Use of vehicle sensors of parked vehicles to detect hidden road users

Abstract

The invention relates to a method for supporting road user detection of a first vehicle (1) with the aid of a second vehicle (3), comprising the steps of: determining (S1) a detection area (5) of a sensor unit of a first vehicle (1); determining (S2) a concealment area (7) in the detection area (5) of the sensor unit of the first vehicle (1), which is concealed due to the second vehicle (3); detecting (S3) another road user (9) in the concealment area (7);and artificially generating (S4) a signal for the sensor unit of the first vehicle (1), which signal is designed to be received by the sensor unit of the first vehicle (1) and is generated depending on a respective relative position of the first vehicle (1) and the further road user (9) to the second vehicle (3) in order to simulate an unobscured reflection on the further road user (9) by means of the signal for the sensor unit of the first vehicle (1);

Description

[0001] The invention relates to a method for supporting road user detection of a first vehicle with the aid of a second vehicle, a second vehicle configured to support road user detection of a first vehicle, and a system for supporting road user detection of a first vehicle by a second vehicle.

[0002] Modern vehicles such as passenger cars and trucks are equipped with a multitude of sensors to issue warnings of potentially hazardous situations to a human driver or to perform automatic driving maneuvers based on the sensor signals. In both applications, it is often crucial to detect other road users. Radar sensors, for example, are used for this purpose. From the perspective of a vehicle equipped with a sensor, another parked vehicle may obscure a third road user, such as a pedestrian. However, since the pedestrian is a self-moving road user, it would be desirable to be able to detect them using their own sensors. In such a situation, however, they will remain undetected by a camera, a lidar unit, a radar unit, an ultrasonic distance sensor, or the like.

[0003] The principle of an active sensor, in contrast to a passive sensor, is to emit a signal itself (such as ultrasound or electromagnetic waves) and, if present, to detect and evaluate a reflection of the emitted signal from an object in the surrounding area. In this context, it is known in the art to artificially simulate radar echoes in a test rig, a so-called hardware-in-the-loop setup.

[0004] DE 11 2016 000 274 ​​B4 relates to a method for testing and evaluating a response of a motor vehicle radar system for a specific motor vehicle safety scenario, the method comprising the following: arranging at least one motor vehicle radar in a hardware-in-the-loop structure, receiving a radar signal from the at least one motor vehicle radar by means of a receiving antenna, amplifying the radar signal received by the receiving antenna by means of an amplifier, generating a simulated reflected radar signature which corresponds to at least one virtual target in a specific virtual scenario and which has at least one frequency difference f band / or an expected angular position θ, wherein the instantaneous frequency of the simulated reflected radar signature represents the distance and speed of the at least one virtual target, adding the simulated reflected radar signature with a first amplitude value to the radar signal amplified by the amplifier by means of a first mixer, wherein the first mixer outputs a first output signal, adding the simulated reflected radar signature with a second amplitude value to the radar signal amplified by the amplifier by means of a second mixer, wherein the second mixer outputs a second output signal, wherein the angular position of the at least one virtual target can be derived from the first and the second amplitude value, transmitting the first output signal by means of a first transmitting antenna, transmitting the second output signal by means of a second transmitting antenna,Receiving the simulated signature by the at least one motor vehicle radar, evaluating a response of the motor vehicle radar system by comparing an output of the motor vehicle radar system with an expected output based on the simulated target signature, indicating one or more of: speed errors, distance errors, misdetection of at least one target, and false alarms, wherein the generated simulated reflected radar signature corresponding to at least one virtual target in a specific virtual scenario is generated from one or more of: a previously recorded real reflected radar signature of at least one real target in a specific real scenario, an analytical representation of a radar target signature of at least one target in a specific virtual scenario.

[0005] The object of the invention is to reduce a possible danger caused by unrecognized road users due to vehicles obscuring sensor signals.

[0006] The invention is based on the features of the independent claims. Advantageous developments and refinements are the subject of the dependent claims.

