Method and device for reducing a residual risk of a reaction of an ego vehicle

Abstract

The invention relates to a method for reducing or preventing a residual risk of a reaction of an ego vehicle (3) in a potentially dangerous scenario, wherein the scenario potentially affects different road users and / or the occupants of the ego vehicle (3), comprising the steps: - detecting the scenario concerning the ego vehicle (3) at least using sensors (4) of the ego vehicle (3) as a detected current scenario, - triggering a future ego vehicle intervention in the current driving behavior of the ego vehicle (3) as a trigger, - Determine a possible reaction that adapts the driving behavior in relation to the detected scenario and the trigger, - Determining a reaction hazard probability value for the specific possible reaction as the probability that the possible reaction will reach a potential hazard behavior, - Providing a reaction hazard threshold, whereby if the reaction hazard probability value is below the reaction hazard threshold, the reaction is carried out. Furthermore, the invention relates to a device.

Description

[0001] The invention relates to a method and a device for reducing or preventing a residual risk of a reaction of an ego vehicle in a potentially dangerous scenario.

[0002] A special feature of autonomous driving is the elimination of the fallback level to the human driver with increasing levels of automation, for example AD level according to SAE J3016, especially level 3 and higher.

[0003] Starting at SAE AD Level 3, there are periods in which the AD system assumes a large part or all of the control responsibility. Potentially dangerous behavior can occur due to false negatives (e.g., objects / road users missed) and false positives (e.g., non-existent objects / road users detected). This, or misinterpretation of sensor data, can lead to false negative reactions, such as not braking where necessary, and false positive reactions, such as unjustified braking.

[0004] In the context of automated and autonomous driving, it is therefore desirable to reduce the residual risk to an acceptable minimum through appropriate responses.

[0005] It is an object of the invention to provide an improved method and a device for reducing or preventing dangerous events with regard to a reaction of the ego vehicle.

[0006] The object is achieved by a method having the features of claim 1 and a device having the features of claim 13.

[0007] Advantageous embodiments emerge from the dependent patent claims, the description and the figures.

[0008] The object is achieved by a method for reducing or preventing a residual risk of a reaction of an ego vehicle in a potentially dangerous scenario, wherein the scenario potentially affects various road users and / or the occupants of the ego vehicle, comprising the steps: - Capturing a scenario concerning the ego vehicle as a detected scenario, at least using sensors of the ego vehicle, - Triggering a future ego vehicle intervention in the current driving behavior of the ego vehicle, - Determine a possible reaction that adapts the driving behavior in relation to the detected scenario and the trigger, - Determining a reaction hazard probability value for the specific possible reaction as the probability that the possible reaction will reach a potential hazard behavior, - Providing a reaction hazard threshold, whereby if the reaction hazard probability value is below the reaction hazard threshold, the reaction is carried out.

[0009] An ego vehicle can be understood as an at least partially automated vehicle (ADV - autonomous driving vehicle).

[0010] A triggering condition is a triggering condition, i.e., one or more specific conditions of a scenario that serve as a trigger for a subsequent response that either contributes to dangerous behavior or to the inability to prevent, detect, and mitigate a reasonably foreseeable indirect misuse, or that, in conjunction with a functional insufficiency, can trigger or contribute to dangerous behavior. Functional insufficiency can be understood as an inadequate ability to handle an emerging scenario.

[0011] Exceeding threshold values ​​may also imply equating them with the threshold values; as greater than or equal to.

[0012] A reaction is an intervention related to an action by any actor, such as the driver or the autonomous vehicle itself. Reactions can represent various maneuvers, which can include, for example, steering, accelerating, decelerating, or maintaining speed or steering angle.

[0013] A scenario is a description of the temporal relationship between multiple scenes in a sequence, with goals and values ​​within a specific situation, influenced by actions and events. Each scenario begins with an initial scene. To characterize this temporal relationship within a scenario, actions and events, as well as goals and values, can be specified. Unlike a scene, a scenario spans a specific period of time.

[0014] The invention recognizes that both false-negative and false-positive reactions can be associated with hazards and risks, and that optimization in one direction often contradicts optimization in the other. For example, if a vehicle is required to react very sensitively to potential obstacles to avoid false-negative reactions, the susceptibility to false-positive reactions often increases.

[0015] The invention further recognized that the reaction is often limited to one side, for example, false-positive reactions, and is optimized to avoid false-positive reactions or increase their controllability. For example, with a brake assist system, the driver often remains responsible for sufficient braking.

[0016] For AD systems, with increasingly diminished human control, a balanced design is common. For example, attempts are made to react cautiously, in the sense of "only as much as necessary," to minimize the risk of a false positive reaction. Furthermore, diversified and redundant sensor systems and / or algorithms are used to obtain more reliable detections and minimize the false positive and false negative rates.

