Communication between a vehicle and a road user in the vehicle's vicinity

Abstract

Control unit (101) for a vehicle (100), wherein the control unit (101) is configured, - To receive environmental data from one or more environmental sensors (103) of the vehicle (100); - to detect at least one road user in the vicinity of the vehicle (100) using the environmental data; - to determine, based on the environmental data, whether there is a need for communication between road user and vehicle (100); - if it has been determined that there is a need for communication between the road user and the vehicle (100), to cause adaptation means (201, 202, 204) of the vehicle (100) to adapt an external appearance of the vehicle (100) in order to communicate with the detected road user; wherein the adaptation means (201, 202, 204) include means to change the transparency of a side window and / or a windshield of the vehicle (100); - to determine, based on the environmental data, that the detected road user is seeking eye contact with a driver of the vehicle (100); and - then to initiate the adaptive means (201, 202, 204) to reduce the transparency of the side window and / or the windscreen in order to inform the road user that the driver is not controlling the vehicle (100).

Description

[0001] The invention relates to a method and a corresponding device that enables a vehicle, in particular one that is at least partially computer-controlled and / or autonomous, to communicate with its environment, in particular with a road user such as a person in the vicinity of the vehicle.

[0002] Currently, various initiatives on the topic of "Intelligent Transportation Systems" (ITS) are standardizing communication protocols and cooperative safety applications, including those at the European standardization bodies ETSI and CEN, as well as in the USA at ISO, SAE, and IEEE. These standards aim to enable cooperative, cross-manufacturer, and, where possible, accident-free driving in the future. The cooperative safety applications include collision avoidance and collision mitigation applications for side and rear-end collisions. The addressed safety applications, as well as the associated transmission protocols and data formats, are documented, among other places, in the ETSI standard TS 102 637 and the SAE standard SAEJ2735.The TS 102 637-2 standard defines a so-called Cooperative Awareness Message (CAM), which is periodically sent by an ITS station (e.g., a vehicle) to inform other ITS stations (e.g., other vehicles) in the vicinity about selected information (e.g., speed, acceleration, and / or position) from the sending ITS station. The information exchanged between the ITS stations, e.g., via CAM messages, can be used by the respective ITS stations to detect collision hazards and, if necessary, initiate appropriate countermeasures (e.g., warnings).

[0003] The communication procedures defined within the framework of ITS aim at communication between different ITS stations (i.e., different machines or different electronic devices). Direct communication between machine and human is not considered. In particular, communication between at least partially computer-controlled or autonomous vehicles and people in the vehicle's vicinity is neither considered nor enabled. However, such communication could serve to increase the safety and acceptance of computer-controlled or autonomous vehicles in road traffic.

[0004] DE 10 2011 081 396 A1 describes a method and a control unit for adjusting the beam pattern of at least one headlight. DE 10 2010 025 705 A1 describes a method and a device for warning other road users of dangerous road conditions or road surfaces. DE 203 16 660 U1 describes a motor vehicle with motor vehicle components. DE 10 2011 081 432 A1 describes a method and a control unit for adjusting the luminous intensity of at least one headlight of a vehicle. DE 10 2008 038 816 A1 describes a method and a device for supporting the operation of a vehicle.

[0005] This document addresses the technical challenge of enabling direct communication between a vehicle (e.g., a passenger car, truck, or motorcycle) and its surroundings, particularly with other road users such as people in its vicinity. Specifically, it aims to facilitate targeted communication with one or more selected road users.

[0006] The problem is solved by the independent claims in each case. Advantageous embodiments are described, among other things, in the dependent claims.

[0007] According to one aspect, a control unit for a vehicle is described. The vehicle can be a single-track or two-track vehicle, in particular a passenger car or a truck. The vehicle can be configured to move in road traffic without driver intervention. In other words, it can be at least partially computer-controlled and / or autonomous and / or a vehicle in highly automated driving mode (HAF mode) or automated driving mode (AF mode).

[0008] The control unit is configured to receive environmental data from one or more of the vehicle's environmental sensors. This environmental data can include information about the vehicle's surroundings or environment. The one or more environmental sensors can include a camera, a laser, an ultrasonic sensor, and / or a radar sensor. Furthermore, the control unit can be configured to receive position data from a positioning unit (e.g., a navigation system) of the vehicle. This position data can be used to position the vehicle relative to a road layout and / or relative to other road users.

[0009] The control unit is further configured to detect at least one road user in the vicinity of the vehicle based on environmental data (and, if applicable, position data). In particular, a human road user can be detected. The control unit can also be configured to simultaneously detect a large number of different road users at different positions in the vicinity of the vehicle.

[0010] Furthermore, the control unit is designed to determine, based on environmental data, whether communication is required between the road user and the vehicle. A need for communication may arise, in particular, depending on the current traffic situation.

[0011] In particular, the surrounding data can reveal that the road user is in the process of determining whether they have been detected by the vehicle. In other words, it can be recognized that the detected road user is seeking contact with the vehicle (e.g., with the driver) to ensure that they have been perceived by the vehicle (or the driver). Such a situation arises, for example, when a pedestrian intends to cross a zebra crossing and glances at the approaching vehicle before entering the roadway to ensure that the vehicle has perceived (i.e., detected) them.

