Communication system and driver assistance system for emergency vehicles with special rights of way

Abstract

The invention relates to a communication system (1) for generating a vehicle traffic warning, comprising a communication interface (2) for transmitting data, comprising a storage unit (3) with a semantic road map (4) for describing a road course, wherein a detection unit (5) is provided, wherein the detection unit (5) is configured to detect at least one stationary critical area with an increased accident risk and / or one dynamic critical area with an increased accident risk, and a determination unit (10) is provided for determining the area geometry based on the critical stationary and / or dynamic area, wherein the area geometry includes at least the position and shape of the area, and wherein the determination unit (10) is configured to mark the area geometry in the semantic road map (4), and wherein the determination unit (10) is configured toto classify the area type in the critical stationary and / or dynamic area and to determine at least one associated rule based on the classification, wherein the detection unit (10) is configured to determine the roads affected by the at least one rule based on the recognized area geometry in conjunction with the semantic road map (4) and to link the at least one rule with the affected roads, and wherein the communication system (1) is configured to mark the affected roads in the semantic road map (4) as an updated semantic road map (4) and to transmit the updated semantic road map (4) to the affected vehicles (15, 16) and / or to make it available as an updated semantic road map (4). Furthermore, the invention relates to a driver assistance system.

Description

[0001] The invention relates to a communication system for generating a vehicle traffic warning related to emergency vehicles with special and right-of-way rights, comprising a communication interface for transmitting data and a storage unit with a semantic road map for describing a road course. Furthermore, the invention relates to a driver assistance system.

[0002] In Germany, for example, an exemption from the provisions of the road traffic regulations is referred to as a special right. In practice, the following maneuvers are subject to special rights: driving slowly on the motorway (e.g., for winter road maintenance), stopping or parking in a no-parking zone (e.g., for garbage collection), driving on sidewalks (e.g., for street cleaning), exceeding the speed limit, running a red light, driving in the opposite lane, driving in a one-way street against the direction of traffic, or reversing in a one-way street.

[0003] In regular traffic, right of way refers to the right to demand "clear the way" from other road users. This is indicated by simultaneously activating the blue lights and siren.

[0004] Such special and right-of-way rights are, for example, incorporated into emergency vehicles of authorities and organizations with security responsibilities, such as the police and emergency services. Approaching the scene of an emergency involves providing a route for the emergency vehicle and simultaneously influencing traffic on that route so that the emergency vehicle reaches the scene more quickly and safely.

[0005] DE 102 34 595 A1 discloses a device for radio-based hazard warning of the driver of a vehicle with a data transmission device for sending and receiving data, wherein the data transmission device exchanges data with data transmission devices of other vehicles and, by activating the data transmission device, sends out hazard warning data to other vehicles and evaluates the received data, wherein the sent out hazard warning data of the other vehicles comprise a warning zone around the source of danger, wherein, in a vehicle that receives the hazard warning data and is located within the warning zone, the received hazard warning data is evaluated using vehicle-internal sensor data and, depending on the evaluation, the data transmission device is automatically activated to send hazard warning data.

[0006] It is therefore an object of the invention to increase safety in critical traffic situations for vehicles / road users and emergency vehicles, in particular in autonomously or semi-autonomously operated vehicles or, for example, by improving the reaction of other road users in relation to a critical traffic situation which requires the use of emergency vehicles.

[0007] The problem is solved by a communication system having the features of claim 1 as well as a driver assistance system having the features of claim 6.

[0008] Advantageous embodiments emerge from the dependent patent claims, the description and the figures.

[0009] The object is achieved by a communication system for generating a vehicle traffic warning, in particular relating to emergency vehicles with special rights of way and rights of way, comprising a communication interface for transmitting data and a storage unit with a semantic road map for describing a road course, and wherein a detection unit is provided, wherein the detection unit is designed to detect at least one stationary critical area with an increased accident risk and / or one dynamic critical area with an increased accident risk, and wherein a determination unit is provided for determining the area geometry based on the critical stationary and / or dynamic area, wherein the area geometry comprises at least the position and the shape of the area and wherein the determination unit is designed to mark the area geometry in the semantic road map,and wherein the determination unit is designed to classify the area type in the critical stationary and / or dynamic area and to determine at least one associated rule based on the classification, and wherein the determination unit is designed to determine the roads affected by the at least one rule based on the recognized area geometry in conjunction with the semantic road map and to link the at least one rule to the affected roads, and wherein the communication system is designed to mark the affected roads in the semantic road map as an updated semantic road map and to transmit the semantic road map thus updated to the affected vehicles and / or to provide it as an updated semantic road map.