[0007] A first aspect of the invention relates to a method for supporting road user detection of a first vehicle with the aid of a second vehicle, comprising the steps: - determining, from the second vehicle, a detection range of a sensor unit of a first vehicle located in an environment of the second vehicle in relation to the second vehicle; - Determining an obscuration area in the detection range of the sensor unit of the first vehicle, which is obscured due to the second vehicle; - Detecting another road user in the coverage area by a sensor system of the second vehicle; and - Artificially generating a signal for the sensor unit of the first vehicle, wherein the signal is designed to be received by a signal receiver of the sensor unit of the first vehicle and is generated depending on a respective relative position of the first vehicle and the further road user to the second vehicle, and transmitting the generated signal from the second vehicle in the direction of the first vehicle in order to simulate an unobscured reflection on the further road user by means of the signal for the sensor unit of the first vehicle.

[0008] For the application of the method, a first vehicle is equipped with a sensor unit for detecting other road users. The sensor unit, in particular, has at least one active sensor, i.e., one that emits waves such as ultrasonic waves or electromagnetic waves in order to detect and analyze their reflection from an object in the environment, such as a road user. For this purpose, the sensor unit of the first vehicle has a signal receiver.

[0009] Depending on the design of the sensor unit, the presence of an object in the surroundings of the first vehicle can generally be detected by receiving a reflection such as a radar echo. If a time-of-flight measurement is also performed, for example using a varying frequency response, the distance of the other road user from the first vehicle can also be determined. If a frequency change between the emitted waves and those received from the reflection is also detected, the speed of the road user relative to the vehicle can be determined using the well-known Doppler effect. Furthermore, depending on the complexity of the sensor unit, the movement patterns of the road user can be recorded, optionally through data fusion with another sensor unit.

[0010] However, if there is a second vehicle in the vicinity of the first vehicle, this can limit the detection range of the sensor unit of the first vehicle by obscuring it. Based on this situation, the second vehicle supports the first vehicle in detecting road users by using a sensor system of the second vehicle to detect the first vehicle, determine a detection range of the sensor unit of the first vehicle and, depending on the relative position between the first vehicle and the second vehicle, determine how this detection range of the sensor unit of the first vehicle is limited by obscuration by the second vehicle. The limitation of the detection range resulting from the obscuration by the second vehicle is determined by the second vehicle as the obscuration range.

[0011] If, according to the data from the second vehicle's sensor system, another road user is within this coverage area, the second vehicle generates an artificial signal that simulates a reflection from other road users that would be caused by the waves emitted by the first vehicle's sensor unit if the second vehicle were not present. The first vehicle's sensor unit is thus tricked into believing it can detect the road user by reflecting its own waves. This is particularly the case if the second vehicle is parked and the first vehicle has a radar unit in its sensor unit.

[0012] In other words, a reflection is simulated for the sensor unit of the first vehicle by the second vehicle using its sensor system to detect the other road user, if present, in the obscuration zone. Outside the obscuration zone, a potential road user is located within a possible detection range of the sensor unit of the first vehicle that is not obscured. Thus, the sensor unit of the first road user receives either direct reflections within its detection range or simulated reflections from the obscuration zone with the help of the second vehicle.

[0013] For an energy- and computation-efficient solution to the method, it can be helpful to use only other road users in the masking area within certain geometric boundaries, preferably within a certain radius, around the second vehicle to generate and transmit a simulated reflection of this as a signal to the signal receiver of the sensor unit of the first vehicle. Furthermore, the efficiency of the method can be further increased by using only moving road users in the masking area to generate a corresponding signal for the first vehicle. The respective road user in the masking area can be determined using a tracking algorithm or, in the case of radar or ultrasonic sensors, directly by evaluating the respective Doppler value of the respective other road user.

[0014] To generate the signal and to ensure compatibility and meaningfulness for the signal receiver of the sensor unit of the first vehicle, the second vehicle must generate a wave similar to that emitted by the sensor unit of the first vehicle. If, for example, the sensor unit of the first vehicle is a radar unit, corresponding radar waves must be transmitted from the second vehicle to transmit the artificially generated signal to the first vehicle. The artificially generated signal must be emitted by the second vehicle with a corresponding time delay compared to the transmission from the first vehicle and with a suitable phase so that it creates the impression for the sensor unit of the first vehicle that a real reflection is being received by the other road user.

