Procedures for assisting a driver and motor vehicle

Abstract

Method for assisting a driver of a motor vehicle (23), wherein, upon fulfillment of a trigger condition (17), a notification (19), in particular optical and / or acoustic and / or haptic, is issued to the driver and / or an automated driving intervention (20) is carried out, wherein the fulfillment of the trigger condition (17) depends on whether, on the one hand, a message (10, 14) from another motor vehicle (27) involved in an accident is received via a receiving device (26) of the motor vehicle (23) and / or whether, on the other hand, the presence of an emergency vehicle (29) and / or the issuance of a flag signal (12) is detected by evaluating sensor data (42) of at least one sensor (24) of the motor vehicle (23), characterized in that, on the one hand, the trigger condition (17) comprises a first and a second sub-condition (21, 22),wherein the fulfillment of the first sub-condition (21) depends on the detection of the flag signal (12) and the fulfillment of the second sub-condition (22) depends on the detection of the presence of the emergency vehicle (29), wherein the trigger condition (17) is fulfilled when either of the two sub-conditions (21, 22) is fulfilled, and / or that, on the other hand, a racetrack condition (6) is evaluated which is fulfilled or can only be fulfilled if the motor vehicle (23) is on a racetrack, wherein, depending on the fulfillment of the racetrack condition (6), it is specified which input data are evaluated by the trigger condition (17).

Description

[0001] The invention relates to a method for assisting the driver of a motor vehicle, wherein, upon fulfillment of a trigger condition, a signal, in particular visual and / or acoustic and / or haptic, is issued to the driver and / or an automated driving intervention is carried out, wherein the fulfillment of the trigger condition depends on whether, on the one hand, a message from another vehicle involved in an accident is received via a receiving device of the motor vehicle and / or whether, on the other hand, the presence of an emergency vehicle and / or the issuance of a flag signal is detected by evaluating sensor data from at least one sensor of the motor vehicle. The invention also relates to a motor vehicle.

[0002] Several approaches exist for warning drivers of upcoming hazards. For example, traffic jams and accidents are reported to drivers via radio, warning lights are used in the vicinity of hazards, and similar methods are employed. On racetracks, for instance, it is common practice to use flag signals to indicate dangers, such as accidents in the upcoming section of the track.

[0003] A disadvantage of these types of information provision is that, on the one hand, they can only give the driver relatively general information, such as that a hazard exists at all, and on the other hand, depending on the driver's level of attention, the environmental conditions, etc., there can be relatively long reaction times until the driver perceives and reacts to the corresponding information.

[0004] German patent application DE 10 2019 132 091 A1 discloses a method for operating a motor vehicle. During autonomous or semi-autonomous driving, the vehicle's trajectory can be shifted to the edge of an occupied lane, depending on the vehicle's current speed and traffic volume, in order to create an emergency lane. Furthermore, the vehicle can be stopped before entering a narrow section or intersection if an emergency vehicle is present or an accident is detected. The driver can be warned visually or audibly when the trajectory is shifted or the vehicle is stopped. The position of an emergency vehicle or the accident can be displayed on the vehicle's instrument panel.When shifting the driving trajectory, information about stationary and / or moving objects can be taken into account to avoid collisions.

[0005] German patent application DE 10 2006 030 370 A1 discloses a distance warning system that can issue a warning signal when the distance between the vehicle and a vehicle ahead falls below a certain warning threshold. Radar sensors are used to detect the distance. However, such distance warning systems typically only issue a warning at relatively small distances and are therefore only partially suitable for alerting a driver to, for example, a hazard caused by a crashed vehicle. Such warning systems are also rather unsuitable for use on racetracks, as the distances between vehicles on a racetrack often fall significantly short of the distances normally maintained on public roads, potentially distracting the driver with frequent warnings.

[0006] The invention is therefore based on the objective of providing a method for supporting a driver that is improved compared to the approaches described and can, in particular, inform the driver early and accurately about potential hazards.