[0012] To determine whether communication is needed between a road user and a vehicle, the control unit can be configured to detect a human road user's eyes using environmental data (e.g., image data). Furthermore, the control unit can be configured to determine, based on the detected eyes, that a communication need exists between the road user and the vehicle. Specifically, the detected eyes of the road user can indicate that the road user is checking whether they have been detected by the vehicle. For example, a road user looking towards the vehicle's windshield could be an indication that they are checking whether they have been detected.

[0013] The control unit is further configured to cause one or more of the vehicle's communication devices to generate an output when it has been determined that there is a need for communication between the road user and the vehicle, particularly when it has been determined that the road user is in the process of ascertaining whether they have been detected by the vehicle. The output may specifically indicate to the road user that they have been detected by the vehicle and / or in what capacity (with regard to the traffic situation) the road user has been detected by the vehicle. Furthermore, the output may indicate to the road user the vehicle's intention in relation to the current traffic situation.

[0014] In particular, the control unit can be configured to induce adaptation means in the vehicle to modify its external appearance in order to communicate with or send a message to the detected road user. These adaptation means may include, for example, means to change the appearance of a headlight. Alternatively or additionally, they may include, for example, means to change the appearance of a bumper. Alternatively or additionally, they may include, for example, means to change the appearance of a side mirror, windshield, fender, and / or hood. The adaptation means may include, for example, one or more movable parts of the vehicle to modify its appearance.Alternatively or additionally, the adaptation means can include a color-changing material and / or a color-changing surface of the vehicle, or a shape-changing material and / or a shape-changing surface of the vehicle. Examples include paints that can change color, switchable windows / films, or shape-memory polymers.

[0015] By adapting the vehicle's external appearance, the detected road user can be reliably informed, for example, that the vehicle has recognized them. Furthermore, the vehicle's appearance can communicate a future intention (e.g., the vehicle will stop and let the road user cross) and / or a future behavior (e.g., assertive or hesitant).

[0016] The control unit can be further configured to determine the position of a road user relative to the vehicle based on environmental data. Using adaptive tools, the control unit can then adjust the vehicle's appearance depending on the road user's position. For example, the vehicle's appearance can be modified only in those areas visible to the detected road user. This prevents miscommunication (e.g., with another road user).

[0017] The control unit can be configured to determine a specific traffic situation between the vehicle and other road users based on environmental data. Furthermore, the control unit can be configured to determine the vehicle's intention in relation to the determined traffic situation. Additionally, the control unit can be configured to adapt the vehicle's appearance based on the determined traffic situation and / or the vehicle's intention.

[0018] According to one aspect, the adaptation means include devices to change the transparency of a side window and / or windshield of the vehicle (for example, a window can be tinted and / or made semi-transparent). The control unit is then configured to determine, based on environmental data, that the detected road user is seeking eye contact with the driver of the vehicle. In particular, it can be recognized that the road user is checking whether they are being perceived by the driver. The control unit is further configured to then initiate the adaptation means to reduce the transparency of the side window and / or windshield to inform the road user that the driver is not operating the vehicle. In particular, reducing the transparency can reduce or prevent the road user from seeing the driver.

[0019] This allows for modifications to the front side window and / or windshield of the vehicle, making them semi-transparent or tinted, thus restricting the detected road user's view of the vehicle's driver. This communicates to the other road user that the driver is not actively participating in the driving process and is therefore not a communication partner. This reduction in transparency can be achieved, for example, through switchable windows. Such a change in appearance can prevent misunderstandings caused, for instance, by unintended communication from a person in the driver's seat who is not actively driving, as the vehicle is autonomous or highly automated.

[0020] According to another aspect, the control unit is configured to cause one or more of the vehicle's optical communication devices to generate a visual output in order to communicate with the detected road user. Each of these optical communication devices has a multitude of light points, through which a graphic symbol and / or pictogram can be displayed as a visual output. An optical communication device can have a circular shape, allowing a visual output to be generated in different directions. The use of an optical communication device with a multitude of light points enables precise communication with the detected road user.

[0021] The invention thus makes it advantageous to achieve vehicle communication through an optical communication means and / or by adapting the appearance of the vehicle.

[0022] The control unit can be configured to detect when the vehicle is in an automatic driving mode, where it moves through traffic without driver intervention. The control unit can then cause the one or more optical communication devices to move from a first position, where they are not visible from the outside, to a second position, where they are visible from the outside. This ensures that the optical communication devices do not interfere with the vehicle's manual driving mode. Conversely, an externally visible optical communication device can easily indicate to other road users that the vehicle is in autonomous driving mode.

[0023] The control unit can be configured to determine lighting conditions in the vehicle's vicinity based on environmental data. Furthermore, the control unit can be configured to adjust the visual output generated via one or more optical communication devices depending on the lighting conditions. This ensures that the visual output is visible to a detected road user even in poor lighting conditions.

