that, for example, the detected turn signals 33, 34 and the brake lights 32 a, b, and optionally also the taillights 36, can each be assigned to a lateral area of ​​the respective objects 7, 8, 9. According to the invention, it is advantageously only a differentiation into left, center, and right is initially made, since the exact position of the various light sources can be at different heights in different vehicle types, e.g., in a lower area of ​​the bumper or further up next to the windshield.Furthermore, it is advantageous that, due to the relative spatial arrangement, no differentiation is made according to the type of light sources, i.e., no distinction is made between indicator light, brake light and rear light, since it is recognized according to the invention that these can also be implemented in one bulb or in the same LED array in different vehicle types.

[0052] Additionally, a color differentiation can be made to distinguish the red rear lights 36 and red brake lights 32a,b from the orange or yellow indicator lights 33, 34.

[0053] Furthermore, to ensure the presence of a brake light and / or indicator light, symmetry properties such as the same height above the road surface 3 or the same distance to the center of the vehicle of the two opposing brake lights 32a, 32b as well as the two opposing indicator lights 33, 34 are used.

[0054] According to the invention, it is further recognized that the flashing lights 33, 34, and optionally 33a, 34a, can be distinguished from the brake lights 32a, b, and taillights 36 based on their temporal behavior. Therefore, according to the invention, the temporal behavior of the identified signal lights 32a, b, 33, 34, and taillights 36 is evaluated and investigated so that a flashing of the flashing lights 33, 34 can be reliably detected, and thus these flashing lights 33, 34, 33a, 34a can be distinguished from the brake lights 32a, b, and taillights 36. This investigation is combined with the subdivision of the areas K7, K8, K9 into their respective sub-areas.

[0055] Here, the direction indication left or right, i.e., the directional flashing signal S33 of the left flashing light 33 or the flashing signal S34 of the right flashing light 34, can also be distinguished from one another by considering the different sub-areas K7-2 and K7-3 in the area K7 of the detected object 7. Since the flashing frequency and pulse duration for a flashing light are constant and also standardized within predetermined limits, the invention verifies whether a constant flashing frequency and a constant pulse duration of an object 7, 8, 9 in one of its lower outer sub-areas can be recognized as a flashing signal of a flashing light 33, 34.

[0056] According to the invention, the flashing signals can thus also be distinguished from other time-varying light phenomena, e.g., light reflections on the disc of an object or on the road surface 3 or other objects that do not have a constant flashing frequency and pulse duration.

[0057] The illumination of the brake lights 32a, 32b, and optionally 32c is recognized as a brake signal S32, which does not change with a constant flashing frequency and pulse duration, but should change during prolonged object tracking. A change in intensity or a variable pulse sequence can also be assigned to a brake signal S32, since in newer vehicles the brake pressure, and thus the braking effect, is often indicated by the intensity and / or frequency of the pulse sequence, with the pulse sequences being output at frequencies, for example, in the range below one-tenth of a second and thus significantly below the flashing frequency. According to the invention, the brake signal S32 determined for a detected vehicle can therefore contain not only the indication "braking effect on / off," but optionally also a signal value with a range specification, which can be used according to the invention.

[0058] Furthermore, according to the invention, it is recognized that the flashing of only a single flashing light 33 or 34 as a direction indicator, and thus a direction flashing signal S33 or S34, can be differentiated from the simultaneous flashing of both flashing lights 33, 34. If a synchronous flashing of both side flashing lights 33, 34 is detected, a hazard warning signal S35 is selected in block 27. Thus, the flashing signals "lane change to the right", "lane change to the left", and a hazard warning light can be differentiated from one another.

[0059] In block 28 of the Fig. 4. A driver assistance function is subsequently implemented based on the detected objects 7, 8, 9 or the surfaces K7, K8, K9 representing them, as well as the determined light signals S32, S33, S34 of the objects 7, 8, 9. This allows for direct intervention in the driving behavior or driving dynamics of the vehicle 2 via control signals S1, which influence the braking behavior and / or engine management. The driver assistance function can include longitudinal and lateral control or a lane guidance program, including distance control, e.g., ACC, to maintain the distance d. Furthermore, according to the invention, user information signals S2 can be output to the driver of the vehicle 2, as described below. The user information signals S2 can be optical, acoustic, and / or haptic signals.

[0060] Blocks 26, 27, 28 thus also form a control device for carrying out the method according to the invention or a control device for a driver assistance system of a vehicle according to the invention 2.