[0007] The object of the invention is achieved by a method of the type mentioned at the outset, wherein, on the one hand, the triggering condition comprises a first and a second sub-condition, wherein the fulfillment of the first sub-condition depends on the detection of the flag signal being given and the fulfillment of the second sub-condition depends on the detection of the presence of the emergency vehicle, wherein the triggering condition is fulfilled when one of the two sub-conditions is fulfilled, and / or wherein, on the other hand, a racetrack condition is evaluated, which is fulfilled or can only be fulfilled when the motor vehicle is on a racetrack, wherein, depending on the fulfillment of the racetrack condition, it is specified which input data are evaluated by the triggering condition.

[0008] It is therefore proposed, in particular, to detect upcoming hazards early by receiving a corresponding message from a crashed vehicle or by recognizing indicators that point to the presence of an upcoming hazard. This is advantageous because, for example, the detection of another vehicle via radar sensors or cameras does not initially reveal whether it is a crashed vehicle.By taking into account a corresponding message from this vehicle or other indications that point to an accident, a construction site or similar, namely a flag signal used especially on racetracks or the presence of emergency vehicles in the relevant area, an accident or other hazard can be detected much earlier and thus early warnings can be given to the driver or driving interventions can be made in order to react to the presence of this hazard.

[0009] The indication can be visual, audible, and / or tactile.

[0010] Driving intervention can be used to avoid or bypass a hazard. However, it is also possible for driving intervention to automatically create an emergency lane. Specifically, depending on the input data of the trigger condition and / or other information gathered, a decision can be made as to whether an emergency lane should be created or the hazard should be bypassed. It is also possible for different trigger conditions to be evaluated for two or more different alerts or driving interventions.

[0011] A suitable sensor can be an imaging sensor, specifically a camera. Flag signals are easily recognizable by analyzing the corresponding image data, due to the relatively clear structure of the flag and its movement, especially when evaluating sequentially timed images or video recordings. Flag signal detection leverages the already existing, targeted cue for the driver by automatically recognizing the flag signal and triggering an additional, internal warning or driving intervention. Such a sensor can also detect light signals, which, as will be explained later, can be considered within the triggering conditions.

[0012] Using an imaging sensor, emergency vehicles can be detected through image recognition. In particular, warning lights, such as blue or yellow lights typically used for warning or notification purposes, can be identified. Emergency vehicles can include, for example, police cars, fire trucks, ambulances, tow trucks, and / or highway maintenance vehicles. Alternatively or additionally, the presence of an emergency vehicle can also be detected using an acoustic sensor, for example, by recognizing characteristic sound sequences, such as those of a siren.

[0013] Whether or not a trigger condition is met can depend on prior user input, particularly from the driver. This can be done using the vehicle's user interface or that of a component communicating with the vehicle, such as a smartphone. For example, the functionality described above and below, which can also be referred to as a virtual safety zone, can be activated or deactivated by a corresponding user input. When activated, this functionality can operate in the background and only become noticeable, for example, through a warning or driving intervention, if the trigger condition is met.

[0014] Depending on the input data of the trigger condition, which includes in particular communication data of the receiving device and / or the sensor data, it can be determined whether there is at least one hazard in a section of the road currently or likely to be traveled by the motor vehicle, in particular the other and / or another crashed motor vehicle and / or the emergency vehicle and / or an area of ​​reduced liability, specifically an ice surface or standing water, and / or an obstacle, and / or whether changed traffic rules or racing rules apply in the section of the road, whereby the fulfillment of the trigger condition depends on the presence of the hazard and / or on the existence of the changed traffic rules or racing rules.