[0024] The control unit can be configured to determine the existence of a specific traffic situation between the vehicle and the road user. The control unit can further be configured to determine a characteristic of the road user (e.g., child or adult). Additionally, the control unit can be configured to determine the vehicle's speed. The visual output generated via one or more optical communication devices can then be adapted depending on the traffic situation, the road user's characteristic, and / or the vehicle's speed. This improves the quality of communication.

[0025] The control unit can be configured to determine the position of a road user relative to the vehicle based on environmental data. Furthermore, the control unit can be configured to adjust the visual output generated via one or more optical communication devices depending on the road user's position. Specifically, the visual output can be generated in such a way that it is visible to the detected road user. Conversely, no visual output can be generated in directions other than those of the detected road user. This allows for targeted communication with the detected road user (without confusing other road users).

[0026] The control unit can be configured to cause one or more of the vehicle's optical communication devices to generate an optical output that includes (and / or represents) a symbol and / or pictogram pointing in the direction of the detected road user. By "pointing" at the detected road user in this way, it can be clearly communicated to the detected road user that the communication emanating from the vehicle is directed at them.

[0027] The control units described in this document ensure that road users, especially human road users, are recognized by the vehicle and informed of their recognition, even without driver intervention. Conversely, this also means that road users are notified if they have not been recognized. Certainty regarding perception and being perceived in road traffic, as well as information about the vehicle's intentions, typically leads to increased road safety. Therefore, the described control units can contribute to enhancing the safety of (potentially autonomous) vehicles in road traffic, particularly with regard to human road users.

[0028] The control unit can be configured to determine one or more indicators of a road user's intention based on environmental data and, if applicable, position data. These one or more indicators may include, for example, the road user's direction of movement relative to the vehicle (from which, for example, it can be inferred that the road user intends to cross the road in front of the vehicle), the road user's direction of gaze relative to the vehicle (looking right / left, for example, indicates that the road user intends to cross a road), a traffic sign and / or traffic control device in the vicinity of the vehicle and the road user (a zebra crossing, for example, indicates that a road user intends to cross the road).

[0029] Based on one or more indicators, it can then be determined that a communication need exists between the road user and the vehicle. In particular, it can be determined that a specific traffic situation exists between the vehicle and the road user. A traffic situation could, for example, be a potential collision risk between the vehicle and the road user. The control unit can then be configured to cause the vehicle's one or more communication devices (especially the adaptive devices and / or the optical communication devices) to generate an output (possibly further) to indicate to the road user how the vehicle will behave in relation to the traffic situation. In other words, the vehicle's communication devices (especially the adaptive devices and / or the one or more optical communication devices) can be controlled depending on the traffic situation.This allows human road users, in particular, to ascertain whether or not a vehicle poses a danger. Thus, even with autonomous vehicles, increased safety and appropriate levels of trust can be ensured in road traffic.

[0030] The vehicle may include a visual and / or audible output device in the vehicle's interior. The control unit may be configured to transmit information via this device indicating that the vehicle is communicating with one or more detected road users. This allows a vehicle occupant (e.g., the person sitting in the driver's seat) to be informed that the vehicle has identified a need to communicate with another road user and that the vehicle is communicating with that other road user autonomously.

[0031] The output device can also be used to indicate which road user is being communicated with. This allows for efficient intervention by a vehicle occupant if necessary.

[0032] According to another aspect, a method for communication between a vehicle and a road user is described. This method includes features that correspond to the features of a control unit described in this document.

[0033] According to another aspect, a vehicle (e.g. a passenger car, a truck or a motorcycle) is described that includes a control unit described in this document.

[0034] Another aspect described is a software (SW) program. The SW program can be configured to run on a processor (e.g., on one or more control units of a vehicle) and thereby execute the procedure described in this document.

[0035] Another aspect describes a storage medium. This storage medium can include a software program configured to run on a processor and thereby execute the procedure described in this document.

[0036] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspect of the methods, devices, and systems described in this document can be combined with one another in a variety of ways. In particular, the features of the claims can be combined with one another in a variety of ways.

[0037] The invention will now be described in more detail using exemplary embodiments. Fig. 1. A block diagram of exemplary components of a vehicle; Fig. 2 an exemplary vehicle with adaptation means; Fig. 3 an exemplary optical means of communication; and Fig. 4. A flowchart of an exemplary procedure for communication between a vehicle and a road user.

[0038] As stated at the outset, this document deals with direct communication between a vehicle (in particular an autonomous, self-driving vehicle) and its environment. This direct communication typically does not require the use of telecommunications equipment for wireless or wired telecommunications.

[0039] With the increasing automation of driving systems or vehicles, the problem arises that it is difficult for human road users to interpret the behavior of an autonomous vehicle and to assess whether the vehicle has recognized them. However, this information is of significant importance to a human road user, for example, when crossing a pedestrian crossing.

[0040] This document describes a device that enables a vehicle to communicate with human road users to indicate the existence of mutual perception (the vehicle perceives the human road user and is also perceived by the human road user). The described device can also facilitate communication regarding the intended behavior in road traffic.