[0061] As an intervention in the driving state, vehicle 2 can be automatically braked if dangerous situations are detected. Furthermore, interventions in the engine management system are possible to prevent, reduce, or increase acceleration. Automatic interventions in the vehicle's steering are also possible; this can include automatically initiating a lane change from 3b to 3a or 3c, particularly by means of electric or hydraulic actuators. Additionally, vehicle 2 can output external signals S3, especially warning signals, e.g., to the following vehicle 10, and possibly also to the other vehicles 7, 8, and 9. Situations recognizable according to the invention include, in particular:

[0062] The system detects an intended lane change by one of the vehicles 8 or 9 traveling in front of vehicle 2 from an adjacent lane 3a or 3c to its own lane 3b. This can occur when the right turn signal 34 of vehicle 8 is activated in the adjacent lane 3c to the left, or the left turn signal 33 of vehicle 9 is activated in the adjacent lane 3a to the right. In this case, it is recognized that a potential collision between vehicle 2 and the lane-changing vehicle 8 or 9 could occur if the lane change indicated by vehicle 8 or 9 is actually carried out. The following actions can then be taken: 1. The output of a user information signal S2 to the user, e.g. as an optical, acoustic or haptic signal, to indicate to him the possibly imminent need for intervention or also an already carried out or subsequently initiated automatic intervention in the vehicle control system. 2. Automatic braking of the vehicle 2 or initiation of a braking routine by the vehicle dynamics system. This can, for example, initiate a braking process with an appropriate braking effect. 3. Influencing the acceleration of the vehicle dynamics system. In particular, this may involve reducing or completely changing an acceleration input from the driver or one carried out or planned automatically by the vehicle dynamics system. This measure is based on the understanding that the driver of vehicle 8 or 9, indicating the planned lane change, has not taken into account the acceleration 2 that may have been planned by vehicle 2 but not yet carried out. 4. Calculation of alternative vehicle behavior or further measures. Here, for example, based on the sensor signals S15 from the environmental sensors 15, it can be checked whether the vehicle has an evasive maneuver option if vehicle 8 or 9 actually cuts into its lane 3b. Furthermore, a possible braking behavior can be taken into account by measuring the distance to the rear vehicle 10, since a collision might occur if rapid braking is initiated. 5. Issuance of a warning signal S3 to the vehicle 8 or 9 in question, indicating the lane change identified as dangerous. This can be done by an acoustic signal, e.g., a horn, a visual signal, e.g., flashing headlights, or, if a data connection exists, e.g., a radio connection to vehicle 8 or 9, by issuing a corresponding warning or blocking signal. This results in an automatic warning from vehicle 2 to the vehicle 8 or 9 posing the danger, or its driver, particularly if the evaluation of the position and movement data of vehicle 2 and vehicle 8 or 9 indicates that the indicated lane change by vehicle 8 or 9 poses a significant risk of collision. 6. Automatic warning or notification to other road users, in particular the following vehicle 10, and potentially other vehicles, especially the other vehicle 9 or 8 not signaling, if it would also be affected by the indicated lane change, if it is recognized that another road user must or should react to the existing or impending traffic situation. Thus, if vehicle 8 signals a lane change to the right, and a resulting lane change by the other vehicle 2 to the right could potentially draw the other vehicle 9 into a collision, this identified hazard can be displayed to the other vehicle 9 as warning signals S3.In particular, according to the invention, a potentially imminent braking intervention, especially an emergency braking, can be indicated to the following vehicle 10, especially by actuating the rear brake lights of the own vehicle 2.

[0063] If a lane change is detected by a unilateral flashing of a turn signal 33 or 34 in the vehicle 7 in front of the vehicle 2, which is in lane 3b, the following reactions are possible and can be offered or carried out automatically depending on the determined distance d to vehicle 7 and the determined speeds v2 and v7: 1. Earlier acceleration of the own vehicle 2, in particular via the longitudinal and lateral control system, e.g. ACC system, if at the same time, by evaluating the position and movement data of vehicle 7 and the own vehicle 2 as well as the course of the lane markings 4a and 4b, it can be predicted with a high probability that the other vehicle 7 will have left the own driving path 39 of the intended driving movement determined as a distance-time function. 2. Output of a user information signal Sa to offer the user the choice of either continuing to follow the flashing vehicle 7 as the target object or remaining in the current lane 3b. This can occur in particular if automatic distance control or convoy driving is currently in operation. 3. Braking of vehicle 2 or its vehicle dynamics system when it is detected, or it is likely, that vehicle 7 is about to change lanes because there is an obstacle in front of it, e.g., a slow-moving object. Here, the detection of another object in front of the vehicle 7 can be added if the beams of a radar sensor 15 indicate a larger obstacle, e.g., through reflection off the road surface 3 next to or under the vehicle 7, and / or if a larger obstacle, e.g., a truck, can be detected by camera 12 or another camera in front of the smaller vehicle 7 due to its size. 4. Braking of the own vehicle 2 or braking via the vehicle dynamics system when it is recognized that there is a high probability or even certainty that the vehicle in front 7 will reduce its speed v7 before the intended lane change or turn.