[0010] A road map can be a simple digitally provided semantic road map that refers to a first point in time, while the updated semantic road map refers to the subsequent second point in time.

[0011] Such a communication system can, for example, be installed on a server. The recording unit can also be designed as an interface to which, for example, other vehicles can report an accident as a dynamic area.

[0012] Stationary areas with an increased accident risk can include, for example, poor road surfaces, hairpin bends, stationary construction sites, or bus stops at schools at certain times, holiday parades, etc. Stationary areas are therefore areas that are not dynamic, occur in the short term, and are known for the longer term.

[0013] Dynamic zones can be the result of specific, temporary events with an increased accident risk, such as accident scenes, the end of traffic jams, special transport, dynamic work machines in operation (green waste), or critical driving maneuvers (wrong-way drivers) that are not known in advance. These can be reported at short notice by other vehicles, for example, while stationary zones can be reported over a longer period of time, for example, by the responsible authorities.

[0014] Furthermore, a determination unit is provided for determining the area geometry based on the critical stationary and / or dynamic area, wherein the area geometry comprises at least the position and the shape of the area and wherein the determination unit is designed to mark the area geometry in the semantic road map.

[0015] For example, a position can include the position of the end of the traffic jam and the shape can include both vehicle lanes or bypass roads as an extension.

[0016] An area geometry can thus be understood as an xy-extension on the semantic road map. For example, a radius around the end of a traffic jam, an accident at an intersection, a fire, etc., can be marked as an area geometry in the semantic road map.

[0017] Furthermore, according to the invention, the determination unit is designed to classify the area type, such as the accident or the end of a traffic jam, in the critical stationary and / or dynamic area. Based on the classification, a rule can then be assigned: for example, in the event of an accident, the route used by an emergency vehicle may be closed; in the event of a holiday parade with many participants, extensive surrounding roads may also be closed. The area type can be understood as the type of critical traffic situation.

[0018] Rules associated with the area type are then applied. These rules can be stored in a memory unit, recognized by a class method, or assigned to the area type by an external operator / driver.

[0019] Such rules may include closure of the affected roads, speed limits on the affected roads, prohibition of overtaking, for example in the case of a wrong-way driver on the motorway on the affected roads, etc.

[0020] The streets affected by at least one rule are determined based on the detected area geometry in conjunction with the semantic road map, and the at least one rule is linked to the affected streets. Such a determination can be performed, for example, simply by reading the marked xy extent on the semantic road map and can include, for example, the adjacent streets.

[0021] The affected roads are updated with the rules in the semantic road map and this updated semantic road map is transmitted via the communication interface, either directly to the autonomous / manually driving vehicles, for example, or to a retrievable external server / computer for retrieval by the vehicles and implementation of the rules in the affected roads.

[0022] According to the invention, it was recognized that in manually operated vehicles the critical area, i.e. the critical traffic situation or the type of area, is recognized solely on the basis of the driver's own experience or on the basis of the perceptual information of the senses, and possibly on the basis of additional information from the radio traffic report, navigation system, or similar, and action is taken in accordance with the driver's wealth of experience.

[0023] Automated vehicles require an algorithm that acts based on a model and the perception information from environmental sensors, such as cameras, lidar and radar, and information from the semantic road map and messages from the control center or V2X communication, as well as the rules stored in the model.

[0024] According to the invention, it was recognized that both the driver and the automated vehicle have only incomplete information about the critical area and therefore cannot make optimal decisions.

[0025] This is now prevented by the communication system according to the invention.

[0026] The communication system according to the invention can prevent reduced performance due to unnecessarily high speed reduction, traffic obstruction and unpredictable behavior, and thus prevent traffic accidents in road traffic.

[0027] By making this information available on a server, mobile devices can detect information in advance, such as a completely closed area during a parade or celebration. Inaccurate traffic announcements such as "detour" can be eliminated, enabling more precise planning.

[0028] By quickly identifying the danger zone using the communication system, an increased risk can be avoided both by reacting too weakly to dangerous situations, such as not stopping before an intersection being entered by a vehicle with special rights, which could lead to a collision with it, and by reacting too sharply, such as emergency braking in response to a vehicle with special rights driving on another road, which could lead to a rear-end collision.