[0015] The driver can thus be alerted by the inventive method to various hazards and to changes in traffic or racing rules. Obstacles such as animals or objects on the road can be detected. Areas of reduced traction and / or obstacles can be identified, for example, based on sensor data from the sensor and / or at least one other sensor of the vehicle, for instance, by detecting image data areas with different reflection properties. Additionally or alternatively, such areas can be detected using other methods.Obstacles can be detected using communication data from other traffic or race participants, which can capture the relevant areas as explained above using an imaging sensor or, for example, also be detected based on a changed slip behavior, and can inform the vehicle directly via vehicle-to-vehicle communication or indirectly via vehicle-to-infrastructure communication.

[0016] It is known that in areas with hazards, different traffic regulations or, on racetracks, different racing rules may apply once the hazards have been identified. For example, speed limits and / or overtaking bans may be in effect in areas of accidents, slippery conditions, or similar situations. In motorsport, it is also common practice to order a racer to allow following vehicles to pass in a specific section of the track. Such rule changes can be indicated, for example, by flag signals. As will be explained later, light signals from fixed or mobile signaling devices, or similar equipment, can also be used to indicate not only hazards but also rule changes.

[0017] A predefined area encompassing the hazard can be defined as a safety zone. Warning signs and / or driving interventions serve to direct drivers around the safety zone or to limit the vehicle's speed within the zone to a predetermined maximum speed. In the simplest case, the predefined area can extend circularly with a predetermined radius around a determined position of the hazard. However, other shapes are also possible, such as an approximately rectangular safety zone extending across a predetermined number of lanes and a predetermined length. On multi-lane roads, particularly those with lanes for opposite directions of travel separated, such as highways, the safety zone may also extend to lanes in the opposite direction, even if these are physically separated from the hazard.This can be useful, for example, to avoid accidents caused by oncoming traffic being distracted by events in the area of ​​the hazard.

[0018] The design of the safety zone, in particular at least one dimension of the safety zone, such as a radius, length, or width, can depend on characteristics of the hazard and / or operating parameters of the vehicle. For example, the at least one dimension can depend on a classification of the hazard and / or a position and / or a pedal position and / or a steering angle of the vehicle and / or output data from a rain sensor of the vehicle and / or wirelessly received weather data. Thus, for example, expected braking distances, the relevance of the hazard to driving operations, and similar factors can be taken into account when designing the safety zone.

[0019] The choice between whether, upon fulfillment of the trigger condition, only a warning is issued to the driver, or whether, alternatively or in addition to the warning, a driving intervention occurs, can depend on the distance of the vehicle to the hazard and / or the safety zone, and / or on classification information determined by the classification of the hazard. This classification information can, for example, differentiate between various types of hazards, such as an area of ​​slipperiness and an accident site. The classification information can also depend on the surroundings of the hazard, such as whether it is located on an open stretch of road or in an area with limited visibility, for example, on a curve or behind a hilltop.Based on the aforementioned factors, it is possible in particular to estimate whether a driver is likely to be able to react to the hazard or the corresponding warning himself, or whether automated driving intervention is appropriate.

[0020] After the warning is given, the driver's reaction can be detected, and if a driving intervention condition is met—the fulfillment of which depends on the driver's reaction—the driving intervention is automatically triggered. The driver's reaction can be detected, for example, by a change in pedal position, particularly of the accelerator and / or brake pedal, and / or a steering angle, and / or an interior camera can be used to detect the driver's reaction. By taking the driver's reaction into account, the driving operation can be automatically intervened in, for example, if the driver fails to react or reacts inappropriately, e.g., due to inattention or a deliberate omission.

[0021] The received message can include position information relating to the location of another vehicle and / or, by evaluating the sensor data and / or the input data, further position information relating to the location of the emergency vehicle and / or the hazard can be determined, whereby the fulfillment of the trigger condition and / or the content of the warning and / or the driving intervention depend on this and / or further position information. For example, the warning can include information on which lane the hazard is located on, such as which lane contains objects, a slippery area, or a crashed vehicle. Additionally or alternatively, the warning can provide information on how to bypass the hazard, or such a bypass can be carried out at least partially automatically through driving intervention.