[0017] In principle, detections should be sufficiently reliable to decide on sensible reactions. If the necessary performance is limited for any reason (temporarily or situationally), a degradation of the driving function is often used to adapt the control of the actuators to the performance of the sensors and perception. However, it is practically never possible to achieve 100% certainty that a detection is reliable or can be assessed as such.

[0018] If a scenario is detected that may require a response, it is generally not possible to decide with 100% certainty whether the detection is correct and the response is actually necessary and appropriate.

[0019] There is the possibility of an overreaction or underreaction, which in turn is associated with a risk. Either the reaction itself creates the risk or it does not sufficiently reduce the risk of the triggering scenario.

[0020] According to the invention, it was therefore recognized that there is a need to further reduce the residual risk in such situations.

[0021] This is now solved by means of the method according to the invention.

[0022] According to the invention, a scenario relating to the ego vehicle is first detected at least using sensors of the ego vehicle as a detected scenario, and based on this, a future ego vehicle intervention in the current driving behavior of the ego vehicle is triggered as a trigger. A trigger can be defined as the intention of an intervention, i.e. a reaction, in the current driving behavior of the ego vehicle. Such a trigger is, for example, a change in a destination or a change in the desired arrival time with an impact on the driving control or a desire of the driver to perform a specific maneuver, such as overtaking / turning. A possible reaction is then determined in relation to the detected scenario and adapted to the trigger.

[0023] This means that a reaction is determined to adapt the driving behavior to the trigger, at least using actuators.

[0024] According to the invention, a reaction hazard probability value is then determined for the determined possible reaction as the probability that the possible reaction will result in a potentially hazardous behavior. This means that a probability value is determined that the possible reaction itself represents a hazardous behavior that could ultimately lead to damage.

[0025] Hazardous behavior is understood to be behavior outside nominal safety parameters, for example very sharp braking or steering, a sudden lane change, etc., which has the possibility of causing damage, which is defined according to established criteria such as the severity of possible injuries.

[0026] According to the invention, a reaction hazard threshold is provided, whereby the reaction is carried out if the reaction hazard probability value is below the reaction hazard threshold. This means that the reaction hazard threshold is used to check whether the reaction reaches a threshold for potentially hazardous behavior and therefore should not be carried out without further ado.

[0027] By means of the method according to the invention, a reaction which is, for example, far worse than the dangerous situation, which moreover only occurs with a certain probability, can be avoided by taking into account potentially endangered road users and their possible reaction to a dangerous behavior of the ego vehicle.

[0028] The method according to the invention continuously monitors and takes into account the hazardous behavior.

[0029] If there is residual uncertainty about its necessity, the reaction may be such that no harm occurs.

[0030] The method according to the invention opens up additional scope for conservative reactions that would otherwise not have been possible due to the existing uncertainty of detection.

[0031] Only when, for example, a conflict is recognized between the detected hazard event and the hazard event triggered by the reaction, is the reaction adapted in such a way, for example by adaptation in the form of a different type of intervention / reaction, such as braking / acceleration / steering, possibly in different combinations, as well as in different parameters of this reaction, for example a braking deceleration, acceleration, steering angle, temporal adjustment, etc., so that the overall risk of damage is reduced and the risk of a damage event due to an inadequate reaction is taken into account.

[0032] A hazardous event is a circumstance in which road users or the environment are exposed to one or more hazards.

[0033] Thus, the method according to the invention detects potentially dangerous scenarios and defines and executes appropriate responses.

[0034] In cases where the response itself could pose a hazard, the hazard is assessed and evaluated. If the response is still appropriate, it is carried out anyway.

[0035] In cases where the conditions for an actual hazard due to the reaction are not met despite generally potentially dangerous behavior, the reaction is also carried out.

[0036] In a further embodiment, the procedure includes the following step: - Determine, if the reaction hazard probability value is above the reaction hazard threshold value, another reaction to the detected scenario.

[0037] Alternatively, in a further embodiment, the method may comprise the following further steps: - Determine, if the reaction hazard probability value is above the reaction hazard threshold value, a reaction exposure probability value for the potential hazardous behavior resulting from the possible reaction, which represents the probability value for the occurrence of a hazardous event when carrying out the uncorrected or uncompensated possible reaction under the existing conditions, - Providing a reaction exposure threshold, whereby if the reaction exposure probability value is below the reaction exposure threshold, the reaction is carried out.

[0038] This means that a probability value is determined that the possible reaction under the given conditions could actually lead to a hazardous event if it is not corrected or compensated. This can also be referred to as exposure. A hazardous event could be, for example, a rear-end collision with existing following traffic during sudden braking, or a collision with an existing vehicle in the adjacent lane, etc. Existing conditions could include, for example, the surrounding / ambient conditions.

[0039] In a subsequent step, a reaction exposure threshold is provided. If the reaction exposure probability value is below the reaction exposure threshold, the reaction is carried out. This means that it is checked whether the probability of the reaction reaching the reaction exposure threshold for a hazardous event is met. If the reaction exposure threshold is reached, the reaction cannot be carried out without further action.

