Method for acoustic warning of a source of danger in the vicinity of a vehicle, in particular a motor vehicle

Abstract

Method for acoustic warning of a source of danger (3, 5) in the surroundings of a vehicle (1), in particular a motor vehicle, in which: - the location of a source of danger (3, 5) detected by a sensor system in the surroundings of the vehicle (1) is determined and / or provided; - based on the location of the source of danger (3, 5), one or more acoustic warning signals are generated in the interior of the vehicle (1), wherein each acoustic warning signal comprises a virtual sound center (C) which moves from a starting point (D) to the location of the source of danger (3, 5), - wherein the respective acoustic warning signal warns of another vehicle in the vicinity of the vehicle (1) which is located at least partially to the side of the vehicle (1), in particular in the blind spot of one of the side rearview mirrors of the vehicle (1), if an intention of the driver of the vehicle (1) to change lanes is detected.

Description

[0001] The invention relates to a method and a device for acoustic warning of a source of danger in the vicinity of a vehicle, in particular a motor vehicle.

[0002] It is known from the prior art that driver assistance systems can warn the driver of hazards in the vehicle's surroundings. In particular, there are brake assist systems in which a sensor system in the vehicle determines the distance to a vehicle ahead and issues a warning signal if the distance falls below a predetermined limit or if the vehicle ahead decelerates sharply, requiring driver intervention.

[0003] Active cruise control systems are also known from the prior art. These systems maintain a constant distance between a vehicle and a vehicle ahead through automatic braking and acceleration via a corresponding sensor system. However, a collision must be actively avoided by the driver, so even with active cruise control, a warning signal is issued if the vehicle ahead decelerates sharply and requires driver intervention.

[0004] In addition, lane change warning systems are known, which issue a warning signal when the driver intends to change lanes if a sensor system detects another vehicle in the lane into which the driver intends to change. Lane departure assistants are also known, which generally issue a warning signal when the driver leaves the lane.

[0005] Acoustic warning signals are often used as warning signals in driver assistance systems. These signals attract the driver's attention by emitting a distinctive warning tone, such as a beep. Such warning tones neither convey the reason for the warning nor provide instructions for the driver to act. The warning tones serve solely to draw the driver's attention and convey urgency.

[0006] After hearing the warning signal, the driver must identify the danger themselves, either by looking outside or by interpreting visual indicators in the driver's cockpit. Due to the driver's reaction time, there are delays before the driver can intervene to avert the danger. It is therefore desirable to design the acoustic warning signals in such a way that the driver can recognize the reason for the warning and act accordingly in a shorter time.

[0007] The object of the invention is to provide a method and a device for acoustic warning of a source of danger in the vicinity of a vehicle, with which a driver can more quickly recognize the cause of the acoustic warning.

[0008] DE 196 52 930 A1 concerns a parking assistance system for motor vehicles with an acoustic warning device.

[0009] DE 103 45 680 A1 proposes to generate an acoustic warning of an object in the vicinity of a vehicle, whereby the warning appears to come from the direction of the object.

[0010] DE 11 2004 000 424 T5 shows an acoustic warning for vehicle safety systems. Different warning tones indicate objects in different areas around a vehicle.

[0011] DE 198 01 205 A1 describes an acoustic warning device that provides a spatial sound image to indicate the location of a detected obstacle.

[0012] DE 102 49 003 B4 describes a vehicle with eight loudspeakers that simulate or imitate the temporal progression of the noise level of another vehicle passing by or approaching from behind.

[0013] DE 42 28 794 A1 describes a vehicle warning system with a single loudspeaker in the center of a dashboard that warns of vehicles in the blind spot.

[0014] JP 2002-133 596 A and DE 201 08 219 U1 show further warning devices for road traffic.

[0015] This object is achieved by the method according to claim 1 and the device according to claim 11. Further developments of the invention are defined in the dependent claims.

[0016] In the method according to the invention, the location of a hazard source detected by a sensor system in the surroundings of the vehicle is determined or provided. The location of the hazard source can be determined in the method either actively based on data from the sensor system or passively provided as an input variable, e.g. by reading the location of the hazard source from a sensor system which has already determined the location using its own processing unit. Based on the location of the hazard source, one or more acoustic warning signals are then generated in the interior of the vehicle, with each acoustic warning signal comprising a virtual sound center which moves from a starting point to the location of the hazard source. Such a virtual sound center simulates to the driver or the occupants in the vehicle that the corresponding warning signal emanates from this sound center.The technical implementation of the corresponding sound centers is known from the prior art and will therefore not be explained in detail here. The term "movement of the virtual sound center toward the location of the hazard source" is to be understood broadly within the meaning of the invention, i.e., the virtual sound center does not have to move precisely toward the location of the hazard source. It is sufficient that the movement is configured in such a way that the driver in the vehicle can determine the approximate direction of the hazard source.