[0015] Preferably, the signal is configured such that a distance between the first vehicle and the other road user and / or a movement speed of the other road user relative to its surroundings or relative to the first vehicle are included as respective information in the signal. A greater time delay is associated with an increased distance between the road user and the sensor unit of the first vehicle, while a phase shift corresponds to a changed angle or other relative speeds. The quality of the information in the artificially generated signal can be adapted to the system requirements or the maturity of the sensors used, in particular radar sensors, in the sensor unit.For example, if the positions between the first vehicle and the second vehicle relative to each other are known as precisely as possible, a corresponding signal can be generated with high precision; on the other hand, only a signal can be generated that replicates the distance information between the first vehicle and the other road user without containing any angle information.

[0016] If the exact relative position of the other road user to the obscuration area behind the second vehicle is to be taken into account and information about this is to be output to the first vehicle with the signal, this requires a corresponding determination of the position of the other road user relative to the second vehicle.

[0017] Preferably, the second vehicle determines a radar signature of the other road user and, using the signal, transmits it wirelessly to the sensor unit, in particular its signal receiver, by transmitting a signal adapted to the radar signature. In this case, both the sensor unit of the first vehicle and the sensor system of the second vehicle are radar units.

[0018] Preferably, the sensor unit of the first vehicle comprises a radar unit. Furthermore, the sensor system of the second vehicle preferably comprises a radar unit and / or an ultrasound unit and / or a lidar unit and / or a camera unit.

[0019] It is an advantageous effect of the invention that the detection of an otherwise hidden further road user behind a second vehicle is made possible for a first vehicle and thus road safety can be increased, in particular in automated vehicles.

[0020] Because the sensor system of the second vehicle only needs to detect the road user as such in the obscuration zone, an energy-efficient solution can be provided for the second vehicle, as complex object detection, for example, using artificial neural networks, is not necessary. In other words, it is sufficient to detect a "moving object of any type." In the simplest case, this can mean that any detections from the sensor of the second vehicle are forwarded to the first vehicle because the second vehicle does not filter out anything. Pre-sorting is generally advantageous, but it requires the appropriate computing capacity.

[0021] According to an advantageous embodiment, in order to determine the detection range of the sensor unit of the first vehicle, the first vehicle itself is detected by sensors from the second vehicle.

[0022] On the one hand, the sensor system of the second vehicle itself can be used to detect the first vehicle in a similar way to how the second vehicle detects the other road user. The presence of a road user in the masked area is then checked and, if so, a corresponding signal is generated. However, it is more energy-efficient to configure the sensor system of the second vehicle so that it passively detects the radar waves actively emitted by the first vehicle and its sensor unit in order to determine the presence of the first vehicle. This can serve as a trigger for determining the presence of another road user in the masked area and, if positive, generates a signal for the sensor unit of the first vehicle.In the process, the basic detection range of the sensor unit of the first vehicle can also be determined, particularly based on the detection of radar waves emitted by the first vehicle and its sensor unit. The detection range can then be determined relatively accurately by the sensor system of the second vehicle if the radar waves of the first vehicle are detected and the attitude angles, particularly a compass angle, of the first vehicle can be determined by the second vehicle. Thus, from the perspective of the second vehicle, the detection range can be estimated based on the aperture angle, using prior knowledge of a typical radar device.

[0023] According to a further advantageous embodiment, the signal for the sensor unit of the first vehicle is adapted in phase and / or frequency change and / or time delay depending on a respective relative position of the first vehicle and / or the further road user in each case to the second vehicle.

[0024] According to a further advantageous embodiment, the masking area is limited to a predetermined distance limit relative to the second vehicle. Limiting the masking area takes into account the fact that other road users further away from the first vehicle tend to be less relevant to the first vehicle, thus reducing the risk of a collision or negative interaction.