[0040] The procedure checks whether potentially hazardous behavior actually leads to a hazardous event. This continuously monitors and considers the probability of a hazardous event occurring.

[0041] In a further embodiment, the procedure includes the following step: - Determine, if the reaction exposure probability value is above the reaction exposure threshold, another reaction to the detected scenario.

[0042] Alternatively, in a further embodiment, the method may comprise the following further steps: - Determine, if the reaction exposure probability value is above the reaction exposure threshold value, a reaction uncontrollability probability value, which represents the probability value that the hazardous event resulting from the possible reaction cannot be corrected or compensated for, - Providing a reaction uncontrollability threshold, whereby if the reaction uncontrollability probability value is below the reaction uncontrollability threshold, the reaction is carried out.

[0043] In the next step, if the reaction exposure probability value is above the reaction exposure threshold, a reaction uncontrollability probability value is determined. This represents the probability that the hazardous event resulting from the possible reaction cannot be corrected or compensated for. This means that a probability value is determined that the hazardous event resulting from the possible reaction cannot be corrected or compensated for and therefore actually leads to damage. This could, for example, be the probability that other road users are able to brake / evade in time.

[0044] In a further step, a reaction uncontrollability threshold is provided. If the reaction uncontrollability probability value is below the reaction uncontrollability threshold, the reaction is carried out. The reaction uncontrollability threshold must be selected such that it marks a threshold below which damage can be averted in the vast majority of cases through routine behavior, for example, by a driver. This checks whether the probability that the resulting hazardous event cannot be corrected or compensated for reaches the reaction uncontrollability threshold and therefore the reaction should not be carried out.

[0045] In a further embodiment, the procedure includes the following step: - Not performing the reaction if the reaction uncontrollability probability value is above the reaction uncontrollability threshold value.

[0046] In a further alternative embodiment, the procedure comprises the following steps: - Determining the remaining time to generate, evaluate and execute a new response or adapted response as a new response if the response uncontrollability probability value is above the response uncontrollability threshold, and - Check whether the remaining time is sufficient, - If there is insufficient time remaining, determining a reaction damage probability value based on the reaction uncontrollability probability value, the reaction exposure probability value and the reaction hazard probability value, which represents the probability value that the possible reaction will lead to damage, and determining a scenario damage probability value, which represents the probability value that the current scenario will lead to damage, whereby if the reaction damage probability value is exceeded by the scenario damage probability value, the reaction is carried out and if it is undershot, the reaction is not carried out, - If sufficient time is available, determine a new possible response or adapt the response as a new response.

[0047] Thus, the remaining time to generate, evaluate, and execute a new response is determined if the response uncontrollability probability value is above the response uncontrollability threshold. This means that the remaining time is determined to determine and evaluate an improved response. It is then checked whether the remaining time is sufficient. If the remaining time is insufficient, a response damage probability value is determined based on the response uncontrollability probability value, the response exposure probability value, and the reaction hazard probability value, which represents the probability value that the possible response will result in damage.This means that a reaction damage probability value is calculated from the reaction hazard probability value, the reaction exposure probability value, and the reaction uncontrollability probability value, which is the probability value that the possible reaction will ultimately lead to damage. The reaction damage probability value can be calculated by multiplying the reaction hazard probability value by the reaction exposure probability value and the reaction uncontrollability probability value.

[0048] If the reaction damage probability value is less than a scenario damage probability value, the reaction is not executed; if the reaction damage probability value is greater than a scenario damage probability value, the reaction is executed. The scenario damage probability value represents the probability value at which the current scenario will result in damage.

[0049] This means that it is checked whether the resulting reaction damage probability value corresponds at least to the probability of the scenario damage probability value, i.e. damage caused by the reaction is classified as just as likely as damage without the reaction.

[0050] Furthermore, given sufficient time, a new possible response or an adaptation of the response is accomplished as a new response.

[0051] In further training, the classification as a hazardous event is based on a hazard catalog with listed hazards. Known hazards are assigned to the appropriate response to the detected scenario, for example, rear-end collisions resulting from unexpected braking.

[0052] In the hazard catalog, the hazard events are assigned to a road user category. This means that for each hazard, additional categories are stored for static or dynamic road users or (legal) assets and / or traffic objects / objects / entities to be protected.

[0053] In further development, the hazard catalog assigns criteria to the hazard events, based on which the probability values ​​are assessed. For each hazard event, criteria are thus stored that can be used to assess, on a situational basis, whether road users are statistically capable of averting the hazard with a sufficiently high probability.