[0041] In particular, the device described in this document may be set up, • to report back to a road user whether and as what the road user has been recognized by the device. • to interpret the behavior and explicit communication of the road user and to reflect the resulting understanding of the intentions back to the road user. • To provide indications of what action the device will take next with respect to the road user (e.g., allowing the human road user to cross the road or allowing another vehicle to merge).

[0042] This makes it transparent to other road users how much the device knows and understands. In particular, it gives human road users the opportunity to communicate and thus interact safely with an automated vehicle.

[0043] Fig. Figure 1 shows a block diagram of selected components of a vehicle 100. In particular, it shows Fig. 1. A control unit 101 for a vehicle 100, wherein the control unit 101 is configured to enable direct communication between the vehicle 100 and one or more road users in the vicinity of the vehicle 100. Direct communication can be a form of communication that can be perceived directly by a human sense organ, in particular without the need for a telecommunications device. For this purpose, the control unit 101 can be configured to cause the vehicle 100 to output a message to the one or more road users in optical and / or acoustic form. This message can then be perceived directly by the eyes and / or ears of the one or more road users.

[0044] The vehicle 100 comprises one or more environmental sensors 103, which are configured to acquire information regarding the vehicle 100's surroundings or environment. The one or more environmental sensors 103 may, for example, include a camera (infrared, visible light) that can acquire visual information about the surroundings. Based on this visual information, another road user, such as a pedestrian or another vehicle, can be detected in front of or to the side of the vehicle 100. Alternatively or additionally, the one or more environmental sensors 103 may include a radar sensor that can, for example, determine the distance between the vehicle 100 and another road user. The data provided by the one or more environmental sensors 103 can be referred to as environmental data.

[0045] The control unit 101 is configured to receive environmental data from the one or more environmental sensors 103. Furthermore, the control unit 101 is configured to use this environmental data to detect one or more road users in the vicinity of the vehicle 100, particularly in the area in front of the vehicle 100.

[0046] Furthermore, the control unit 101 can be configured to determine one or more indicators regarding the intention of one or more road users based on environmental data. For this purpose, the control unit 101 can also use position data from a positioning unit 104 (e.g., from a navigation system) of the vehicle 100. The position data can include, in particular, information regarding the current position of the vehicle 100, the road layout of a road on which the vehicle 100 is located, and / or traffic signs on the road. In particular, the position data of the control unit 101 can enable the vehicle 100 and the one or more detected road users to be positioned relative to each other and relative to a road layout.For example, it can be determined that a detected pedestrian is on a sidewalk and standing at a crosswalk, ready to cross a street where vehicle 100 is currently located. This can be an indication that the pedestrian intends to cross the street at the crosswalk in front of vehicle 100.

[0047] Further examples of indicators regarding the intention of a road user are: • a movement pattern of the detected road user (e.g. a pedestrian) in the direction of the road on which vehicle 100 is located, • a hand movement of the detected road user (e.g. a pedestrian) in the direction of the vehicle 100; • a direction of view of the detected road user (e.g. a pedestrian) in the direction of the vehicle 100; • Detecting a turn signal from the detected road user (e.g., another non-autonomous vehicle) in order to change lanes to vehicle 100.

[0048] Based on environmental data and, if applicable, position data, one or more indicators of the detected other road user's intention can be determined. Furthermore, it can be determined (particularly based on these one or more indicators) whether communication is necessary between vehicle 100 and the detected other road user. Specifically, it can be determined whether a traffic situation (e.g., a collision risk) exists between vehicle 100 and the other road user that necessitates communication between vehicle 100 and the detected road user.

[0049] The control unit 101 can further be configured to communicate with the detected road user regarding the current traffic situation via a communication means 102 of the vehicle 100. In the Fig. In the example shown, the communication means 102 include the headlights of vehicle 100. For example, by emitting light pulses from the headlights, the detected road user can be shown that they have been perceived by vehicle 100 and that they are being asked by vehicle 100 to cross the road. This can then be interpreted by the road user as an indication that they can cross the road without risk.

[0050] The vehicle 100 can include a variety of different communication means 102, which can also be used in combination to generate a message for the detected road user. Examples of such communication means 102 are: • One or more visual outputs in or near the headlights that give road users the feeling of being seen. This can be achieved by using eye-like, movable elements to simulate the phenomenon of human eye contact. The positioning of the visual outputs (e.g., the two "eyes" or their "pupils") can convey the information that the driver is seen. • A unit for laser projection of information onto surfaces outside the vehicle. This is useful, for example, when eye contact cannot be established to inform other road users that they have been detected by the vehicle. Laser projection can also be used to transmit additional information. • Similarly, a visual output unit can also be used on the body and / or windows of the vehicle 100. • An output unit for directional sound. Direct communication between vehicle 100 and road users can also be established via acoustic signals. • A device for integrating personal electronic devices, such as augmented reality glasses and / or so-called "wearable" devices carried by the human road user, including a transmitter unit to transfer information to the electronic devices. • A system for moving vehicle 100 in order to communicate the intentions of vehicle 100 through a suggestion of movement and behavior of vehicle 100. • Customization tools that allow the external appearance of the vehicle to be adapted 100. • One or more optical communication devices that make it possible to output symbols and / or pictograms to or for a detected road user in a targeted manner.