[0022] The position information and / or additional information can each describe the position of the other vehicle and / or the emergency vehicle and / or the hazard in the transverse direction of a roadway, in particular one of several lanes of the roadway. As explained above, this information can be issued as part of the warning, or alternative routes can be issued as a warning or at least implemented semi-automatically.

[0023] The instruction can describe a target position of the vehicle in the transverse direction of a roadway, in particular a target lane, and / or a target driving corridor within the roadway. Additionally or alternatively, the driving intervention can guide the vehicle into the target position and / or into the target driving corridor, in particular along the target driving corridor. In both cases, the target position and / or the target driving corridor can be determined depending on the position information and / or other position information.

[0024] The instruction can describe the target position, particularly in the form of a graphic representation, in which, for example, the target position or a track corresponding to the target position is highlighted, tracks that do not correspond to the target track are shown crossed out, or similar.

[0025] The target position and / or the target driving corridor can be specified such that they are separated from the other vehicle and / or the emergency vehicle and / or the hazard by a predetermined minimum distance. In particular, they can be specified in such a way that the safety zone described above is not crossed if possible.

[0026] The trigger condition can comprise a first and a second sub-condition, wherein the fulfillment of the first sub-condition depends on the detection of the flag signal being given and the fulfillment of the second sub-condition depends on the detection of the presence of the emergency vehicle, and the trigger condition is fulfilled when either of the two sub-conditions is met. Additionally or alternatively, a racetrack condition can be evaluated, which is fulfilled, or can only be fulfilled, when the motor vehicle is on a racetrack, and the input data evaluated by the trigger condition is specified depending on whether the racetrack condition is met.

[0027] The two previously described advanced procedures serve in particular to assist the driver both on a racetrack and on a public road. However, in these two operating situations, hazards are often identified by different indicators. For example, on racetracks, hazards are usually indicated by flag signals, while this only occurs in exceptional cases on public roads. At the same time, the presence of emergency vehicles in public areas tends to indicate the presence of hazards, whereas in the vicinity of racetracks, such emergency vehicles are often present anyway as a precautionary measure.As will be explained later, other input data for the trigger condition can also be used, the consideration of which is only appropriate when driving on a race track or only when driving on public roads, for example traffic radio or information from a race control.

[0028] The various indicators of hazards can be taken into account through separate sub-conditions, as explained above. However, to avoid potential false hazard detections, it may be additionally or alternatively useful to select the trigger condition or its input data depending on whether the vehicle is on a racetrack. For example, flag signals can be considered only on racetracks, the presence of emergency vehicles can optionally be considered only on public roads, and the presence or content of a message from another vehicle involved in an accident can be considered in both cases.

[0029] Other processes can also be adapted depending on the fulfillment of the racetrack conditions, for example to allow different communication protocols between motor vehicles to be used in the area of ​​racetracks than in public traffic.

[0030] The fulfillment of the trigger condition can additionally depend on the vehicle's position, speed, pedal position, steering angle, output data from the vehicle's rain sensor, wirelessly received weather data, detected light signals, and / or received communication data transmitted by another vehicle and / or at least one other road user or race participant as input data. In particular, an electronic flag signal can be detected and considered as a light signal. An electronic flag signal refers to light signals on racetracks that are used instead of conventional flag signals. Each of the different flag signals is assigned a specific, particularly time-varying, light pattern, the emission of which can replace the corresponding flag signal.

[0031] The aforementioned input data, on which the triggering conditions may additionally depend, can be considered, at least partially, independently of whether the racetrack condition is met. Nevertheless, the specific evaluation may, in some cases, depend on the fulfillment of the racetrack condition. For example, different protocols may be used for exchanging communication data on the racetrack than in public road traffic, or light signals may be evaluated differently. These light signals may include those from permanently installed signaling devices or mobile, but currently stationary, signaling devices, such as illuminated or flashing arrows, flashing warning lights, or similar devices.