[0054] In a further development, the steps of detecting a scenario concerning the ego vehicle, at least using sensors of the ego vehicle as a detected scenario, and determining a future ego vehicle intervention in the current driving behavior of the ego vehicle as a trigger, comprise the following further steps: - Determining a scenario damage probability value, which represents the probability value that no damage will occur if there is no reaction in relation to the detected scenario and the trigger, - Providing a scenario damage threshold, wherein if the scenario damage probability value falls below the scenario damage threshold, no reaction is determined and if the scenario damage probability value is exceeded, a possible reaction is determined with regard to the detected scenario, which adapts the driving behavior according to the trigger.

[0055] First, the scenario concerning the ego-vehicle is recorded using sensors as a detected current scenario, and a future ego-vehicle intervention in the current driving behavior of the ego-vehicle is identified as a trigger. A scenario damage probability value is then determined, which represents the probability value that damage will occur if no reaction is made to the detected scenario and the ego-vehicle intervention is used as a trigger. This means that a probability value is determined that the current scenario will lead to damage if the ego-vehicle's behavior remains unchanged. This could, for example, be a collision if the current trajectory is maintained.

[0056] Thus, a scenario damage threshold is provided. If the scenario damage probability value falls below the scenario damage threshold, no reaction is determined. If the scenario damage probability value exceeds the threshold, a possible reaction is determined with respect to the detected scenario, which adapts the driving behavior accordingly to the trigger. This means that it is checked whether the probability that the current scenario will result in damage reaches a predetermined scenario damage threshold or intervention probability value, and therefore whether a reaction is even necessary. If such a reaction is necessary, the possible reaction is determined.

[0057] Furthermore, the object is achieved by a device for reducing or preventing a residual risk of a reaction of an ego vehicle in a potentially dangerous scenario, wherein the scenario potentially affects various road users and / or the occupants of the ego vehicle, wherein at least sensors are provided for detecting the scenario of the ego vehicle concerning the ego vehicle as a detected current scenario, and wherein a computing unit is further provided which is designed to determine a future ego vehicle intervention in the current driving behavior of the ego vehicle as a trigger and which is further provided to determine a possible reaction which adapts the driving behavior in relation to the detected scenario and the trigger accordingly, and wherein the computing unit is further provided to determine a reaction hazard probability value for the determined possible reaction as a probability,that the possible reaction achieves a potential hazard behavior, and wherein a memory unit is provided for providing a reaction hazard threshold value, wherein the computing unit is designed to carry out the reaction if the reaction hazard probability value is below the reaction hazard threshold value.

[0058] The advantages and advantageous embodiments of the method can be transferred to the device.

[0059] The device can be designed as a highly automated AD system. In particular, in addition to the sensors, actuators can also be present that implement the aforementioned interventions or reactions. These actuators are either part of the system / ego vehicle or are controlled by it, or whose function is requested.

[0060] However, it can also complement simpler driver assistance systems, thereby expanding their scope of action. Examples would be automated systems that • Carry out braking and take into account the effect on passengers, rear and / or side traffic; • Change lanes, taking into account the effect on passengers, rear and / or side traffic; • Carry out overtaking maneuvers taking into account the effect on passengers, oncoming traffic, traffic to the side and / or ahead; • Carry out evasive maneuvers, taking into account the effect on the occupants and / or road users being avoided and others who may be affected; • carry out any type of reaction that is part of a driving maneuver and take into account potential effects on passengers, other road users and / or other people.

[0061] In a further embodiment, the sensor system comprises at least sensors for detecting a passenger compartment as interior data, and wherein the computing unit is designed to evaluate the interior data as an interior scenario and to detect a potentially dangerous behavior in relation to the detected interior scenario.

[0062] A possible embodiment of the device thus additionally includes monitoring the vehicle interior and the occurrence of a potentially dangerous event, in particular, for example, with regard to the vehicle occupants.

[0063] Another possible design of the device includes monitoring of the rear traffic area as well as forward-facing sensors for monitoring the forward traffic area, taking into account the presence of road users there with regard to the possibility of a potentially dangerous event occurring, such as a rear-end collision, due to the vehicle's own proactive and / or reactive behavior. In addition to the rear / forward sensors, side-facing sensors can also be included, if available. This allows, for example, the presence of neighboring road users to be taken into account during an evasive maneuver into the adjacent lane.

[0064] Further features, characteristics, 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 method according to the invention in a first embodiment, Fig. 2: the method according to the invention in a second embodiment, Fig. 3: the method according to the invention in a third embodiment, Fig. 4: an ego vehicle with a device according to the invention.

[0065] Fig. 1 shows a method for reducing or preventing a residual risk of a reaction of an ego vehicle 3 in a potentially dangerous scenario, wherein the scenario potentially affects various road users and / or the occupants of the ego vehicle 3.

[0066] In a first step S1, a scenario concerning the ego vehicle 3 is recorded as a detected current scenario at least using sensors 4.

[0067] This means that the current scenario(s) in which the ego vehicle 3 is located is detected. For this purpose, at least sensors 4 or a sensor system, but also current actuators or an actuator system, can be used. Thus, detection of the current scenario can be accomplished based on sensors 4 such as cameras, lidar sensors, radar sensors, and / or ultrasonic sensors, whereby the detection can also include an evaluation based on algorithms with regard to the included risk criteria.