[0051] In summary, control unit 101 can be configured to process information about and from other road users. Furthermore, control unit 101 can be configured to recognize and interpret the intentions of other road users. Additionally, control unit 100 can be configured to generate a communication strategy (including modality, type, and intensity of output) and the associated communication content.

[0052] The control unit 100 can be configured to detect a large number of road users and communicate with them simultaneously. Different communication devices 102 may be used to ensure unambiguous communication with each individual road user.

[0053] The control unit 101 and the corresponding procedure described in this document can be used in particular in autonomous, i.e., self-driving, vehicles 100. Alternatively or additionally, the control unit 101 can also be used to provide a driver assistance function (DAS) in a largely driver-controlled vehicle 100.

[0054] A vehicle designed for 100 km / h (equivalent to a standard passenger vehicle) typically has an external appearance that cannot be altered, or only minimally. In particular, the "character" of a vehicle designed for 100 km / h is typically unchangeable. However, depending on the traffic situation, a road user should be able to behave differently. In certain situations, assertiveness is required, while in others it may be important to de-escalate the situation or adopt a more reserved approach. Currently, the only way a vehicle designed for 100 km / h is through the driver's driving style to influence its outward appearance. Specifically, the appearance of the vehicle is unchangeable. This is disadvantageous in terms of clear communication with other road users, as the appearance of the vehicle designed for 100 km / h can significantly impact how it is perceived by other road users.

[0055] Fig. Figure 2 shows an exemplary front section of a vehicle 100. In particular, it shows Fig. 2 a front headlight 102 of a vehicle 100. In addition, it shows Fig. Two adaptation means 201, 202 with which the appearance and / or shape of the headlight 102 can be changed. The adaptation means 201, 202 can, for example, include movable elements with which a part of the headlight 102 can be covered or exposed. In this way, the appearance of the headlights 102 of a vehicle 100 can be changed. In particular, the appearance of the headlights 102 can be adapted depending on what message is to be communicated to another road user (especially a human road user).

[0056] Alternatively or additionally, the shape of the bumper 203 of the vehicle 100 can be adapted by means of adaptation means 204. In particular, an opening in the bumper 203 can be used to adapt the "character" of the vehicle 100 in order to communicate information to another road user.

[0057] The appearance of vehicle 100 can thus be adapted to the traffic situation and / or the driver's mood. For this purpose, switchable films or smart materials can be used within the adaptation tools 201, 202, and 204, which make elements 102 and 203 on vehicle 100 appear larger or smaller, or change their shape (usually subtly). For example, the shape of the headlights 102, which are often perceived as the "eyes" of vehicle 100, can be changed to appear more assertive (through adaptation tool 201) or more open and friendly (through adaptation tool 202). Alternatively or additionally, vehicle 100 can be visually widened or narrowed.

[0058] The control unit 101 can determine the existence of a specific traffic situation based on environmental data. The current traffic situation can then be analyzed. Furthermore, one or more indicators of the emotions of other road users can be determined (e.g., based on image data). Subsequently, it can be determined what "character" and / or appearance the vehicle 100 should project to the other road user. If necessary, the mood of an occupant can be determined by analyzing measurement data (e.g., image data of the occupant) and taken into account when determining the appearance of the vehicle 100. The adaptation means 201, 202, and 204 of the vehicle 100 can then be instructed by the control unit 101 to implement the determined appearance. The vehicle 100 can also include an interface for transmitting its intentions.

[0059] By providing adaptation means 201, 202, and 204, the vehicle 100 can adjust its emotional impact to the current traffic situation. This increases the acceptance of the vehicle 100's actions, as the vehicle 100 always appears "appropriate." The vehicle 100 thus becomes a flexible, integrated participant in road traffic, reacting with fine-tuned sensitivity, defusing situations, and inspiring confidence in other road users. This is particularly important for highly automated vehicles, as such measures can promote trust in and acceptance of highly automated vehicles. Furthermore, the vehicle 100 can emphasize a message to be communicated to another road user by appropriately adjusting its expression. This further increases the vehicle 100's independence from driver intervention.

[0060] Alternatively or additionally, the vehicle may include 100 communication devices 102 which are equipped to communicate with another road user by means of optical signals. Fig. Figure 3 shows an exemplary optical communication device 300, which can be arranged, for example, on the hood of a vehicle 100 (e.g., below an emblem of the vehicle 100's manufacturer). In the example shown, the optical communication device 300 has a round shape and is therefore visible to other road users from different directions.

[0061] The optical communication device 300 has a frame 301, which, for example, has a cylindrical shape. A plurality of light sources 302 are arranged on a side surface of the communication device 300. The light sources 302 can, for example, be implemented by LEDs (Light Emitting Diodes). In the example shown, the communication device 300 has an LED matrix 304, wherein the light from the individual LEDs is guided to the individual light sources 302 via optical fibers 303. The side surface of the communication device 300 can be composed of a plurality of layers 305, 306, 307. For example, the side surface can have a diffuser 305, a plastic substrate 306, and / or a Vikuiti film. Alternatively or additionally, light sources (e.g., LEDs) can also be arranged directly on the side surface of the communication device 300.