[0029] In a further embodiment, the storage unit comprises the rules assigned to the classification, wherein the storage unit further comprises a database which has the rules relating to the classification, wherein the communication system is designed to update the rules relating to the classification. These rules can be defined and changed manually or automatically. Such rules can include closures of the affected roads, speed limits on the affected roads, overtaking bans, for example in the case of a wrong-way driver on the motorway on the affected roads, etc., or driving bans for road users, speed limits or other specific instructions. The rules can, for example, be created and adopted for a current hazardous situation and, for example, forwarded to all other emergency vehicles.

[0030] In a further embodiment, the storage unit has a lane-accurate, in particular highly accurate semantic road map, wherein the communication system is configured to mark the affected vehicle lanes of the affected roads in the modified, updated semantic road map and to transmit them to the affected vehicles as an updated semantic road map and / or to provide them as a modified, updated semantic road map. The highly accurate semantic road map can replace the road map or, for example, be provided in addition to it. Such a highly accurate, highly precise digital road map has at least knowledge of the various road and lane courses, road axes, lane edges, lane markings, lane labels, and, if applicable, other traffic-relevant information.

[0031] This allows for simple autonomous operation or manual operation, for example, by blocking a lane in construction zones to direct traffic to autonomous vehicles. This represents a significant improvement, especially with regard to autonomous driving. Incorrect evaluation by existing sensors can thus be avoided.

[0032] In a further development, the detection unit records, in addition to at least the stationary critical area with an increased accident risk and / or the dynamic critical area with an increased accident risk, the person who sets up the detected stationary critical area and / or the dynamic critical area. The person who sets up the detected stationary critical area and / or the dynamic critical area can be understood as the person who reports the critical area, for example, such as the fire department, police, or emergency control centers. This can prevent misuse.

[0033] In a further development, the communication system is configured to generate possible detours based on the detected area geometry and area type, mark them in the updated, modified semantic road map, and transmit the updated semantic road map to the affected vehicles and / or provide it as an updated semantic road map. This allows traffic flow to be maintained.

[0034] Furthermore, the object is achieved by a driver assistance system for emergency vehicles with special and right-of-way rights for generating a vehicle traffic warning, comprising a communication interface for transmitting data, further comprising a storage unit with a semantic road map for describing a road course, wherein a detection unit is provided for detecting at least one stationary critical area with an increased accident risk and / or one dynamic critical area with an increased accident risk, and wherein a determination unit is provided for determining the area geometry based on the critical stationary and / or dynamic area, wherein the area geometry comprises at least the position and the shape of the area and wherein the determination unit is designed to mark the area geometry in the semantic road map, and wherein the determination unit is designed to classify the area type in the critical stationary and / or dynamic area and to determine at least one associated rule based on the classification, and wherein the determination unit is designed to determine the roads affected by the at least one rule based on the recognized area geometry in conjunction with the semantic road map and to link the at least one rule to the affected roads, and wherein the driver assistance system is designed to mark the affected roads in the semantic road map as an updated semantic road map and to transmit the semantic road map updated in this way to the affected vehicles and / or to provide it as an updated semantic road map.

[0035] The provision can be made, for example, by transmission to a server.

[0036] Vehicles with special rights and right of way include, for example, police, ambulances, fire brigade, etc.

[0037] Such a driver assistance system, particularly in emergency vehicles, can, for example, quickly close off a dangerous area and / or allow the emergency vehicle to reach it more quickly.

[0038] A road map can be a simple digitally provided semantic road map.

[0039] Stationary areas with an increased risk of accidents can include, for example, poor road surfaces, hairpin bends, stationary construction sites or bus stops at schools at certain times, and holiday parades.

[0040] Dynamic zones can be the result of specific, temporary events with an increased accident risk, such as the end of a traffic jam, special transport, dynamic work machinery in operation (e.g., green waste collection), or critical driving maneuvers (e.g., driving the wrong way) that are not known in advance. In particular, a dynamic zone can be detected by the emergency vehicles on site.

[0041] Furthermore, the determination unit for determining the area geometry based on the critical stationary and / or dynamic area is again present, wherein the area geometry comprises at least the position and the shape of the area and wherein the determination unit is designed to mark the area geometry in the semantic road map.

[0042] An area geometry can therefore be the xy-extension of the hazard location on the semantic road map.

[0043] Furthermore, according to the invention, the determination unit is designed to classify the type of area, such as the accident or the end of the traffic jam in the critical stationary and / or dynamic area.

[0044] Based on the classification, the rule can now be assigned.

[0045] Rules assigned to the area type are then applied.