[0025] According to a further advantageous embodiment, a respective signal for the sensor unit of the first vehicle is generated only for a road user that is moving relative to the static environment. This embodiment takes into account the fact that stationary road users are typically of little or no relevance to a first vehicle that is in operation.

[0026] According to a further advantageous embodiment, the sensor system of the second vehicle determines a geometric signature and / or a speed of the further road user relative to its surroundings and adapts the signal accordingly.

[0027] According to a further advantageous embodiment, the signal for the sensor unit of the first vehicle is only generated when the second vehicle is stationary. Thus, the second vehicle is used in its role as a support in road user detection, particularly when parked. No additional sensors are required for the second vehicle, and only small amounts of data are needed.

[0028] According to a further advantageous embodiment, the signal includes information about a contour of the second vehicle. This allows the signal, emitted by the second vehicle, to transmit the second vehicle's own contour to the first vehicle and additionally map the other road user with spatial resolution. This ensures that the first vehicle has access to spatial information about the other road user and the second vehicle.

[0029] A further aspect of the invention relates to a second vehicle configured to support a road user detection of a first vehicle, comprising a support system configured to - determining a detection range of a sensor unit of a first vehicle located in an environment of the second vehicle in relation to the second vehicle; - determining a detection range of a sensor unit of the first vehicle located in an environment of the second vehicle in relation to the second vehicle; - Determining an obscuration area in the detection range of the sensor unit of the first vehicle, which is obscured due to the second vehicle; - Detecting another road user in the coverage area by a sensor system of the second vehicle; and - Artificially generating a signal, wherein the signal is designed to be received by a signal receiver of the sensor unit of the first vehicle and is generated depending on a respective relative position of the first vehicle and the further road user to the second vehicle, and for transmitting the generated signal from the second vehicle in the direction of the first vehicle in order to simulate an unobscured reflection on the further road user by means of the signal for the sensor unit of the first vehicle.

[0030] A further aspect of the invention relates to a system for supporting road user detection of a first vehicle by a second vehicle, having a support system for the second vehicle, which is designed to - determining, from the second vehicle, a detection range of a sensor unit of a first vehicle located in an environment of the second vehicle in relation to the second vehicle; - determining, from the second vehicle, a detection range of a sensor unit of a first vehicle located in an environment of the second vehicle in relation to the second vehicle; - Determining an obscuration area in the detection range of the sensor unit of the first vehicle, which is obscured due to the second vehicle; - Detecting another road user in the coverage area by a sensor system of the second vehicle; and - Artificially generating a signal for the sensor unit of the first vehicle, wherein the signal is designed to be received by a signal receiver of the sensor unit of the first vehicle and is generated depending on a respective relative position of the first vehicle and the further road user to the second vehicle, and for transmitting the generated signal from the second vehicle in the direction of the first vehicle in order to simulate an unobscured reflection on the further road user by means of the signal for the sensor unit of the first vehicle; and further comprising an information unit for the first vehicle, which is designed to output information that another road user has been detected in the coverage area of ​​the second vehicle.

[0031] For this purpose, the information unit can control a screen in order to output information about a road user detected in the masking area, preferably with directional information, for example behind which parked second vehicle the other road user is suspected to be.

[0032] According to a further advantageous embodiment, the system further comprises an evaluation unit for the first vehicle, which is designed to determine a masking area caused by the second vehicle, to determine a movement path of the further road user in the masking area by means of the signal received from the second vehicle and, based thereon, to determine a prediction as to the time at which the further road user will leave the masking area.

[0033] If the predicted movement path leads out of the masking zone, a warning message is preferably issued, especially at the exact moment the other road user leaves the masking zone. The prediction of the future movement path is preferably carried out using a machine learning model that is pre-trained and available to / in the first vehicle.

[0034] According to a further advantageous embodiment, the information unit is designed to detect the presence of the second vehicle by means of a detected reflection of waves emitted by the sensor unit and, in combination with the signal received from the second vehicle via the further road user, to infer that there is another road user in an obscuration area.