[0062] The side surface of the communication device 300 thus has a multitude of light sources 302. The vehicle 100 can use the multitude of light sources 302 to communicate with another road user. In particular, the multitude of light sources 302 can display different symbols and / or pictograms as optical output from the communication device 300.

[0063] The optical communication device 300 thus has individually controllable light points 302 (e.g., an LED grid). The optical communication device 300 can be used to indicate the (H)AF mode of the vehicle 100 in traffic. Alternatively or additionally, the optical communication device 300 can serve to transmit the (H)AF 100's perception, intention, and requests to other road users.

[0064] In particular, symbols (e.g., an arrow) can be displayed on the communication device 300. Alternatively or additionally, messages can be encoded in light signals (e.g., pulsing, dimming with a gradient over time and / or area, etc.).

[0065] The vehicle 100 may have one or more optical communication devices 300. The communication device(s) 300 may be positioned, for example, on the hood (e.g., below the emblem) of the vehicle 100, on the turn signal, and / or on the rear of the vehicle 100. The information transmitted by a communication device 300 (e.g., symbols / signals, brightness, color, orientation, speed, etc.) may be adapted to one or more of the following aspects: • a current traffic situation; • Environmental conditions (weather, ambient light); • the road user with whom communication is to take place (e.g., the position, type, and / or speed of the road user); and / or • the speed of the vehicle 100.

[0066] In addition, the control unit 101 can decide, based on the above aspects, which one or more of a large number of optical communication means 300 of a vehicle 100 are used to communicate with a road user.

[0067] Based on data about the position of the other road user, the orientation and shape of the emitted signal within an optical communication device 300 can be adjusted. For example, the symbols or light signals can be aligned with the road user to be reached and displayed with the appropriate distortion so that the road user can perceive them optimally.

[0068] To ensure that a road user feels addressed by a signal emitted by the optical communication device 300, special symbolism can optionally be used, e.g. two light stripes or light points that explicitly point towards the road user, so that he knows that he has been seen and / or that he is being addressed by the optical communication device 300.

[0069] The communication device 300 can be recessed into the vehicle 100, so that the communication device is only visible in an active mode (e.g. only in (H)AF mode).

[0070] A vehicle 100 can thus comprise at least one optical communication device 300, each with a device for lowering / extending it or with a permanent fixing. The control unit 101 can be configured to detect light signals / symbols to be output via the optical communication device 300. Furthermore, the control unit 101 can cause the optical communication device 303 (in particular the individual light sources 302) to output the detected light signals / symbols.

[0071] The light signals / symbols can be determined depending on a detected traffic situation, a detected road user, and / or detected environmental conditions. For this purpose, the environmental data from one or more environmental sensors 103 of the vehicle 100 can be evaluated.

[0072] The control unit 101 can be configured to detect the (H)AF mode of the vehicle 100. The optical communication device 300 can only be used if the vehicle 100 is in (H)AF mode. Furthermore, the vehicle 100 can include an interface to the HAF control system, through which the vehicle 100's perception and intention are transmitted. Additionally, the vehicle 100 can optionally have an interior control element that allows manual selection and transmission of a communication / message via the optical communication device 300.

[0073] As in Fig. As shown in Figure 3, the optical communication device 300 can have a ring-shaped LED grid behind a plastic 306. The optical communication device 300 can be positioned under an emblem on the hood of the vehicle 100. The multiple light sources 302 can be provided by a ring-shaped LED grid. To achieve a higher resolution, an LED matrix 304 can be used under the hood, with an optical fiber 303 leading from each LED of the matrix 304 behind the plastic 306 to provide a light source 302. Alternatively or additionally, each LED row (or LED ring) on ​​the side of the communication device 300 can consist of two circuit boards arranged one behind the other, which can be fitted with LEDs offset to increase the resolution of the LED grid. The front row then has a cutout in the substrate material where an LED from the rear row shines through.

[0074] The LEDs, i.e., the individual light sources 302, can be connected in series or in a ring, for example, and can be controlled by the control unit 101. The color and / or intensity of each individual LED can be controlled. If necessary, the LEDs may not be individually visible through the plastic 306. This can be achieved, for example, by a diffuser film 305 and / or a plastic cap made of semi-transparent material or with suitable surface properties, and / or by a spacer between the LEDs and the plastic. To define a beam direction and to avoid, for example, reflections on the vehicle's paintwork 100, a film 307 (e.g., a Vikuiti film) or a material property of the plastic 306 can be used that reduces the beam angle of the light. Limiting the beam angle also serves, for example, to direct the light only onto one road user.For this purpose, the film 307 and / or the plastic 306 can be controllable (e.g., the emission direction can be variable depending on, for example, the position of the road user's eyes). Furthermore, the optical communication unit can include a cooling system (e.g., a fan or a cooling unit).

[0075] The communication means 300 described in this document can ensure the acceptance of a highly automated vehicle 100 and smooth interaction between a highly automated vehicle 100 and other road users.