[0046] The streets affected by at least one rule are determined based on the recognized area geometry in conjunction with the semantic road map and the at least one rule is linked to the affected streets.

[0047] The affected roads are updated with the rules in the semantic road map and this updated semantic road map is transmitted via the communication interface, either directly to the autonomous vehicles, for example, or to an accessible external server / computer for retrieval by the vehicles and implementation of the rules in the affected roads.

[0048] By quickly detecting the danger zone using the driver assistance system, an increased risk can be avoided both by reacting too weakly to dangerous situations, such as not stopping before an intersection entered by a vehicle with special rights and equipped with the driver assistance system, which could lead to a collision with it, and by reacting too strongly, such as emergency braking in response to a vehicle with special rights driving on another road, which could lead to a rear-end collision.

[0049] Such a driver assistance system can achieve a control of priority between road users and vehicles with special right of way in a driving situation in the relevant geometric operating area in the driving space.

[0050] In a further development, the communication interface can be configured as a V2V interface for transmitting the updated semantic road map to a radius affected by the area geometry and transmitting the updated semantic road map to the affected vehicles. This can reduce the number of vehicles receiving the V2V data, so that only those vehicles in the immediate reception vicinity receive the updated semantic road map. Furthermore, this can ensure faster reception in the vehicles and rapid implementation of the rules, thus increasing road safety.

[0051] In a further development, the communication interface can be designed, in particular, as a V2x interface for direct communication of the updated semantic road map to the relevant infrastructure along the affected roads, with the updated semantic road map including updated rules for the affected infrastructure. This can, for example, ensure that ambulances can proceed without delay.

[0052] In a further embodiment, the communication interface can be designed to receive confirmation signals from the relevant infrastructure and / or vehicles, which indicate receipt of the updated semantic road map.

[0053] This allows the driver of the emergency vehicle, for example, to ensure that there are enough vehicles in the area complying with the new rules and that the relevant infrastructure is set up accordingly.

[0054] In a further development, the driver assistance system includes sensors for detecting the stationary critical area and / or the dynamic critical area. This allows for better detection of dynamic areas in particular.

[0055] In a further embodiment, the storage unit has a lane-accurate, in particular highly accurate, semantic road map, wherein the driver assistance system is designed to mark the affected vehicle lanes of the affected roads in the modified, updated semantic road map and to transmit them to the affected vehicles and / or to make them available as a modified, updated semantic road map. In the lane-accurate map, all vehicle lanes are provided with IDs. The vehicle with the driver assistance system, in this case the sending vehicle, recognizes the vehicle lanes and, for example, as a rule, sends out an updated semantic road map with a closure for certain vehicle lanes. These are stored / marked in the updated semantic road map. This can also be made available on a server. All vehicles that access the updated semantic road map can thus recognize the closure.

[0056] In further development, the driver assistance system is configured to incorporate conventional signaling systems in accordance with the special road and right-of-way regulations. If a certain area geometry and type of area are detected, the system can also operate the conventional signaling systems, for example, within the area geometry and / or on the route leading thereto. This allows manually controlled vehicles, for example, to continue to be warned by conventional signaling systems.

[0057] Conventional signaling systems include, for example, a projection onto the road in the visible light spectrum, an optical signal (blue light) and / or an acoustic signal (siren).

[0058] In a further development, the driver assistance system is designed to generate possible detours based on the detected area geometry and area type, additionally mark them in the updated, modified road map, and transmit the updated semantic road map to the affected vehicles and / or provide it as an updated semantic road map. This allows traffic flow to be maintained.

[0059] In a further development, the driver assistance system can also be configured to determine a validity period for the updated semantic road map based on the detected area type and to transmit the validity period along with the updated road map to the affected vehicles and / or provide it as an updated semantic road map. This can serve to inform the receiving vehicles or their occupants. This allows them to better consider whether, for example, to remain on a closed road or whether a detour is worthwhile.

[0060] In a further development, an HMI (Human Interface) is provided for manually entering a stationary and / or dynamic area and / or manually entering the area type and / or manually entering the applicable rule. This allows the passenger, for example, to mark such an area or define other rules, such as road closures in a wider area.

[0061] Furthermore, the determination unit can be designed to determine the roads affected by the at least one rule based on the recognized area geometry in conjunction with the semantic road map and a safety area.

[0062] This allows, for example, the accident scene to be cordoned off extensively, especially in multi-vehicle accidents, to facilitate the rescue of injured people. Likewise, the opposite lane can be closed to allow a rescue helicopter to land in the event of a serious accident. A more extensive closure of nearby streets can also be useful during festival parades or when there are more people on the streets.