[0035] Because the sensor unit not only naturally detects the presence of the second vehicle through a corresponding reflection, but also receives the signal from the second vehicle as a simulated reflection of the other road user in its obscuration area, the first vehicle can determine that the other road user was not detected via a natural reflection signal, but rather via an artificially generated signal from the second vehicle. This provides the first vehicle with the information that the other road user was detected by a second vehicle. This can be taken into account in an automatic driving control system.

[0036] Advantages and preferred developments of the proposed system result from an analogous and analogous transfer of the statements made above in connection with the proposed method.

[0037] Further advantages, features, and details will become apparent from the following description, which—if appropriate, with reference to the drawings—describes at least one embodiment in detail. Identical, similar, and / or functionally equivalent parts are provided with the same reference numerals.

[0038] They show: Fig. 1: A situation without special measures in which a road user is not recognized by a first vehicle because it is obscured by a second vehicle. Fig. 2: A method for supporting the road user detection of the first vehicle by the obscuring second vehicle in the situation of Fig. 1. Fig. 3: A method for supporting road user detection of a first vehicle by a second vehicle.

[0039] Fig. 1 shows a situation in which a first vehicle 1 is driving on a road and is attempting to detect other road users 9 using a radar sensor unit. The radar sensor unit has a certain aperture angle that leads to a detection zone 5. However, a parked second vehicle 3 within the detection zone 5 limits the detection zone 5 because the second vehicle 3 partially blocks the detection zone 5. The objects that cannot be detected by the radar sensor unit of the first vehicle 1, including another road user 9, thus remain hidden from the radar sensor unit in the masking zone 7; no reflection of the shown road user 9 is detected by the radar sensor unit of the first vehicle 1.

[0040] Fig. 2 shows an exemplary solution according to the invention for detecting the additional road user 9 by the radar sensor unit of the first vehicle 1. The second vehicle 3 has a sensor system which detects the radar waves emitted by the radar sensor unit of the first vehicle 1. This triggers a detection in the second vehicle 3 of the first vehicle 1 in order to determine its relative alignment (i.e. orientation) and position to the second vehicle 3. Furthermore, a process is started in the second vehicle 3 which estimates the detection range 5 of the radar sensor unit of the first vehicle 1 and from this determines the masking area 7 caused by itself. The second vehicle 3 with its sensor system comprising its own radar unit and / or an ultrasound unit therefore detects the additional road user 9.The second vehicle 3 now generates a radar signal that is compatible with a signal receiver of the radar sensor unit of the first vehicle 1. This signal virtually replicates a reflection of the radar waves emitted by the radar sensor unit of the first vehicle 1, reflected by the other road user 9. This reproduction occurs on the basis of a deliberately selected time delay compared to the transmission by the radar sensor unit of the first vehicle 1. The radar sensor unit receives the signal as a virtual reflection from the other road user 9 with at least the position information that the other road user 9 is located at least within a partial angular range of the detection zone 5, with an aperture angle with the dimensions of the second vehicle 3 as a limiting influence.

[0041] Fig.3 shows a method for supporting road user detection of a first vehicle 1 with the aid of a second vehicle 3. In a first step S1, the sensor system of the second vehicle 3 searches for an active sensor of a sensor unit of the first vehicle 1 that is located in a certain area around the second vehicle 3. Setting parameters here are a sensor area of ​​the sensor system of the second vehicle 3 in which road user-detecting first vehicles 1 are traveling. Here, precise location and tracking of the first road user 1 can optionally take place. In a second step S2, after such a first vehicle 1 has been detected, areas opposite the detected first road user 1 are searched by the sensor system in order to search for another road user 9 in a possible coverage area 7.If another road user 9 is detected in the third step S3, this can be analyzed in more detail, for example using a perception algorithm, to determine its radar signature, its speed and / or speed direction, and optionally a category of the road user 9, which would, however, be more computationally intensive than the previous elements. In a fourth step S4, the second vehicle 3 generates a signal with a predetermined simulation quality that is compatible with the radar signals emitted by the sensor unit of the first vehicle 1 and, with a corresponding time delay, simulates a reflection of the radar waves from the sensor unit of the first vehicle 1 by the road user 9.