[0064] Case 4 can occur in particular if traffic on the adjacent lane 3a or 3c is moving more slowly or if a sufficiently large gap for vehicle 7 will only open later. In this case, it is generally possible to assess this traffic on the adjacent lane 3a or 3c using the vehicle 2's environmental sensors 15.

[0065] In case 4, the detection of the presence or absence of an adjacent lane 3a or 3c may also be included, e.g., by recognizing the presence or absence of lane markings 4a or 4b, or recognizing a lane marking 5a or 5b that does not permit a lane change, or by recognizing traffic signs 11 or other stationary objects 38 such as trees, so that the vehicle 7 is likely to turn, stop, or make a U-turn. This case may also be concluded, in particular, using the digital map 18 and, where applicable, the navigation data S17 of the GPS system 17, i.e., self-positioning information.

[0066] According to the invention, in addition to the hazard warning signal S35 of the other vehicle 7, 8, or 9, block 27 can also detect other hazard warning lights of commercial vehicles, e.g., police, emergency, rescue, fire brigade, tow trucks, snowplows, heavy transport vehicles, and / or construction vehicles. According to the invention, these can be distinguished from the hazard warning light of a vehicle 7, 8, or 9 because the hazard warning lights of such commercial vehicles are, for example, particularly bright and possibly also colored, e.g., blue or orange. Furthermore, a deviation of the flashing frequency and / or pulse duration from the specified values ​​of a normal vehicle 7, 8, or 9 can optionally be detected. If necessary, the image of the Fig. 2 or 3 can also be used to detect whether the lights are not symmetrically lit on the sides of the detected vehicle, but whether, for example, at least one additional light is arranged on the vehicle roof.

[0067] According to the invention, breakdown warning lights placed on the roadway 3 or at the edge of the roadway or in the surrounding area 6a or 6b, as well as construction site warning lights, can also be detected, even if they are not assigned to a recognized vehicle.

[0068] Upon detection of a hazard warning signal S35 on a vehicle 7, 8, or 9 or one of the other mentioned warning lights, the following reactions are possible according to the invention: 1. Automatic activation of the vehicle's own hazard warning lights by a control signal S1, i.e., synchronous activation of the vehicle's own flashing lights 33, 34 to warn other, especially following, traffic. This can be carried out, for example, whenever brake lights 32a, b of a front vehicle 7, 8, 9 are detected and / or the hazard warning signals S35 of several vehicles 7, 8, 9 are detected. 2. Influencing the engine management, in particular influencing, preferably preventing, the acceleration of the vehicle 2 or its vehicle dynamics control system. 3. Braking the vehicle 2. 4. Initiating targeted braking towards the detected obstacle, e.g., the vehicle in front. 7. This can occur automatically, especially when a high differential speed of v2 - v7 is detected, i.e., when the differential speed v2 - v7 exceeds a predetermined threshold or a threshold determined from the environmental conditions, which also takes into account the determined distance d, as this indicates an accident or traffic jam. 5. Output of an external output signal S3, e.g. a radio signal or infrared signal, for use by traffic control systems.

[0069] If 7 brake lights 32 a, b are detected on the vehicle in front, the following reactions are still possible: 1. Determining the relevance of the identified object 7, 8, 9 to the driver's own onward journey. This involves comparing the driver's own route path with the identified route path of the object. In particular, this allows for the determination of the probability that object 7, 8, 9 is or will be located within the driver's own route path. 2. Influencing the acceleration of the distance control system, in particular preventing or limiting acceleration. 3. Braking of the adaptive cruise control system or of one's own vehicle 2. 4. Initiating targeted braking, e.g. towards a braking vehicle. 5. Automatic activation of the vehicle's own hazard warning lights, i.e., its own flashing lights 33, 34 at the front and rear, to warn following traffic, e.g., when a large number of illuminated brake lights are likely to cause a greater impact on following traffic.

[0070] In the block diagram of Fig. 4. Blocks 26 and 27 can be formed by separate devices or a common control unit.

[0071] According to the invention, the detected direction flashing signal S33, S34 or S35, or also the braking signal S32, can be used to detect an object that has not yet been detected. In this case, blocks 26 and 27 form a common block.