[0017] The method according to the invention is characterized in that the generated warning signals convey a movement directed towards the source of danger through the movement of the sound center of the warning signal, whereby the direction from which the danger is coming is communicated to the driver intuitively and essentially without cognitive load. In this way, the effect of attracting attention is increased and the driver can quickly grasp the location of the source of danger and thus the cause of the warning. The movement of the sound center preferably occurs essentially in a straight line from the starting point towards the source of danger. According to the invention, the acoustic warning signal can be designed as desired; in particular, a high-frequency tone, for example a beep, can be used, whereby the louder the warning tone, the more the attention of the vehicle occupants is attracted.

[0018] In a preferred embodiment of the invention, a particularly strong attention-grabbing effect is achieved in that the virtual sound center of the respective acoustic warning signal moves from the starting point to the source of danger in a time span of 1 second or less, in particular of 0.5 seconds or less and particularly preferably of 0.25 seconds or less.

[0019] In a further embodiment of the method according to the invention, the virtual sound center of the respective warning signal moves essentially in a horizontal plane at the height of the driver's seat in the vehicle, in particular at the height of the driver's seat headrest. This ensures particularly good perceptibility of the warning signal by the vehicle's occupants.

[0020] In order to ensure that the direction of movement of the warning signal and thus the location of the source of danger are particularly well detected by the vehicle driver, the starting point of the virtual sound center of the respective acoustic warning signal in a preferred embodiment of the invention lies essentially in the area of ​​the position of the driver of the vehicle.

[0021] In a further embodiment of the method according to the invention, a sequence of sequential acoustic warning signals is generated as long as the source of danger is present in the vicinity of the vehicle. In this way, the driver of the vehicle is continuously warned of an existing source of danger.

[0022] In a further embodiment of the method according to the invention, the angular resolution, and in particular the angular resolution in the horizontal direction, for the direction of movement of the respective acoustic warning signal from the starting point towards the source of danger is essentially 5° or less, in particular essentially 1° or less. The angular resolution corresponds to the maximum deviation between the direction of movement of the virtual sound center and the direction in which the location of the source of danger actually lies. This embodiment takes advantage of the fact that humans can resolve the location of sound sources very precisely, particularly horizontally, with a resolution in the degree range. This enables a driver or vehicle occupant to pinpoint the location of the source of danger particularly accurately.

[0023] According to the invention, a plurality of discrete directions of movement can also be specified for the virtual sound center, with the sound center moving in the direction of movement that is closest to the location of the source of danger. In the simplest case, for example, a distinction could be made between a location of the source of danger in front of or behind the driver. The sound center can, for example, move frontally forward if the source of danger is within an angular range of 180° in front of the driver, or in the opposite direction to the frontal direction if the location of the source of danger is within an angular range of 180° behind the driver. However, more than two directions of movement can also be specified; in particular, the 360° area around the vehicle orthe driver is divided into segments, with each segment having a discrete direction of movement for the virtual sound center, which is used when the hazard source is located in the corresponding segment.

[0024] The method according to the invention can be used to warn of any type of hazard. In particular, the respective warning signal warns of objects in the vicinity of the vehicle that pose a risk of collision with the vehicle. For example, it can warn of objects in the vicinity of the vehicle that are less than a predetermined distance from the vehicle and / or for which, e.g., due to a high relative acceleration of the respective object to the vehicle, a braking maneuver by the driver is required to avoid a collision with the respective object.

[0025] In a special embodiment of the method according to the invention, the respective warning signal warns of objects which are located at least partially to the side of the vehicle, in particular in the blind spot of one of the side rear-view mirrors of the vehicle, provided that an intention of the driver of the vehicle to change lanes is detected. If necessary, a warning signal can also be issued each time the vehicle leaves the lane, i.e. regardless of whether an object is in the other lane. This can, for example, prevent accidents in which a driver falls asleep at the wheel due to fatigue. In this case, the source of danger represents the lane into which the vehicle is moving, and according to the invention the sound center of the warning signal is moved in this direction.

[0026] In a further embodiment of the invention, the respective acoustic warning signal is generated using a digital signal processing device of an in-vehicle entertainment system and is acoustically output via the entertainment system's loudspeakers. Thus, existing components in the vehicle can be used to output the acoustic warning signal, with the warning signal according to the invention being generated with a moving sound center using appropriate software.