[0068] In a second step S2, a future ego-vehicle intervention in the current driving behavior of the ego-vehicle 3 is determined as a trigger. A trigger can thus be the intention to intervene ("reaction") in the current driving behavior of the ego-vehicle 3. Such a trigger can be, for example, a change in the destination or a change in the desired arrival time with effects on the vehicle control, or the driver's desire to perform a specific maneuver, such as an overtaking maneuver or a turning maneuver.

[0069] In a third step S3, a possible response is determined that adapts the driving behavior to the detected scenario and the trigger. This means that, with respect to the trigger, a possible response to the detected scenario is determined, ie, a possible response is determined, and the driving behavior is adapted to the trigger, at least using actuators.

[0070] In a fourth step S4, a reaction hazard probability value is determined for the determined possible reaction as the probability that the possible reaction will result in a potentially hazardous behavior. This means that a probability value is determined that the possible reaction itself represents a hazardous behavior that could, for example, ultimately contribute to damage. Hazardous behavior can be viewed as behavior outside of nominal safety parameters, such as very sharp braking or steering, sudden lane changes, etc., with the possibility that this could trigger damage, which can be defined by specified criteria such as the severity of the potential injuries.

[0071] In a fifth step S5, a reaction hazard threshold is determined. The reaction hazard threshold can be predefined and stored, for example, in a memory unit. This means that the reaction hazard threshold is used to check whether the reaction reaches a threshold for potentially hazardous behavior and should therefore not be executed without further action.

[0072] In a sixth step S6, if the reaction hazard probability value is below the reaction hazard threshold value, the reaction is carried out.

[0073] In an alternative sixth step S6a, if the reaction hazard probability value is above the reaction hazard threshold, a reaction exposure probability value is determined for the potential hazardous behavior resulting from the possible reaction. The reaction exposure probability value represents the probability value for the occurrence of a hazardous event upon execution of the uncorrected or uncompensated possible reaction under the existing conditions. The reaction exposure probability value is determined for the hazardous behavior resulting from the determined, possible reaction. This means that a probability value is determined that the possible reaction under the given conditions (exposure) will actually lead to a hazardous event unless corrected or compensated.

[0074] The classification as a hazardous event is based on a hazard catalog containing listed hazards. Known hazards are assigned to the appropriate response to the detected scenario, for example, rear-end collisions resulting from unexpected braking.

[0075] In a seventh step S7, a predefined reaction exposure threshold is provided. This means that it is checked whether the probability of the reaction reaching a threshold represents a relevant exposure for a hazardous event and therefore should not normally be carried out without further action.

[0076] In an eighth step S8, if the reaction exposure probability value is below the reaction exposure threshold value, the reaction is carried out.

[0077] In an alternative eighth step S8a, if the reaction exposure probability value is above the reaction exposure threshold, a reaction uncontrollability probability value is determined, which represents the probability value that the hazardous event resulting from the possible reaction cannot be corrected or compensated. This means that a reaction uncontrollability probability value is determined for one of the determined possible reactions resulting from the hazardous event. This means that a probability value is determined that the hazardous event resulting from the possible reaction cannot be corrected or compensated and therefore actually leads to damage. For example, this can be a probability that other road users will not be able to brake or evade in time.

[0078] In a ninth step S9, a reaction uncontrollability threshold is provided. The threshold must be selected such that it marks a threshold below which damage can be averted in the vast majority of cases through routine behavior, for example, by the driver. Based on the reaction uncontrollability threshold, it is checked whether the probability that the resulting hazardous event cannot be corrected or compensated for reaches the reaction uncontrollability threshold.

[0079] In a tenth step S10, if the reaction uncontrollability probability value is below the reaction uncontrollability threshold value, the reaction is executed.

[0080] In an alternative step S10a, if the reaction uncontrollability probability value is above the reaction uncontrollability threshold value, the reaction is not executed.

[0081] Fig. 2 shows a further embodiment of the method for reducing or preventing a residual risk of a reaction of an ego vehicle 3 in a potentially dangerous scenario, wherein the scenario potentially affects various road users and / or the occupants of the ego vehicle 3.

[0082] In a first step A1, a scenario concerning the ego vehicle 3 is recorded as a detected current scenario, at least using sensors 4. This means that the current scenario(s) in which the ego vehicle 3 is located are detected. For this purpose, at least sensors 4 or a sensor system, but also current actuators or an actuator system, can be used. Thus, a cyclic detection of the current scenario can be achieved based on sensors 4 such as cameras, lidar sensors, radar sensors, and / or ultrasonic sensors, whereby the detection can also include an evaluation based on algorithms with regard to the risk criteria contained therein.

[0083] In a second step A2, which is identical to step S2, a future ego vehicle intervention in the current driving behavior of the ego vehicle 3 is determined as a trigger.