[0032] Apart from weather and communication data, the aforementioned data can be acquired by vehicle sensors that are already well-known. The vehicle's position can be determined, for example, through satellite-based positioning, particularly GPS. Correction data can be used to achieve an accuracy of a few centimeters or, especially through the use of map data, to enable robust detection of the lane the vehicle is traveling in.

[0033] The additional data to be considered, particularly the speed and the initial data from the rain sensor or weather data, can affect the vehicle's braking distance and thus, for example, the remaining reaction time for the driver. Based on the pedal position and steering angle, it can be determined, for instance, whether a driver is already reacting to the presence of a hazard, rendering a warning unnecessary or allowing a warning to be issued instead of requiring a driving intervention. The communication data can, for example, identify a hazard detected by another vehicle, road user, or race participant, such as an upcoming patch of ice or water, or similar.

[0034] Fulfillment of the trigger condition may additionally depend on received traffic information and / or information from race control and / or third-party object position information describing the location of a third-party object. Traffic information can only be evaluated if the race track condition is not met, and race control information can only be evaluated if the race track condition is met. Traffic information may include, in particular, digital supplementary information, such as TMC information. Race control information may be provided, for example, via a server with which the vehicle communicates wirelessly. The third-party object may be, for example, an object lying on the track, an animal, or a broken-down vehicle.Third-party object position information can be determined based on sensor data from at least one sensor of the motor vehicle and / or on received data, which may be provided, for example, by an infrastructure facility or another road user.

[0035] In addition to the method according to the invention, the invention relates to a motor vehicle comprising a control unit and, on the one hand, a sensor device for recording sensor data and / or a communication device for receiving messages and, on the other hand, an actuator for carrying out driving interventions and / or an output device for issuing instructions to a driver of the motor vehicle, wherein the control unit is configured to carry out the method according to the invention.

[0036] Further features explained with reference to the inventive method can be transferred to the inventive motor vehicle with the advantages mentioned therein, and vice versa.

[0037] Further advantages and details of the invention will become apparent from the following exemplary embodiments and the accompanying drawings. These schematically illustrate: Fig. 1 a flowchart of an embodiment of the method according to the invention, and Fig. 2 a traffic situation in which an embodiment of the method according to the invention is carried out by an embodiment of the motor vehicle according to the invention.

[0038] Fig. Figure 1 shows a flowchart of a procedure for assisting a driver of a motor vehicle 23, which is further described below with additional reference to Fig. Figure 2 is explained. This shows the motor vehicle 23 in a traffic situation in which this procedure is used.

[0039] Through the in Fig. The procedure shown in section 1 is intended to assist the driver of motor vehicle 23 in recognizing hazards 38, in this example an accident site, located in a section of road 37 currently or likely to be traveled by the motor vehicle, in a timely manner and, in particular, to assist the driver in passing such hazards as smoothly as possible. For this purpose, as will be explained in more detail later, various input data for a trigger condition 17 are first collected in steps S1 to S6, which are then evaluated in step S8. If the trigger condition 17 is met, a notification 19 is issued to the driver as needed, or a driving intervention 20 is initiated.

[0040] The following section presents an example of a concrete implementation of the above-discussed approach, whereby in real-world implementations it is not necessary to implement all discussed process steps and features, but rather to select only individual features.

[0041] The in Fig. The exemplary procedure design shown in point 1 can support a driver both on racetracks and on public roads, whereby the in Fig. The traffic situation shown in point 2 involves a public road.

[0042] In step S1, input data for trigger condition 17 are first acquired. This data is relevant on both racetracks and public roads and is acquired by in-vehicle sensors. It consists of position 1, speed 2, pedal position 3 of the brake and / or accelerator pedal, steering angle 4, and output data 5 from a rain sensor.