[0076] In particular, this allows vehicle 100 to communicate reliably with another road user without requiring interaction from the vehicle's driver. Furthermore, the communication device 300 can improve traffic flow due to seamless communication between vehicle 100 and other road users. Additionally, it can increase road safety by preventing misunderstandings (i.e., through clear communication of intentions).

[0077] Fig.Figure 4 shows a flowchart of an exemplary method 400 for direct communication between a vehicle 100 and a road user. The method 400 includes the acquisition 401 of environmental data using one or more environmental sensors 103 of the vehicle 100. In particular, image data of the vehicle's surroundings can be acquired using a camera. Furthermore, the method 400 includes the detection 402, based on the environmental data, of at least one road user in the vicinity of the vehicle 100. For example, a human road user can be detected in the vicinity of the vehicle. The method 400 can further include determining 403, based on the environmental data, that the road user is in the process of determining whether they have been detected by the vehicle 100. For example, it can be determined from the environmental data that the human road user is looking in the direction of the vehicle 100. Furthermore, for example,It can be determined from a facial expression of the human road user whether the human road user is currently determining whether he or she has been detected by vehicle 100.

[0078] Method 400 further comprises generating 404 an output via one or more communication means 102, 201, 202, 204, 300 of the vehicle 100, particularly when it has been determined that the road user is in the process of ascertaining whether they have been detected by the vehicle 100. The output may be designed to indicate to the road user that they have been detected by the vehicle 100. For this purpose, an optical and / or acoustic output and / or an adjustment of the appearance of the vehicle 100 may be made. This enables the road user to better anticipate the future actions of the vehicle 100, as they know that they have been detected by the vehicle, and the vehicle 100 will therefore take the road user into account in its future actions.

[0079] The measures described in this document can increase safety in mixed road traffic involving human road users and computer-controlled or autonomous vehicles. Furthermore, they can increase the acceptance of vehicles with driver assistance systems, for partially automated driving (FAD), for highly automated driving (HAD), and for autonomous driving.

[0080] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the figures are intended only to illustrate the principle of the proposed methods, devices, and systems.