[0084] In a third step A3, which is identical to step S3, a possible reaction is determined according to the driving behavior in relation to the detected scenario and the trigger.

[0085] In a fourth step A4, which is identical to step S4, a reaction hazard probability value for the determined possible reaction is determined as the probability that the possible reaction achieves a potential hazard behavior.

[0086] In a fifth step A5, which is identical to step S5, a reaction hazard threshold is determined.

[0087] In a sixth step A6, which is identical to step S6, the reaction is carried out if the reaction hazard probability value is below the reaction hazard threshold value.

[0088] In an alternative sixth step A6a, which is identical to step S6a, if the reaction hazard probability value is above the reaction hazard threshold value, a reaction exposure probability value is determined for the potential hazardous behavior resulting from the possible reaction, wherein the reaction exposure probability value represents the probability value for the occurrence of a hazardous event when carrying out the uncorrected or uncompensated possible reaction under the existing conditions.

[0089] In a seventh step A7, which is identical to step S7, a predefined reaction exposure threshold is provided.

[0090] In an eighth step A8, which is identical to step S8, the reaction is carried out if the reaction exposure probability value is below the reaction exposure threshold value.

[0091] In an alternative eighth step A8a, which is identical to step S8a, if the reaction exposure probability value is above the reaction exposure threshold value, a reaction uncontrollability probability value is determined, which represents the probability value that the hazardous event resulting from the possible reaction cannot be corrected or compensated.

[0092] In a ninth step A9, which is identical to step S9, a reaction uncontrollability threshold is provided.

[0093] In a tenth step A10, which is identical to step S10, the reaction is executed if the reaction uncontrollability probability value is below the reaction uncontrollability threshold value.

[0094] In an alternative step A10a, if the reaction uncontrollability probability value is above the reaction uncontrollability threshold, the remaining time to generate a new, improved reaction is determined and evaluated. This means that the remaining time is determined to determine and evaluate an improved reaction and, based on the evaluation, to execute either the current or the new reaction.

[0095] In step A11 it is checked whether the remaining time is sufficient.

[0096] In step A12, if there is insufficient time remaining, a reaction damage probability value is determined based on the reaction uncontrollability probability value, the reaction exposure probability value, and the reaction hazard probability value. This represents the probability value that the possible reaction will result in damage. If the probabilities are independent of each other, the reaction damage probability value can be determined by multiplying the reaction uncontrollability probability value by the reaction exposure probability value and the reaction hazard probability value. This means that a probability value is determined that the possible reaction will ultimately result in damage, taking all three probabilities into account.

[0097] In step A13, a scenario damage probability value is determined, which represents the probability that the current scenario will result in damage at the scenario damage threshold. If the reaction damage probability value exceeds the scenario damage probability value, the reaction is executed (A14), and if the reaction is undershot, the reaction is not executed (A15). This means that a check is carried out to determine whether the resulting reaction damage probability value at least corresponds to the probability of the scenario damage probability value, i.e., whether damage caused by the reaction is classified as just as likely as damage without the reaction.

[0098] A scenario damage probability value can be determined based on a scenario hazard probability value, a scenario exposure probability value, and a scenario uncontrollability probability value. These can be defined analogously to the reaction hazard probability value, reaction uncontrollability probability value, and reaction exposure probability value.

[0099] In an alternative step A12a, if sufficient time permits, a new possible response or an adaptation of the response is implemented as a new response. This means that the response is optimized so that, based on the previous criteria, it is classified as more likely to be executed and executed than the current possible response. The method can then begin again at step A3.

[0100] In contrast to the procedure in Fig. 1, all occurring scenarios are evaluated cyclically, i.e., over time. Therefore, a required response cannot simply be omitted if there is an opportunity to further reduce the risk. Therefore, the available time also plays a role, and in this case, feedback is provided so that the optimized response can also be evaluated.

[0101] Fig. 3 shows a further embodiment of the method according to the invention.

[0102] In a step V0, a ​​scenario concerning the ego vehicle 3 is recorded as a detected current scenario, at least using sensors 4. This means that the current scenario(s) in which the ego vehicle 3 is located are detected. For this purpose, at least sensors 4 or a sensor system, but also current actuators or an actuator system, can be used. Thus, a cyclic detection of the current scenario can be accomplished based on sensors 4 such as cameras, lidar sensors, radar sensors, and / or ultrasonic sensors, whereby the detection can also include an evaluation based on algorithms with regard to the risk criteria contained therein.

[0103] In step V1, a scenario damage probability value is determined for the detected scenario. This represents the probability that damage will occur if no reaction occurs with respect to the detected scenario and the ego-vehicle intervention. This means that it represents a probability value that the current scenario will lead to damage if the behavior of the ego-vehicle 3 remains unchanged, for example, a collision with the current trajectory.