[0027] In a further embodiment of the invention, different types of acoustic warning signals can warn of different types of hazards. The vehicle driver can thus learn which hazard a particular warning signal represents.

[0028] In addition to the method described above, the invention further comprises a device for acoustically warning of a source of danger in the surroundings of a vehicle, in particular a motor vehicle. The device comprises a means for determining and / or providing the location of a source of danger detected by a sensor system in the surroundings of the vehicle. Furthermore, a means for generating one or more acoustic warning signals in the interior of the vehicle based on the location of the source of danger is provided, wherein each acoustic warning signal comprises a virtual sound center that moves from a starting point to the location of the source of danger. The device is preferably designed such that any variant of the method according to the invention described above can be carried out with the device.

[0029] The invention further relates to a vehicle which comprises the device just described for acoustic warning of a source of danger.

[0030] The invention also includes methods and arrangements as described above, in which the virtual sound center does not move from a starting point to the location of the source of danger, but in which the virtual sound center moves from the location of the source of danger or from the direction of the source of danger to a target point, which is determined, for example, by the location of the vehicle or the location of the driver's seat.For example, a device for acoustically warning of a source of danger in the surroundings of a vehicle, in particular a motor vehicle, is within the scope of the invention, comprising: a means for determining and / or providing the location of a source of danger detected by a sensor system in the surroundings of the vehicle 1; a means for generating one or more acoustic warning signals in the interior of the vehicle based on the location of the source of danger, wherein a respective acoustic warning signal is determined by a virtual sound center that moves from a location of the source of danger to a target point.

[0031] Embodiments of the invention are described in detail below with reference to the attached figures.

[0032] They show: Fig. 1 shows the movement of a virtual sound center according to a first embodiment of the method according to the invention for warning of a preceding vehicle; and Fig. 2 the movement of a virtual sound center according to a second embodiment of the method according to the invention for warning of a vehicle passing by from the side.

[0033] Fig. 1 shows a time sequence diagram for the movement of a virtual sound center according to a first embodiment of the invention. In the horizontal direction of the diagram, the time t is plotted, with snapshots of the position of the virtual sound center being shown for the times t1 = 0.0 s, t2 = 0.17 s, t3 = 0.33 s and t4 = 0.5 s. The acoustic warning signal is generated as an acoustic warning tone in the interior of a passenger vehicle 1, wherein a digital signal processing unit of the infotainment system, i.e. the information and entertainment system, of the vehicle is used for this purpose. The acoustic warning tone is output via corresponding loudspeakers in the vehicle 1, of which Fig. 1 shows four speakers 2 in the corners of the interior of the vehicle 1. The position of a driver is shown in Fig. 1 is indicated by a ring with reference symbol D and the location of the virtual sound center of the acoustic warning signal is represented by a black dot with reference symbol C.

[0034] Fig. 1 shows a scenario in which an acoustic warning signal is emitted in vehicle 1 regarding the hazard of a vehicle 3 traveling ahead, wherein the vehicle 3 performs a heavy braking maneuver, as schematically indicated by illuminated star-shaped brake lights 4 at the rear of the vehicle 3. The vehicle 1 has a sensor system, for example a radar system, with which the distance to the vehicle 3 traveling ahead is determined. The sensor system can, for example, be part of an active cruise control system with which the vehicle automatically ensures a sufficient distance from the vehicle traveling ahead without intervention from the driver. However, this cruise control does not intervene in a braking maneuver so strongly that collisions are prevented. Rather, the final decision regarding collision avoidance is left to the driver.Therefore, an acoustic warning signal is emitted if vehicle 3 decelerates at a rate that exceeds a predetermined threshold, requiring increased braking intervention by the driver to avoid a collision. This warning signal prompts the driver to regain control of the braking process.

[0035] In order to direct the driver's attention intuitively and without cognitive strain to the source of danger, namely the rapidly approaching vehicle 3 in front, an acoustic warning tone is generated according to the invention with a temporally changing virtual sound center C, which moves towards the vehicle 3. According to the time course of the Fig. 1 the warning tone starts at time t1, at which time the virtual sound center C corresponds to the driver's position D. As time progresses the sound center then moves from the driver's position towards the source of danger, i.e. towards the rear of vehicle 3. At time t2 = 0.17 s the virtual sound center is in the area of ​​the windshield of vehicle 1. At time t3 = 0.33 s the sound center C is in the area of ​​the hood of vehicle 1. Finally at time t4 = 0.5 s the sound center C is located between vehicle 1 and vehicle 3 which represents the source of danger. The warning tone also ends at this time. The virtual sound center thus moves very quickly towards the source of danger, which achieves a very high attention effect for the driver.Choosing a loud and concise warning tone, for example in the form of a high-frequency beep, further increases the driver's attention.