[0063] Further features and advantages of the present invention will become apparent from the following description with reference to the accompanying figures, which schematically show: Fig. 1: a communication system according to the invention, Fig. 2: an updated semantic road map, Fig. 3: a driver assistance system according to the invention, Fig. 4: an updated semantic road map with lane closures.

[0064] Fig. 1 shows a communication system 1 schematically for generating a vehicle traffic warning according to the invention.

[0065] The communication system 1 has a communication interface 2 for transmitting data, as well as a storage unit 3 with a semantic road map 4 for describing a road route. The road map can be designed as a standard digital road map or as an HD (high-precision) or schematic road map 4. Such a schematic road map 4 can also be stored as well as a standard road map.

[0066] Furthermore, a detection unit 5 is provided, wherein the detection unit 5 is designed to detect at least one stationary critical area with an increased accident risk and / or one dynamic critical area with an increased accident risk. The detection unit 5 can, for example, evaluate accidents reported by emergency vehicles / official control centers such as fire departments / police, or normal vehicles, which are transmitted to the detection unit 5 via the communication interface 2. The detection unit 5 and the communication interface 2 can be designed as a software module.

[0067] Stationary areas with an increased accident risk can include, for example, poor road surfaces, hairpin bends, stationary construction sites, or bus stops at schools at certain times, or holiday parades. Stationary areas are therefore areas that are not dynamic, occur quickly, and are known for a longer period of time.

[0068] Dynamic zones can be the result of specific, temporary events with an increased accident risk, such as accident scenes, the end of traffic jams, special transport, dynamic work machines in operation (green waste), or critical driving maneuvers (wrong-way drivers) that are not known in advance. These can be reported at short notice by other vehicles, for example, while stationary zones can be reported over a longer period of time, for example, by the responsible authorities.

[0069] Furthermore, a determination unit 10 is provided for determining the area geometry based on the critical stationary and / or dynamic area.

[0070] The area geometry includes at least the position and shape of the area. The area geometry can be characterized as an xy extent in the semantic road map 4. An area geometry can thus be understood as an xy extent on the semantic road map 4. Such an extent can be a circle, for example, if the accident occurred at an intersection.

[0071] Furthermore, the determination unit 10 classifies the area type in the critical stationary and / or dynamic area.

[0072] The area type can be described as a prevailing traffic situation, for example the end of a traffic jam, rear-end collisions, crowds of people due to holiday parades on the streets, people on the side of the road, but also black ice in the area geometries can represent a critical traffic situation or a closure of a motorway lane due to construction work.

[0073] Based on the classification, a rule is then determined. Such rules can be stored, for example, in a database. Alternatively, a rule can also be assigned or modified by an operator.

[0074] Furthermore, the communication system 1 is configured to mark the affected roads in the semantic road map as an updated semantic road map and to transmit the thus updated semantic road map to the affected vehicles and / or to provide it as an updated semantic road map. Such a road map can be transmitted directly via VtX to the affected infrastructure and to the relevant vehicles in the affected area. This allows, for example, traffic lights to be switched to green early during a rescue operation to facilitate the route to the scene for the rescue vehicle. Alternatively or optionally, the updated semantic road map can be made available for retrieval on a server.

[0075] If the affected vehicle has a HUD (head-up display), the received updated semantic road map can be displayed on the head-up display.

[0076] Furthermore, a transmission can be sent to the affected emergency control centers where the critical traffic situation exists, for further transmission to the emergency vehicles or to the infrastructure / road users in the area. In this case, the recording unit 5 can additionally record the person responsible for the recorded stationary critical area and / or the dynamic critical area; this person could be, for example, the police / fire department, etc. This can prevent misuse.

[0077] In addition, in the updated semantic road map 4, depending on the detected area geometry and the area type, the possible detours can be generated and marked in the updated semantic road map 4, whereby the traffic flow can be relaxed or further maintained.

[0078] If the storage unit 3 has a lane-accurate semantic road map, only the affected vehicle lanes of the affected roads can be marked in the modified, updated road map 4 and transmitted to the affected vehicles and / or provided as a modified, updated semantic road map 4. The provided road map refers to a first time T0, while the updated road map 4 refers to a subsequent second time T1.