[0072] According to the invention, in particular, in addition to or as part of the driver assistance function of block 28, a vehicle dynamics control known per se is carried out with the signals S15, S16 of the environment sensors 15 and self-state sensors 16 as well as the position signals S17 and map data S18, which will not be discussed further here.

Claims

[1] Method for assisting a user of a vehicle (2) wherein a camera (12) of the vehicle (2) captures a detection area (14) of a street scene (1) at least in front of the vehicle (2) and outputs image signals (S12), Driving condition variables (v, a, q, ω, n) are recorded or determined, which describe a driving condition of the vehicle (2), from the image signals (S12) it is determined whether there is another vehicle (7, 8, 9) in the detection area (14) that is emitting flashing signals (S33, S34, S35), If a vehicle (7, 8, 9) is detected that is emitting flashing signals (S33, S34, S35), it is determined from the flashing signals (S33, S34, S35) whether the flashing vehicle (7, 8, 9) is indicating a change of direction, Depending on the driving state variables (v, a, q, ω, n) of the vehicle (2) and depending on the determination of whether other vehicles (7, 8, 9) indicate a change of direction, at least one output signal (S1, S2, S3) is output, characterized by , that In the event that, on the one hand, a brake light (32a, 32b) or a direction flashing of a turn signal (33, 34) of another vehicle (8, 9) is detected and, on the other hand, a high probability of a collision with this other vehicle (8, 9) is determined, a braking process of the own vehicle (2) is detected and an output signal (S1, S2, S3) is output, and wherein expected changes in the driving behavior of detected vehicles (7, 8, 9) during changes of direction or braking maneuvers of other detected vehicles (7, 8, 9) are determined and in the event that, on the one hand, a brake light (32a, 32b) or a direction flashing of a turn signal (33, 34) of another vehicle (8, 9) is detected and, on the other hand, it is determined that there is a high probability that a third vehicle (7) will change its driving state due to the change in driving state of the other vehicle (8, 9) and that this results in a high probability of a collision with the third vehicle (7) or another object, a braking maneuver of the own vehicle (2) is determined and an output signal (S1, S2, S3) is output. [2] Method according to claim 1, characterized by, that an automatic driver assistance control is carried out, whereby control signals (S1) for interventions in a vehicle control system for longitudinal and / or lateral control are output as output signals. [3] Method according to any one of the preceding claims, characterized by , that information signals (S2) are output to a user interface, in particular an optical display device and / or an acoustic or haptic output device. [4] Method according to claim 3, characterized by that the information signals (S2) indicate at least one further possible intervention in the vehicle's driving state as an input prompt. [5] Method according to any one of the preceding claims, characterized by, that in the event of determining that a vehicle currently in the driving tube (39) indicating a change of direction will exit the driving tube (39) after the indicated change of direction, a control signal (S1) for an engine management system to increase acceleration and / or an information signal (S2) to indicate an acceleration to be carried out will be used as an output signal. [6] Method according to any one of the preceding claims, characterized by , that it is determined whether both side indicator lights (33, 34) of a detected vehicle (7, 8, 9) flash synchronously or only one of the side indicator lights (33, 34) flashes, wherein - when a synchronous flashing of both side indicator lights (33, 34) is detected, a hazard warning flash is recognized and a hazard warning light signal (S35) is issued, and - if only one side flashing light (33, 34) is detected, a directional flash indicating a change of direction is recognized and a directional flashing signal (S33, S34) is output, and depending on the detection of the flashing state, the output signal (S1, S2, S3) is output. [7] Method according to any of the preceding claims, characterized by , that the one or more additional vehicles (7, 8, 9) are identified from the image signals (S12) by a pattern recognition method, in particular by means of segmentation and edge extraction. [8] Method according to claim 7, characterized by, that the one or more other vehicles (7, 8, 9) in the captured image (12) are identified as geometric areas, in particular surfaces (K7, K8, K9), wherein sub-areas (K7-1, K7-2, K7-3, K7-4) are formed in the geometric areas (K7, K8, K9), to which a high probability of the presence of a brake light (32a, 32b) or flashing light (33, 34) is assigned. [9] Method according to any one of the preceding claims, characterized by , that in the captured image brake lights (32a, b), indicator lights (33, 34) and taillights (36) are differentiated by their spectral composition or color. [10] Method according to any of the preceding claims, characterized by , that in the captured image light sources are differentiated by their temporal signal behavior as brake lights (32a, b), flashing lights (33, 34) and rear lights (36). [11] Method according to claim 10, characterized by, that a light source is recognized as a flashing light (33, 34) if it exhibits a periodic signal behavior with constant pulse duration and pulse frequency within specified values. [12] Method according to claim 1, characterized by , that a control signal (S1) for automatic brake intervention and / or an information signal (S2) is output to the driver. [13] Method according to any of the preceding claims, characterized by , that a driving path (39) is determined which represents the expected distance-time function of the own vehicle (2) in its current driving state, and it is determined whether a vehicle (8, 9) indicating a change of direction will enter the determined driving path (39) when changing direction, and depending on this determination the control signal (S1) and / or an output signal (S1, S2, S3) is output. [14] Method according to claim 13, characterized by, that it is further determined whether a vehicle (2) currently located in the determined driving tube (39), which indicates a change of direction, will exit the determined driving tube (39) after the indicated change of direction, and depending on this determination the output signal (S1, S2, S3) is output, in particular a control signal (S1) for an engine management system to increase acceleration and / or an information signal (S2) to indicate an acceleration to be carried out. [15] Method according to claim 1, characterized by , that a target braking maneuver towards another vehicle (7, 8, 9) or another object is determined and the output signal (S1, S2, S3) is output for this target braking maneuver. [16] Method according to any of the preceding claims, characterized by, that in the event that, on the one hand, a brake light (32a, 32b) or a direction flashing of a turn signal (33, 34) of another vehicle (8, 9) is detected and, on the other hand, a high probability of a collision with this other vehicle (8, 9) is determined, an evasive maneuver for the vehicle (2) by changing from its lane (3b) to an adjacent lane (3a, 3c) is determined and an output signal (S1, S2, S3) is issued, in particular an information signal (S2) for display to the driver and / or a control signal (S1) for an automatic lane change. [17] Method according to claim 16, characterized by, that anticipated changes in the driving behavior of detected vehicles (7, 8, 9) during changes of direction or braking maneuvers of other detected vehicles (7, 8, 9) are determined, and in the event that, on the one hand, a brake light (32a, 32b) or a direction flashing of a turn signal (33, 34) of another vehicle (8, 9) is detected, and on the other hand, it is determined that there is a high probability that a third vehicle (7) will change its driving state due to the change in driving state of the other vehicle (8, 9), and that this results in a high probability of a collision with the third vehicle (7) or another object, an evasive maneuver option for the vehicle (2) by changing from its lane (3b) to an adjacent lane (3a, 3c) is determined, and the output signal (S1, S2, S3) is issued. [18] Control unit (26, 27, 28) for a driver assistance system of a vehicle (2), which receives at least image signals (S12) from a camera (12) of the vehicle (2) and signals (S16) describing driving state variables (v, a, q, ω, n) of the vehicle (2), wherein the control unit (26, 27, 28) determines from the image signals (S12) whether there is another vehicle (7, 8, 9) in the detection range (14) that is emitting flashing signals (S33, S34, S35), wherein the control unit (26, 27, 28) determines from the flashing signals (S33, S34, S35) whether the a flashing vehicle (7, 8, 9) indicates a change of direction, and wherein the control unit (26, 27, 28) depending on the driving state variables (v, a, q, ω, n) of the vehicle (2) and depending on the determination of whether other vehicles (7, 8, 9) indicate a change of direction, outputs at least one output signal (S1, S2,S3) outputs, , characterized by , that the control unit determines likely changes in the driving behavior of detected vehicles (7, 8, 9) during changes of direction or braking operations of other detected vehicles (7, 8, 9) and in the event that, on the one hand, a brake light (32a, 32b) or a direction flashing of a turn signal (33, 34) of another vehicle (8, 9) is detected and, on the other hand, it is determined that there is a high probability that a third vehicle (7) will change its driving state due to the change in driving state of the other vehicle (8, 9) and that this results in a high probability of a collision with the third vehicle (7) or another object, the control unit will detect a braking operation of its own vehicle (2) and output a signal (S1, S2, S3). [19] Control device according to claim 18, characterized by, that the control unit (26, 27, 28) determines a driving path (39) which represents the expected distance-time function of its own vehicle (2) in its current driving state, and wherein the control unit (26, 27, 28) determines, firstly, whether a vehicle (8, 9) indicating a change of direction will enter the determined driving path (39) when changing direction, and wherein the control unit (26, 27, 28) determines, secondly, whether a vehicle (2) currently in the determined driving path (39) indicating a change of direction will exit the determined driving path (39) after the indicated change of direction, and the control unit (26, 27, 28) outputs the output signal (S1, S2, S3) depending on these determinations.

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