[0036] In a preferred variant of the invention, a sequence of the warning tones just described is emitted sequentially as long as the source of danger from the vehicle 3 traveling ahead still exists. Furthermore, the sound center is preferably moved in a horizontal plane which is approximately at the height of the headrest of the driver's seat and thus at the height of the driver's head. Due to the fact that a person can localize the horizontal position of a sound source very precisely (with up to 1° resolution) and, above all, instinctively (i.e., without a learning process), a preferred embodiment of the invention achieves particularly precise localization of the source of danger in that the resolution with which the direction of movement of the sound center towards the source of danger is determined is also within the range of human resolution.Depending on the application, it may also be sufficient to provide only a predetermined number of main directions for the sound center to move toward a hazard source. In the embodiment of the . Fig. 1, for example, only two main directions of movement of the sound center along the longitudinal axis of the vehicle 1 could be provided: forwards and backwards. By moving the sound center forwards and backwards, a hazard located in front of the vehicle can be distinguished from one located behind it. However, the number of main directions does not have to be limited to two; for example, four or eight directions can also be specified for different peripheral areas around the vehicle.

[0037] Fig. 2 shows a time sequence analogous to Fig. 1 for generating an acoustic warning signal, wherein identical components are provided with the same reference numerals. The warning signal is in turn generated in the interior of a vehicle 1 by corresponding loudspeakers 2 of the vehicle's infotainment system, and the driver position is analogous to Fig. 1 is represented by a ring D. Likewise, the position of the virtual sound center of the warning signal is represented by a corresponding black circle C. In contrast to Fig. 1, a warning signal is now issued in the situation of a lane change of vehicle 1 intended by the driver. A lane change warning system is integrated into the vehicle 1, which uses a corresponding sensor system, for example a radar system, to detect whether another vehicle is located at least partially to the side of the vehicle 1. This also detects, in particular, vehicles that are located in the blind spot of the corresponding side rearview mirror of the vehicle 1 and are therefore not seen by the driver. The lane change warning system always issues a warning signal when it detects that the driver intends to change lanes to a vehicle positioned to the side of the vehicle 1. The detection of a lane change can be determined, for example, by the activation of the corresponding turn signal or the detection of a corresponding steering movement by the driver.

[0038] In the scenario of Fig. 2, a vehicle 5 is located behind and to the right of vehicle 1. This vehicle has a higher speed than vehicle 1 and is getting closer and closer to vehicle 1 over the individual times t1 to t4. In the scenario of Fig. 2, vehicle 5 has already been detected by a sensor system of vehicle 1, wherein at time t1 the intention of the driver of vehicle 1 to change lanes into the lane of vehicle 5 is also detected. The lane change intention is detected due to the activation of the right turn signals of vehicle 1, wherein these activated turn signals are schematically indicated by corresponding stars with reference number 6. To warn of a collision with the rear vehicle 5, an acoustic warning tone with a moving virtual sound center C is now generated. At the beginning of the warning tone at time t1, the sound center of the warning signal is at the position of driver D. The sound center moves over time towards the source of danger, i.e. towards the rear vehicle 5. At time t2 = 0.17 s, the sound center C is in the area of ​​the right rear side window of vehicle 1.At time t3 = 0.33 s, the sound center is located between the rear right fender of vehicle 1 and the front left fender of vehicle 5. At time t4 = 0.5 s, at which the warning signal also ends, the sound center is finally in the area of ​​the windshield of vehicle 5.

[0039] With the moving sound center, the driver of vehicle 1 can intuitively and without cognitive load perceive that the danger is coming from a rear vehicle approaching along the passenger side of vehicle 1. Analogous to the execution of the Fig. 1, the sound center is preferably moved in a horizontal plane at the height of the driver's seat headrest. Likewise, the resolution of the sound center's direction of movement can be determined based on the Fig.1, i.e., with a high resolution corresponding to human resolution or with a resolution in predetermined main directions. Furthermore, the warning signal can also be issued as a concise and loud warning tone, for example, as a high-frequency beep.

[0040] The embodiments of the method according to the invention described above have a number of advantages. In particular, the movement of a virtual sound center toward the hazard achieves very effective attention-grabbing. Furthermore, in contrast to a static position of the sound center at the location of the hazard source, the effect of front-rear confusion is mitigated or eliminated with sound centers at the human median plane. This is because the moving sound center passes through so many positions on its path that even if individual positions are misidentified, the entire trajectory of the sound center can still be clearly recorded. This even makes it possible to generate a warning signal to warn of dangers from behind.The inventive generation of a warning signal with a moving virtual sound center can be easily implemented using existing sound generation devices in the vehicle and appropriately programmed software. To output the warning signal, a digital sound processing system already present in the vehicle can be used, which is controlled by software to generate a warning tone with a moving sound center.