[0079] Furthermore, the communication system 1 can have a tactical planning module 12. Such a planning module 12 can, for example, generate the necessary driving maneuvers to be performed by the vehicle based on the updated semantic road map 4, such as braking, stopping, re-routing, approaching to the right, generating rescue gases, etc. These driving maneuvers can also be transmitted to the affected vehicles. In an autonomously operated vehicle 16, for example, an existing vehicle actuator system can implement the driving maneuver.

[0080] Fig. Figure 2 shows an updated semantic road map 4. This map shows several closed roads 4 around a fire. The road map 4 can be designed as a standard digital semantic road map or a high-precision semantic road map 4. The red vehicle lanes 13 are closed to traffic.

[0081] Fig. 3 shows a driver assistance system 6 according to the invention for emergency vehicles 7 with special and right-of-way rights for generating a vehicle traffic warning comprising the communication interface 2 for transmitting data.

[0082] This also has a storage unit 3 with a semantic road map 4 for describing a road route. The road map 4 can also be designed as an HD road map 4. The semantic road map 4 can be stored locally or globally on a server 11 and loaded into the emergency vehicle 7 in an updated format.

[0083] Furthermore, the driver assistance system 6 also has a detection unit 5 for detecting at least one stationary critical area with an increased accident risk and / or one dynamic critical area with an increased accident risk with respect to the road map 4. The detection unit 5 can be designed, for example, as an HMI input unit 9, or it can be received externally via the communication interface 2, for example, from an operations control center.

[0084] The driver assistance system 6 can also have sensors 8 for detecting the stationary critical area and / or the dynamic critical area. Such sensors 8 can be, for example, GPS, radar sensors, lidar sensors, or camera sensors. In addition, by manually or automatically entering the route to the incident location, those areas, for example, the entire route, in which the emergency vehicle should have right of way over other vehicles or other road users can be classified as critical areas.

[0085] Furthermore, the determination unit 10 is configured to determine the area geometry based on the critical stationary and / or dynamic area, wherein the area geometry comprises at least the position and shape of the area, and wherein the determination unit 10 is configured to mark the area geometry in the semantic road map 4. The area geometry includes the yx extension as a critical area, which is marked on the semantic road map 4.

[0086] Here, too, such an yx extension can be entered based on the critical area, for example, directly via HMI 9 (switch, touchscreen, etc.) or indirectly via an existing operations control system.

[0087] Furthermore, the determination unit 10 is configured to classify the area type in the critical stationary and / or dynamic area and to determine at least one associated rule based on the classification. The area type can thus be designated, for example, as a prevailing traffic situation, such as the end of a traffic jam, rear-end collisions, crowds of people due to holiday parades on the streets, people on the side of the road. Even black ice in the area geometries can represent a traffic situation, or the closure of a highway lane due to construction.

[0088] Based on the classification, a rule is then determined. Such rules can be stored, for example, linked to a database and area type. Alternatively, a rule can also be assigned or modified by a driver as an operator.

[0089] Subsequently, the streets affected by the at least one rule are determined based on the detected area geometry in conjunction with the semantic road map 4, and the at least one rule is linked to the affected streets. If the road map 4 is a high-precision or semantic road map, all vehicle lanes are provided with IDs. The driver assistance system 6 detects the vehicle lanes and then applies the detected rule to the individual affected vehicle lanes.

[0090] Furthermore, the driver assistance system 6 marks the affected roads in the semantic road map to generate an updated semantic road map 4. The semantic road map 4 thus updated is transmitted to the affected vehicles, for example, autonomously operated vehicles 16, and / or provided as an updated semantic road map 4. If, for example, a closure of certain vehicle lanes is planned as a rule, these lanes are marked in the semantic road map 4 and transmitted with the semantic road map 4.

[0091] For this purpose, the communication interface 2 can be designed as a V2V interface for transmitting the updated semantic road map 4 to the affected vehicles 16, for example while the emergency vehicle 7 is traveling to the scene of the incident.

[0092] Furthermore, the communication interface 2 can also be designed as a V2x interface for direct communication of the updated semantic road map 4 to the relevant infrastructure along the affected roads, wherein the updated semantic road map includes the updated rules for the affected infrastructure. This allows, for example, traffic lights to be switched to green early during a rescue operation to facilitate the route to the scene for the emergency vehicle 7. Alternatively or optionally, the updated semantic road map 4 can be made available for retrieval on the server 11.

[0093] The blocking of vehicle lanes can be achieved in two ways: either based on the route to the site calculated by, for example, a navigation system, or based on the current position in combination with the expected movement vector. The data transmission of the updated semantic road map 4 via the communication interface 2 can be carried out as GPS reference points of a polygon (position, area) or via blocked vehicle lanes, intersections, etc. of the semantic map. The transmission can be carried out, for example, via radio signals.