[0043] The aforementioned input data is particularly advantageous for assessing whether a specific hazard 38 is relevant to driving operations and what reaction time remains for the driver or the system to implement an appropriate response. For example, issuing a warning may not be appropriate at a large distance from the hazard, or even at medium distances, low speeds, and / or in dry conditions. However, at a short distance, high speeds, and / or on a wet road surface (which can be inferred, for example, from the rain sensor's output data), issuing a warning or even an automated driving intervention 20 may be appropriate.

[0044] In step S2, a racetrack condition 6 is evaluated, the fulfillment of which depends in particular on the position 1 of the motor vehicle 23. For example, this position 1 can be compared with locations where known racetracks are situated.

[0045] If the racetrack condition is not met, input data for the trigger condition 17, which is particularly relevant when driving on public roads, is provided in steps S3 and S4. This includes traffic information 7, for example RDS information, which may relate to the location of an accident, sensor data 42 from sensor 24 of the vehicle 23, and communication data 35 from the communication device 26 of the vehicle 23.

[0046] In the example, the sensor data 42 are evaluated to provide, on the one hand, input data on detected light signals 8 and, on the other hand, information regarding the presence of an emergency vehicle 29, in particular position information 9 that describes its position.

[0047] In step S4, additional data can be provided from an external facility 31, for example an internet server, such as current weather information 11.

[0048] If, however, the racetrack condition 6 in step S2 is fulfilled, input data for the trigger condition 17 are provided, which are primarily relevant for operating the motor vehicle 23 on the racetrack. Although the same sensor data 42 from sensor 24 can be evaluated here as in step S3, the evaluation is carried out with a different objective.

[0049] In particular, flag signals 12, which are used on racetracks, for example, to indicate accidents or other obstructions to traffic, should be detected. At the same time, similar to step S3, light signals 13 can also be detected in the sensor data 42 in step S5, although a different evaluation algorithm can be used than in step S3, since traffic lights, warning signals and the like typically used on racetracks have different forms and / or meanings than light signals from permanently installed or mobile signaling systems in normal road traffic.

[0050] In step S5, communication data 36 from the receiving device 26 can also be evaluated, in particular to detect messages from other vehicles 27 involved in the accident or to determine position information 39 concerning the position of the vehicle 27 involved in the accident. However, since different communication protocols may be used for vehicle-to-vehicle communication on racetracks and in normal traffic, this determination is shown separately.

[0051] In step S6, input information can also be retrieved from the external facility 31, for example, as explained above, weather data 11 and information from a race management 15.

[0052] It is possible that a driver may not want support from the described procedure at all times or at certain times. In such cases, an additional operating input 16 or a resulting system state is queried in step S7. After deactivation of the system by an operating input 16, the trigger condition 17 cannot be met. After activation by a suitable operating input 16, the described steps are carried out in the background during normal operation of the vehicle. Therefore, the effects are only ultimately recognized by the driver if the message 19 is displayed or the driving intervention 20 actually occurs. If this is not the case, the driver can only recognize the use of the described procedure, for example, by a corresponding entry in a configuration menu or similar indicator.

[0053] The input data provided is evaluated in step S8 by the trigger condition 17, which in this example comprises two sub-conditions 21 and 22. Sub-condition 21 is to be fulfilled in this example when hazards occur on racetracks, and sub-condition 22 when hazards occur in public traffic.

[0054] Therefore, subcondition 21, for example, can depend only on the input data acquired in steps S1, S5, and S6, while subcondition 22 depends only on the input data acquired in steps S1, S3, and S4. It is also possible to evaluate only one of subconditions 21 or 22 in step S8, depending on whether racetrack condition 6 is met.

[0055] If the trigger condition 17 is not met in step S8, the procedure can be repeated from step S1.

[0056] In step S9, an intervention condition 18 can then be checked. If this condition is met, a driving intervention 20 should take place immediately in step S13. To execute this intervention, the control unit 25 activates the actuator 34, for example, to perform braking and / or steering interventions. If, however, the intervention condition 18 is not met in step S9, a message 19 is first issued in step S10 by the control unit 25 activating the output device 33 to issue this message.