[0041] The warning signal generated by the invention leaves the actual hazard detection and appropriate countermeasures to the driver. Nevertheless, the corresponding movement of the sound center toward the source of the hazard relieves the driver of the task of searching for the hazard, because the warning signal not only attracts the driver's attention but also focuses it on the hazard. List of reference symbols 1, 3, 5 vehicle 2 speakers 4 brake light 6 C Blinker Sound Center D Starting point t Timeline t1, t2, t3, t4 time points

Claims

[1] Method for acoustic warning of a source of danger (3, 5) in the vicinity of a vehicle (1), in particular a motor vehicle, in which: - the location of a source of danger (3, 5) detected by a sensor system in the surroundings of the vehicle (1) is determined and / or provided; - based on the location of the source of danger (3, 5), one or more acoustic warning signals are generated in the interior of the vehicle (1), wherein each acoustic warning signal comprises a virtual sound center (C) which moves from a starting point (D) to the location of the source of danger (3, 5), - wherein the respective acoustic warning signal warns of another vehicle in the vicinity of the vehicle (1) which is located at least partially to the side of the vehicle (1), in particular in the blind spot of one of the side rearview mirrors of the vehicle (1), if an intention of the driver of the vehicle (1) to change lanes is detected. [2] Method according to claim 1, characterized by that the virtual sound center (C) of the respective acoustic warning signal moves from the starting point (D) to the source of danger in a time span of 1 second or less, in particular 0.5 seconds or less and particularly preferably 0.25 seconds or less. [3] Method according to claim 1 or 2, characterized bythat the virtual sound center (C) of the respective acoustic warning signal moves essentially in a horizontal plane at the height of the driver's seat in the vehicle (1), in particular at the height of the headrest of the driver's seat. [4] Method according to one of the preceding claims, characterized by that the starting point (D) of the virtual sound center (C) of the respective acoustic warning signal lies essentially in the area of ​​the position of the driver of the vehicle (1). [5] Method according to one of the preceding claims, characterized by that a sequence of temporally successive acoustic warning signals is generated as long as the source of danger (3, 5) is present in the vicinity of the vehicle (1). [6] Method according to one of the preceding claims, characterized bythat the angular resolution, in particular the angular resolution in the horizontal, for the direction of movement of the respective acoustic warning signal starting from the starting point (D) towards the source of danger (3, 5) is substantially 5 degrees or less, in particular substantially 1 degree or less. [7] Method according to one of the preceding claims, characterized by that a plurality of discrete directions of movement are predetermined for the virtual sound center (C), wherein the sound center (C) moves in the direction of movement which is closest to the location of the source of danger (3, 5). [8] Method according to one of the preceding claims, characterized bythat the respective acoustic warning signal warns of objects (3, 5) in the vicinity of the vehicle (1) which are less than a predetermined distance from the vehicle (1) and / or for which a braking maneuver by the driver of the vehicle (1) is necessary to avoid a collision with the respective object (3, 5). [9] Method according to one of the preceding claims, characterized by that the respective acoustic warning signal is generated with the aid of a digital signal processing device of an entertainment system in the vehicle (1) and is output via loudspeakers (2) of the entertainment system. [10] Method according to one of the preceding claims, characterized by that the acoustic warning signal(s) differ for different types of hazard sources (3, 5). [11] Lane change warning system for acoustically warning of a source of danger (3, 5) in the vicinity of a vehicle (1), in particular a motor vehicle, comprising: - a means for determining and / or providing the location of a source of danger (3, 5) detected by a sensor system in the environment of the vehicle 1; - wherein the source of danger comprises another vehicle in the vicinity of the vehicle (1), which is located at least partially laterally next to the vehicle (1), in particular in the blind spot of one of the side rearview mirrors of the vehicle (1); - a means for determining an intention of the driver of the vehicle (1) to change lanes; - a means for generating one or more acoustic warning signals in the interior of the vehicle (1) based on the location of the source of danger, wherein a respective acoustic warning signal comprises a virtual sound center (C) which moves from a starting point (D) towards the location of the source of danger (3, 5). [12] Device according to claim 11, which is designed such that a method according to one of claims 1 to 10 can be carried out with the device. [13] Vehicle, in particular motor vehicle, comprising a device according to claim 11 or 12.

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