[0094] Furthermore, a safety zone may be added to the affected roads, to which the rules will also apply.

[0095] In addition, the semantic map can also indicate, for example, the duration of the updated semantic road map 4, i.e. the validity period of this updated road map 4 with the stored rules, and possible detours.

[0096] This can, for example, maintain traffic flow. Furthermore, the person who is setting up the sign can be identified—this could be the police, fire department, etc. This can prevent misuse.

[0097] Fig. 4 shows a closure of individual vehicle lanes by a driver assistance system 6 in relation to an intersection.

[0098] The red vehicle lanes 13 are closed to traffic while the green vehicle lane 17 indicates the route of the emergency vehicle 7.

[0099] Furthermore, the driver assistance system 6 can have conventional signaling systems 14 in accordance with the special and right-of-way rights, and can additionally operate the conventional signaling system 14 if the area geometry and area type are detected.

[0100] This allows, for example, manually controlled vehicles 15 to continue to be warned by conventional signaling systems 14. Conventional signaling systems include, for example, a projection onto the roadway in the visible light spectrum, a visual signal (blue light), and / or an acoustic signal (siren).

[0101] Furthermore, such a driver assistance system 6 can be retrofitted, for example, to emergency vehicles 7. Emergency vehicles 7 can include ambulances, police vehicles, fire department vehicles, special transport vehicles, emergency vehicles, construction machinery, agricultural machinery, or (military) convoys.

[0102] Such a driver assistance system 6 can ensure digital priority for emergency vehicles 7.

[0103] Furthermore, such a driver assistance system 6 can achieve a control of the priority between road users and vehicles with special right of way in a driving situation in the relevant geometric operating area in the driving space.

[0104] The driver assistance system 6 according to the invention can avoid an increased risk both due to an insufficient reaction to dangerous situations, such as not stopping before an intersection being entered by a vehicle with special rights, which can lead to a collision with the latter, and due to an excessive reaction, such as emergency braking in response to a vehicle with special rights driving on another road, which can lead to a rear-end collision.

[0105] This way, critical, particularly frequently occurring accidents such as turning and entry accidents can be avoided. List of reference symbols 1 communication system 2 Communication interface 3 storage unit 4 Road map 5 Recording unit 6 Driver assistance system 7 emergency vehicles 8 sensors 9 HMI 10 Investigation Unit 11 servers 12 Planning module 13 red vehicle tracks 14 Signaling system 15 manually controlled vehicles 16 autonomously operated vehicles 17 green vehicle lane QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 102 34 595 A1

[0005]