[0104] In a second step V2, a scenario damage threshold is provided. If the scenario damage probability value falls below the scenario damage threshold, no response is determined. This means that a check is carried out to determine whether the probability that the current scenario will result in damage reaches the scenario damage probability value and therefore a response is necessary.

[0105] In a third step V3, if the threshold is exceeded, a possible reaction is determined in relation to the detected scenario, which adapts the driving behavior to the scenario and thus to a trigger.

[0106] In a fourth step V4, which is identical to step S4, a reaction hazard probability value for the determined possible reaction is determined as the probability that the possible reaction achieves a potential hazard behavior.

[0107] In a fifth step V5, which is identical to step S5, a reaction hazard threshold is determined.

[0108] In a sixth step V6, which is identical to step S6, the reaction is carried out if the reaction hazard probability value is below the reaction hazard threshold value.

[0109] In an alternative sixth step V6a, which is identical to step S6a, if the reaction hazard probability value is above the reaction hazard threshold value, a reaction exposure probability value is determined for the potential hazardous behavior resulting from the possible reaction, wherein the reaction exposure probability value represents the probability value for the occurrence of a hazardous event when carrying out the uncorrected or uncompensated possible reaction under the existing conditions.

[0110] In a seventh step V7, which is identical to step S7, a predefined reaction exposure threshold is provided.

[0111] In an eighth step V8, which is identical to step S8, the reaction is carried out if the reaction exposure probability value is below the reaction exposure threshold value.

[0112] In an alternative eighth step V8a, which is identical to step S8a, if the reaction exposure probability value is above the reaction exposure threshold value, a reaction uncontrollability probability value is determined, which represents the probability value that the hazardous event resulting from the possible reaction cannot be corrected or compensated.

[0113] In a ninth step V9, which is identical to step S9, a reaction uncontrollability threshold is provided.

[0114] In a tenth step V10, which is identical to step S10, the reaction is carried out if the reaction uncontrollability probability value is below the reaction uncontrollability threshold value.

[0115] In an alternative step V10a, which is identical to step S10a, if the reaction uncontrollability probability value is above the reaction uncontrollability threshold value, the reaction is not executed.

[0116] Fig.4 shows the ego vehicle 3 with a device 1 according to the invention. The surroundings, for example, including the interior, are detected using sensors 4. Thus, in addition to the vehicle exterior (surroundings), the vehicle interior can be considered with regard to the possibility of a potentially dangerous event occurring due to the vehicle's own behavior. Furthermore, rearward traffic can also be included, and lateral sensors 4 can be present to detect neighboring traffic.

[0117] Furthermore, the computing unit 2 is provided.

[0118] The device 1 can be designed to carry out the method according to the invention.

[0119] By means of the method / device 1 according to the invention, a reaction which is, for example, far worse than the dangerous situation, which moreover only occurs with a certain probability, can be avoided by taking into account potentially endangered road users and their possible reaction to a dangerous behavior of the ego vehicle 3.

[0120] The method according to the invention continuously monitors and takes into account the hazardous behavior.

[0121] If there is residual uncertainty about its necessity, the reaction may be such that no harm occurs.

[0122] The method / device 1 according to the invention opens up additional scope for conservative reactions, which would otherwise not have been possible due to an existing uncertainty in the detection.

[0123] Only when, for example, a conflict is recognized between the detected hazard event and the hazard event triggered by the reaction, is the reaction adapted in such a way, for example by adaptation in the form of a different type of intervention / reaction, such as braking / acceleration / steering, possibly in different combinations, as well as in different parameters of this reaction, for example a braking deceleration, acceleration, steering angle, temporal adjustment, etc., so that the overall risk of damage is reduced and the risk of a damage event due to an inadequate reaction is taken into account.

[0124] Thus, the method / device 1 according to the invention detects potentially dangerous scenarios and defines and executes appropriate reactions.

[0125] In cases where the response itself could pose a hazard, the hazard is assessed and evaluated. If the response is still appropriate, it is carried out anyway.

[0126] In cases where the conditions for an actual hazard due to the reaction are not met despite generally potentially dangerous behavior, the reaction is also carried out. List of reference symbols 1 device 2 computing unit 3 Ego vehicle 4 sensors