[0057] The fulfillment of intervention condition 18 can, for example, depend on the distance of the motor vehicle 23 from the hazard 38 and thus on the position of the other motor vehicle 27 or the emergency vehicle 29, which results from position 1 and position information 40 or further position information 9. Alternatively, a distance to the Fig. The safety zone 41 shown in Figure 2, which will be explained later, can be used. Intervention condition 18 may be met, in particular, if it is determined that a driver is unlikely to have sufficient time to react appropriately to a warning 19.

[0058] If only the instruction 19 is given, the driver might not react due to inattentiveness or an unwillingness to follow instructions. Therefore, it is advantageous to record a driver reaction in step S11, which can be detected, for example, using a pedal or steering angle sensor or an interior camera, and to check an intervention condition 49 that depends on this driving reaction 32 in step S12. If this condition is met, for example, because the driver does not react or reacts incorrectly, the driving intervention 20 is executed in step S13 despite the intervention condition 18 not being met in step S9, and the procedure is then repeated from step S1. If, however, the driving intervention condition 49 is not met in step S12, the process can return directly to step S1.

[0059] Position information 9, 39, 40 can, in particular, indicate in which lane 44 to 47 of carriageway 43 the vehicle involved in the accident 27 or the emergency vehicle 29 is located. This information can be issued as part of note 19, for example, by means of a graphic representation of lanes 44 to 47 and a marking of the lanes blocked by the vehicle 27 or the emergency vehicle 29.

[0060] However, the instruction 19 or the driving intervention 20 is particularly preferred for guiding the motor vehicle 23, if possible, past a safety zone 41 that includes the hazard 38. For this purpose, the following can be done in the Fig.In example 2, the motor vehicle 23 is guided to the left lane 44 by the automatic driving intervention 20, or the instruction 19 can guide the driver, for example by a suitable graphic representation, to change to the left lane 44. For this purpose, a target corridor 48 can be specified for the motor vehicle 23, within which it should be guided.

[0061] If it is not possible to swerve to the left lane 44, the vehicle can continue to be driven in the middle lane 45, as this lane is not blocked by either the crashed vehicle 27 or the emergency vehicle 29. However, since vehicle 23 is approaching the accident scene and thus the hazard 38 quite closely, the instruction 19 or the driving intervention 20 can be aimed at limiting the speed of vehicle 23, for example by applying the brakes, to a predetermined maximum speed within the safety zone 41.