Claims

[1] Control unit (101) for a vehicle (100), wherein the control unit (101) is configured, - To receive environmental data from one or more environmental sensors (103) of the vehicle (100); - to detect at least one road user in the vicinity of the vehicle (100) using the environmental data; - to determine, based on the environmental data, whether there is a need for communication between road user and vehicle (100); - if it has been determined that there is a need for communication between the road user and the vehicle (100), to cause adaptation means (201, 202, 204) of the vehicle (100) to adapt an external appearance of the vehicle (100) in order to communicate with the detected road user; wherein the adaptation means (201, 202, 204) include means to change the transparency of a side window and / or a windshield of the vehicle (100); - to determine, based on the environmental data, that the detected road user is seeking eye contact with a driver of the vehicle (100); and - then to initiate the adaptive means (201, 202, 204) to reduce the transparency of the side window and / or the windscreen in order to inform the road user that the driver is not controlling the vehicle (100). [2] Control unit (101) according to claim 1, wherein the control unit (101) is configured, - to determine the position of the road user relative to the vehicle (100) based on the environmental data; and - to adapt the appearance of the vehicle (100) depending on the position of the road user using the adaptation means (201, 202, 204). [3] Control unit (101) according to one of the preceding claims, wherein the control unit (101) is configured, - to determine a traffic situation between vehicle (100) and road user based on the environmental data; - to determine the intention of the vehicle (100) in relation to the identified traffic situation; and - to adapt the appearance of the vehicle (100) using the adaptation means (201, 202, 204) depending on the determined traffic situation and / or depending on the intention of the vehicle (100). [4] Control unit (101) according to any one of the preceding claims, wherein the adjustment means (201, 202, 204) comprise one or more of, - Means (201, 202) to change the appearance of a headlight (102) of the vehicle (100); and / or - Means (204) to change the appearance of a bumper (203) of the vehicle (100); and / or - Means to alter the appearance of a side mirror, windscreen, fender and / or bonnet of the vehicle (100); and / or - one or more movable elements of the vehicle (100); and / or - a color-changing material or surface of the vehicle (100); and / or - a shape-changing material or a shape-changing surface of the vehicle (100). [5] Control unit (101) for a vehicle (100), wherein the control unit (101) is configured, - To receive environmental data from one or more environmental sensors (103) of the vehicle (100); - to detect at least one road user in the vicinity of the vehicle (100) using the environmental data; - to determine, based on the environmental data, whether there is a need for communication between road user and vehicle (100); - if it has been determined that there is a need for communication between the road user and the vehicle (100), to cause one or more optical communication means (300) of the vehicle (100) to generate an optical output in order to communicate with the detected road user; wherein the one or more optical communication means (300) have a plurality of light points (302) by which a graphic symbol and / or a pictogram can be displayed as an optical output; and - to cause the one or more optical communication means (300) of the vehicle (100) to generate an optical output that includes a symbol and / or pictogram pointing in a direction of the detected road user. [6] Control unit (101) according to claim 5, wherein the control unit (101) is configured, - to determine, based on the environmental data, the lighting conditions in the vicinity of the vehicle (100); and - to adjust the optical output generated via the one or more optical communication means (300) depending on the lighting conditions. [7] Control unit (101) according to one of claims 5 to 6, wherein the control unit (101) is configured, - to determine a traffic situation between the vehicle (100) and the road user; and / or - to determine a characteristic of the road user; and / or - to determine the speed of the vehicle (100); and - to adapt the optical output generated via the one or more optical communication means (300) depending on the traffic situation, the characteristics of the road user and / or the speed of the vehicle (100). [8] Control unit (101) according to any one of claims 5 to 7, wherein the control unit (101) is configured, - to determine the position of the road user relative to the vehicle (100) based on the environmental data; and - to adapt the optical output generated via the one or more optical communication means (300) depending on the position of the road user. [9] Control unit (101) for a vehicle (100), wherein the control unit (101) is configured, - To receive environmental data from one or more environmental sensors (103) of the vehicle (100); - to detect at least one road user in the vicinity of the vehicle (100) using the environmental data; - to determine, based on the environmental data, whether there is a need for communication between road user and vehicle (100); - if it has been determined that there is a need for communication between the road user and the vehicle (100), to cause one or more optical communication means (300) of the vehicle (100) to generate an optical output in order to communicate with the detected road user; wherein the one or more optical communication means (300) have a plurality of light points (302) by which a graphic symbol and / or a pictogram can be displayed as an optical output; - to determine that the vehicle (100) is in an automatic driving mode in which the vehicle (100) moves in road traffic without driver intervention; and - to cause the one or more optical communication means (300) to be moved from a first position in which the one or more optical communication means (300) are not visible from the outside to a second position in which the one or more optical communication means (300) are visible from the outside. [10] Control unit (101) according to any of the preceding claims, wherein - the road user is a human being; - the control unit (101) is set up to detect human eyes based on environmental data; and - the control unit (101) is set up to determine, based on the detected eyes, that there is a need for communication between road user and vehicle (100). [11] Control unit (101) according to any of the preceding claims, wherein the control unit (101) is configured, - to determine, based on the surrounding data, one or more indications of the intention of the road user; - to determine, based on one or more indicators, that a traffic situation exists between the vehicle (100) and the road user that requires communication between the vehicle (100) and the road user; and - to control the vehicle's (100) adaptation means (201, 202, 204) and / or the one or more optical communication means (300) depending on the traffic situation. [12] Control unit (101) according to any of the preceding claims, wherein - the vehicle (100) includes an output device in an interior space of the vehicle (100); and - the control unit (101) is set up to output information via the output device that the vehicle (100) is communicating with the detected road user. [13] Method for communication between a vehicle (100) and a road user, the method comprising, - Receiving environmental data from one or more environmental sensors (103) of the vehicle (100); - Detect, based on environmental data, at least one road user in the vicinity of the vehicle (100); - Determine, based on the environmental data, whether there is a need for communication between road user and vehicle (100); - To cause, when it has been determined that there is a need for communication between the road user and the vehicle (100), the adaptation means (201, 202, 204) of the vehicle (100) to adapt an external appearance of the vehicle (100) in order to communicate with the detected road user; wherein the adaptation means (201, 202, 204) include means to change the transparency of a side window and / or a windshield of the vehicle (100); - Determine, based on the environmental data, that the detected road user is seeking eye contact with a driver of vehicle (100); and - thereupon, initiating the adaptive means (201, 202, 204) to reduce the transparency of the side window and / or the windscreen in order to inform the road user that the driver is not controlling the vehicle (100). [14] Method for communication between a vehicle (100) and a road user, the method comprising, - Receiving environmental data from one or more environmental sensors (103) of the vehicle (100); - Detect, based on environmental data, at least one road user in the vicinity of the vehicle (100); - Determine, based on the environmental data, whether there is a need for communication between road user and vehicle (100); - When it has been determined that there is a need for communication between the road user and the vehicle (100), cause one or more optical communication means (300) of the vehicle (100) to generate an optical output in order to communicate with the detected road user; wherein the one or more optical communication means (300) have a plurality of light points (302) by which a graphic symbol and / or a pictogram can be displayed as an optical output; and - Causing the vehicle's (100) one or more optical communication devices (300) to generate an optical output that includes a symbol and / or pictogram pointing in a direction toward the detected road user. [15] Method for communication between a vehicle (100) and a road user, the method comprising, - Receiving environmental data from one or more environmental sensors (103) of the vehicle (100); - Detect, based on environmental data, at least one road user in the vicinity of the vehicle (100); - Determine, based on the environmental data, whether there is a need for communication between road user and vehicle (100); - When it has been determined that there is a need for communication between the road user and the vehicle (100), cause one or more optical communication means (300) of the vehicle (100) to generate an optical output in order to communicate with the detected road user; wherein the one or more optical communication means (300) have a plurality of light points (302) by which a graphic symbol and / or a pictogram can be displayed as an optical output; - Determine that the vehicle (100) is in an automatic driving mode in which the vehicle (100) moves in road traffic without driver intervention; and - thereupon, causing the one or more optical communication means (300) to be moved from a first position in which the one or more optical communication means (300) are not visible from the outside to a second position in which the one or more optical communication means (300) are visible from the outside.

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