Claims

[1] Method for reducing or preventing a residual risk of a reaction of an ego vehicle (3) in a potentially dangerous scenario, wherein the scenario potentially affects various road users and / or the occupants of the ego vehicle (3), comprising the steps: - detecting the scenario concerning the ego vehicle (3) at least using sensors (4) of the ego vehicle (3) as a detected current scenario, - triggering a future ego vehicle intervention in the current driving behavior of the ego vehicle (3) as a trigger, - Determine a possible reaction that adapts the driving behavior in relation to the detected scenario and the trigger, - Determining a reaction hazard probability value for the specific possible reaction as the probability that the possible reaction will reach a potential hazard behavior, - Providing a reaction hazard threshold, whereby if the reaction hazard probability value is below the reaction hazard threshold, the reaction is carried out. [2] The method of claim 1, comprising the further step of: - Determine, if the reaction hazard probability value is above the reaction hazard threshold value, another reaction to the detected scenario. [3] Method according to claim 1, characterized by that the procedure includes the following further steps: - Determine, if the reaction hazard probability value is above the reaction hazard threshold value, a reaction exposure probability value for the potential hazardous behavior resulting from the possible reaction, which represents the probability value for the occurrence of a hazardous event when carrying out the uncorrected or uncompensated possible reaction under the existing conditions, - Providing a reaction exposure threshold, whereby if the reaction exposure probability value is below the reaction exposure threshold, the reaction is carried out. [4] The method of claim 3, comprising the further step of: - Determine, if the reaction exposure probability value is above the reaction exposure threshold, another reaction to the detected scenario. [5] Method according to claim 3, characterized by that the procedure includes the following further steps: - Determine, if the reaction exposure probability value is above the reaction exposure threshold value, a reaction uncontrollability probability value, which represents the probability value that the hazardous event resulting from the possible reaction cannot be corrected or compensated for, - Providing a reaction uncontrollability threshold, whereby if the reaction uncontrollability probability value is below the reaction uncontrollability threshold, the reaction is carried out. [6] The method of claim 5, comprising the further step of: - Not performing the reaction if the reaction uncontrollability probability value is above the reaction uncontrollability threshold value. [7] Method according to claim 5, comprising the further steps: - Determining the remaining time to generate, evaluate and execute a new response or adapted response as a new response if the response uncontrollability probability value is above the response uncontrollability threshold, and - Check whether the remaining time is sufficient, - if there is insufficient time remaining, determining a reaction damage probability value based on the reaction uncontrollability probability value, the reaction exposure probability value and the reaction hazard probability value, which represents the probability value that the possible reaction will lead to damage, and determining a scenario damage probability value, which represents the probability value that the current scenario will lead to damage, whereby if the reaction damage probability value is exceeded by the scenario damage probability value, the reaction is carried out and if it is undershot, the reaction is not carried out, - if sufficient time is available, determining a new possible response or adapting the response as a new response. [8] Method according to claim 7, characterized bythat the reaction damage probability value is generated by multiplying the reaction uncontrollability probability value with the reaction exposure probability value and the reaction hazard probability value. [9] Method according to one of the preceding claims 3 to 8, characterized by that the classification as a hazardous event is based on a hazard catalogue with listed hazards. [10] Method according to claim 9, characterized by that in the hazard catalogue the hazard events are assigned to a road user category. [11] Method according to one of the preceding claims, characterized by that the detection of the scenario concerning the ego vehicle (3) at least using sensors (4) of the ego vehicle (3) as a detected scenario, and the determination of a future ego vehicle intervention in the current driving behavior of the ego vehicle (3) as a trigger, comprises the further steps: - Determining a scenario damage probability value, which represents the probability value that no damage will occur if no reaction occurs in relation to the detected scenario and the trigger, - Providing a scenario damage threshold, wherein if the scenario damage probability value falls below the scenario damage threshold, no reaction is determined and if the scenario damage probability value is exceeded, a possible reaction is determined with regard to the detected scenario, which adapts the driving behavior according to the trigger. [12] Method according to claim 11, characterized by that the scenario damage probability value is determined on the basis of a scenario hazard probability value, a scenario exposure probability value and a scenario uncontrollability probability value. [13] Device (1) for reducing or preventing a residual risk of a reaction of an ego vehicle (3) in a potentially dangerous scenario, wherein the scenario potentially affects various road users and / or the occupants of the ego vehicle (3), characterized by , that at least sensors (4) are provided for detecting the scenario of the ego vehicle (3) concerning the ego vehicle (3) as a detected current scenario, and wherein a computing unit (2) is further provided, which is designed to determine a future ego-vehicle intervention in the current driving behavior of the ego-vehicle (3) as a trigger and which is further provided to determine a possible reaction which adapts the driving behavior in relation to the detected scenario and the trigger accordingly, and wherein the computing unit (2) is further designed to determine a reaction hazard probability value for the determined possible reaction as a probability that the possible reaction reaches a potentially dangerous behavior, and wherein a storage unit is provided for providing a reaction hazard threshold value, wherein the computing unit (2) is designed to carry out the reaction if the reaction hazard probability value is below the reaction hazard threshold value. [14] Device (1) according to claim 13, characterized bythat the sensor system comprises at least sensors (4) for detecting a passenger compartment as interior data and wherein the computing unit (2) is designed to evaluate the interior data as an interior scenario and to detect a potentially dangerous hazard behavior in relation to the detected interior scenario. [15] Device (1) according to claim 13 or 14, characterized by that the sensor system comprises at least rear sensors (4) for monitoring the rear traffic area as well as forward-facing sensors for monitoring the forward traffic area.

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