Claims

[1] Communication system (1) for generating a vehicle traffic warning comprising a communication interface (2) for transmitting data, having a storage unit (3) with a semantic road map (4) for describing a road course, characterized by , that a detection unit (5) is provided, wherein the detection unit (5) is designed to detect at least one stationary critical area with an increased accident risk and / or one dynamic critical area with an increased accident risk, and a determination unit (10) is provided for determining the area geometry based on the critical stationary and / or dynamic area, wherein the area geometry comprises at least the position and the shape of the area and wherein the determination unit (10) is designed to mark the area geometry in the semantic road map (4), and wherein the determination unit (10) is designed to classify the area type in the critical stationary and / or dynamic area and to determine at least one associated rule based on the classification, and wherein the determination unit (10) is designed to determine the roads affected by the at least one rule on the basis of the recognized area geometry in conjunction with the semantic road map (4) and to link the at least one rule to the affected roads, and wherein the communication system (1) is designed to mark the affected roads in the semantic road map (4) as an updated semantic road map (4) and to transmit the semantic road map (4) updated in this way to the affected vehicles (15, 16) and / or to provide it as an updated semantic road map (4). [2] Communication system (1) according to claim 1, characterized byin that the storage unit (3) comprises the rules associated with the classification, wherein the storage unit (3) further comprises a database having the rules relating to the classification, wherein the communication system (1) is designed to update the rules relating to the classification. [3] Communication system (1) according to claim 1 or 2, characterized by in that the storage unit (3) has a lane-accurate semantic road map (4), and the communication system (1) is designed to mark the affected vehicle lanes of the affected roads in the changed updated semantic road map (4) and to transmit them to the affected vehicles (15, 16) and / or to provide them as a changed updated semantic road map (4). [4] Communication system (1) according to one of the preceding claims, characterized bythat the detection unit (5), in addition to detecting the at least one stationary critical area and / or the dynamic critical area with an increased accident risk, detects the positioner of the detected stationary critical area and / or the dynamic critical area. [5] Communication system (1) according to one of the preceding claims, characterized by that the communication system (1) is designed to generate possible detours depending on the recognized area geometry and the area type and to additionally mark them in the updated, modified semantic road map (4) and to transmit the semantic road map (4) updated in this way to the affected vehicles (15, 16) and / or to provide it as an updated semantic road map (4). [6] Driver assistance system (6) for emergency vehicles (7) with special and right-of-way rights for generating a vehicle traffic warning, the driver assistance system (6) comprising a communication interface (2) for transmitting data, further comprising a storage unit (3) with a semantic road map (4) for describing a road course, characterized by , that a detection unit (5) is provided for detecting at least one stationary critical area with an increased accident risk and / or one dynamic critical area with an increased accident risk, and wherein a determination unit (10) is provided for determining the area geometry based on the critical stationary and / or dynamic area, wherein the area geometry comprises at least the position and the shape of the area and wherein the determination unit (10) is designed to mark the area geometry in the semantic road map (4), and wherein the determination unit (10) is designed to classify the area type in the critical stationary and / or dynamic area and to determine at least one associated rule based on the classification, and wherein the determination unit (10) is designed to determine the roads affected by the at least one rule on the basis of the recognized area geometry in conjunction with the semantic road map (4) and to link the at least one rule to the affected roads, and wherein the driver assistance system (6) is designed to mark the affected roads in the semantic road map (4) as an updated semantic road map (4) and to transmit the semantic road map (4) updated in this way to the affected vehicles (15, 16) and / or to provide it as an updated semantic road map (4). [7] Driver assistance system (6) according to claim 6, characterized bythat the communication interface (2) is designed as a V2V interface for sending the updated semantic road map (4) to a perimeter affected by the area geometry for transmitting the updated semantic road map (4) to the affected vehicles (15, 16) and / or wherein the communication interface (2) is designed as a V2x interface for directly communicating the updated semantic road map (4) to a relevant infrastructure along the affected roads, and wherein the updated semantic road map (4) comprises updated rules for the affected infrastructure. [8] Driver assistance system (6) according to claim 7, characterized by that the communication interface (2) is designed to receive confirmation signals from the relevant infrastructure and / or vehicles (15, 16), which indicate receipt of the updated semantic road map (4). [9] Driver assistance system (6) according to one of the preceding claims 6 to 8, characterized by that the driver assistance system (6) has sensors (8) for detecting the stationary critical area and / or for detecting the dynamic critical area. [10] Driver assistance system (6) according to one of the preceding claims 6 to 9, characterized by in that the storage unit (3) has a lane-accurate semantic road map (4), and the driver assistance system (6) is designed to mark the affected vehicle lanes of the affected roads in the changed updated semantic road map (4) and to transmit them to the affected vehicles (15, 16) and / or to provide them as a changed updated semantic road map (4). [11] Driver assistance system (6) according to one of the preceding claims 6 to 10, characterized bythat the driver assistance system (6) is designed to have conventional signaling systems (14) in accordance with the special right of way and right of way, and to additionally operate the conventional signaling systems (14) when the area geometry and area type are detected. [12] Driver assistance system (6) according to one of the preceding claims 6 to 11, characterized by in that the driver assistance system (6) is designed to generate possible detours depending on the recognized area geometry and the area type and additionally to mark them in the updated, amended road map (4) and to transmit the semantic road map (4) updated in this way to the affected vehicles (15, 16) and / or to provide it as an updated semantic road map (4). [13] Driver assistance system (6) according to one of the preceding claims 6 to 12, characterized byin that the driver assistance system (6) is designed to determine a duration for the validity of the updated semantic road map (4) depending on the recognized area type and to transmit the duration with the semantic road map (4) updated in this way to the affected vehicles (15, 16) and / or to provide it as an updated semantic road map (4). [14] Driver assistance system (6) according to one of the preceding claims 6 to 13, characterized by that a human interface (HMI) (9) is provided for manually entering a stationary and / or dynamic area and / or for manually entering the area type and / or for manually entering the rule to be applied. [15] Driver assistance system (6) according to one of the preceding claims 6 to 14, characterized bythat the determination unit (10) is designed to determine the roads affected by the at least one rule on the basis of the recognized area geometry in conjunction with the semantic road map (4) and a safety area.

Images