Claims

[1] Method for assisting a driver of a motor vehicle (23), wherein, upon fulfillment of a trigger condition (17), a notification (19), in particular optical and / or acoustic and / or haptic, is issued to the driver and / or an automated driving intervention (20) is carried out, wherein the fulfillment of the trigger condition (17) depends on whether, on the one hand, a message (10, 14) from another motor vehicle (27) involved in an accident is received via a receiving device (26) of the motor vehicle (23) and / or whether, on the other hand, the presence of an emergency vehicle (29) and / or the issuing of a flag signal (12) is detected by evaluation of sensor data (42) from at least one sensor (24) of the motor vehicle (23), characterized by, that on the one hand the trigger condition (17) comprises a first and a second sub-condition (21, 22), wherein the fulfillment of the first sub-condition (21) depends on the recognition of the giving of the flag signal (12) and the fulfillment of the second sub-condition (22) depends on the recognition of the presence of the emergency vehicle (29), wherein the trigger condition (17) is fulfilled if either of the two sub-conditions (21, 22) is fulfilled, and / or that on the other hand a race track condition (6) is evaluated, which is fulfilled or can only be fulfilled if the motor vehicle (23) is on a race track, wherein, depending on the fulfillment of the race track condition (6), it is specified which input data are evaluated by the trigger condition (17). [2] Method according to claim 1, characterized by, that depending on input data of the triggering condition (17), which in particular include communication data (35, 36) of the receiving device (26) and / or the sensor data (42), it is determined whether in a section of the road (37) currently or likely to be traveled in the future by the motor vehicle (23) there is at least one hazard (38), in particular the other and / or another crashed motor vehicle (27) and / or the emergency vehicle (29) and / or an area of ​​reduced adhesion, specifically an ice surface or standing water, and / or an obstacle, and / or whether modified traffic rules or racing rules apply in the section of the road (37), wherein the fulfillment of the triggering condition (17) depends on the presence of the hazard (38) and / or on the existence of the modified traffic rules or racing rules. [3] Method according to claim 2, characterized by, that a specified area encompassing the hazard (38) is defined as a safety zone (41), wherein the warning (19) and / or the driving intervention (20) serve to bypass the safety zone (41) or to limit the speed of the motor vehicle (23) in the safety zone (41) to a specified maximum speed. [4] Method according to claim 2 or 3, characterized by , that the selection of whether, on the one hand, only the warning (19) is given to the driver when the trigger condition (17) is met, or on the other hand, alternatively or additionally, a driving intervention (20) is carried out, depends on the distance of the motor vehicle (23) to the hazard (38) and / or to the safety zone (41) and / or depends on classification information which is determined by a classification of the hazard (38). [5] Method according to any of the preceding claims, characterized by, that after the indication (17) is given, a driver reaction (32) of the driver is recorded and, if a driving intervention condition (49) is met, the fulfillment of which depends on the driver reaction (32), the driving intervention (20) is automatically triggered. [6] Method according to any of the preceding claims, characterized by , that the received message (10, 14) includes position information (39, 40) relating to the position of the other motor vehicle and / or further position information (9) relating to the position of the emergency vehicle (29) and / or the hazard (38) is determined by evaluating the sensor data (42) and / or the input data, wherein the fulfillment of the trigger condition (17) and / or the content of the notice (19) and / or the driving intervention (20) depend on the and / or the further position information (9). [7] Method according to claim 6, characterized by, that the and / or the further position information (39, 40) each describe a position of the further motor vehicle (27) and / or the emergency vehicle (29) and / or the hazard location (38) in the transverse direction of a roadway (43), in particular one of several lanes (44-47) of the roadway (43). [8] Method according to claim 6 or 7, characterized by , that the instruction (20) describes a target position of the motor vehicle (23) in the transverse direction of the or a carriageway (43), in particular a target lane, and / or a target driving corridor (48) within the carriageway (43) and / or that the driving intervention (20) guides the motor vehicle (23) into the target position and / or into the target driving corridor (48), in particular along the target corridor (48), wherein the target position and / or the target driving corridor (48) are determined depending on the position information (39, 40) and / or the further position information. [9] Method according to any of the preceding claims, characterized by, that the fulfillment of the triggering condition (17) additionally depends on a position (1) and / or a speed (2) and / or a pedal position (3) and / or a steering angle (4) of the motor vehicle (23) and / or output data (5) of a rain sensor of the motor vehicle (23) and / or wirelessly received weather data (11) and / or detected light signals (8, 13) and / or received communication data (40) transmitted by the other motor vehicle (27) and / or at least one road user or race participant as input data. [10] Method according to any of the preceding claims, characterized by , that the fulfillment of the trigger condition (17) additionally depends on received traffic information (7) and / or information from a race control (15) and / or on third object position information describing a position of a third object. [11] Motor vehicle comprising a control unit (25) and, on the one hand, a sensor unit (24) for recording sensor data (42) and / or a communication unit (26) for receiving messages (10, 14) and, on the other hand, an actuator (34) for carrying out driving interventions (20) and / or an output unit (33) for issuing instructions (19) to a driver of the motor vehicle (23), characterized by that the control device (25) is set up to carry out the procedure according to one of the preceding claims.

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