[0042] Although the invention has been illustrated and explained in detail by preferred embodiments, the invention is not limited by the disclosed examples, and other variations may be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of variations exist. It is also clear that exemplary embodiments are truly only examples and should not be construed as limiting the scope, possible applications, or configuration of the invention in any way.Rather, the preceding description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete terms, whereby the person skilled in the art, with knowledge of the disclosed inventive concept, can make various changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without departing from the scope of protection defined by the claims and their legal equivalents, such as further explanations in the description. 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 11 2016 000 274 ​​B4

[0004]

Claims

[1] Method for supporting road user detection of a first vehicle (1) with the aid of a second vehicle (3), comprising the steps: - determining (S1), from the second vehicle (3), a detection range (5) of a sensor unit of a first vehicle (1) located in an environment of the second vehicle (3) in relation to the second vehicle (3); - determining (S2) a concealment area (7) in the detection area (5) of the sensor unit of the first vehicle (1), which is concealed due to the second vehicle (3); - detecting (S3) another road user (9) in the coverage area (7) by a sensor system of the second vehicle (3); and - Artificially generating (S4) a signal for the sensor unit of the first vehicle (1), wherein the signal is designed to be received by a signal receiver of the sensor unit of the first vehicle (1) and is generated depending on a respective relative position of the first vehicle (1) and the further road user (9) to the second vehicle (3), and transmitting the generated signal from the second vehicle (3) in the direction of the first vehicle (1) in order to simulate an unobscured reflection on the further road user (9) by means of the signal for the sensor unit of the first vehicle (1). [2] Method according to claim 1, wherein, in order to determine the detection range (5) of the sensor unit of the first vehicle (1), the first vehicle (1) itself is detected by sensors from the second vehicle (3). [3] Method according to one of the preceding claims, wherein the signal for the sensor unit of the first vehicle (1) is adapted in phase and / or frequency change and / or time delay depending on a respective relative position of the first vehicle (1) and / or the further road user (9) in each case to the second vehicle (3). [4] Method according to one of the preceding claims, wherein the masking area (7) is limited to a predetermined distance limit relative to the second vehicle (3). [5] Method according to one of the preceding claims, wherein a respective signal for the sensor unit of the first vehicle (1) is generated only for a road user (9) moving relative to the static environment. [6] Method according to one of the preceding claims, wherein the sensor system of the second vehicle (3) determines a geometric signature and / or a speed of the further road user (9) relative to its surroundings and the signal is adapted thereto. [7] Method according to one of the preceding claims, wherein the signal for the sensor unit of the first vehicle (1) is only generated when the second vehicle (3) is stationary. [8] Method according to one of the preceding claims, wherein the signal comprises information about a contour of the second vehicle (3). [9] Second vehicle (3) arranged to support a road user detection of a first vehicle (1), comprising a support system which is designed to - determining a detection range (5) of a sensor unit of a first vehicle (1) located in an environment of the second vehicle (3) in relation to the second vehicle (3); - determining a detection range (5) of a sensor unit of the first vehicle (1) located in an environment of the second vehicle (3) in relation to the second vehicle (3); - determining a concealment area (7) in the detection area (5) of the sensor unit of the first vehicle (1), which is concealed due to the second vehicle (3); - detecting another road user (9) in the coverage area (7) by a sensor system of the second vehicle (3); and - Artificially generating a signal, wherein the signal is designed to be received by a signal receiver of the sensor unit of the first vehicle (1) and is generated depending on a respective relative position of the first vehicle (1) and the further road user (9) to the second vehicle (3), and for transmitting the generated signal from the second vehicle (3) in the direction of the first vehicle (1) in order to simulate an unobscured reflection on the further road user (9) by means of the signal for the sensor unit of the first vehicle (1). [10] System for supporting a road user (9) detection of a first vehicle (1) by a second vehicle (3), comprising a support system for the second vehicle (3) which is designed to - determining, from the second vehicle (3), a detection range (5) of a sensor unit of a first vehicle (1) located in an environment of the second vehicle (3) in relation to the second vehicle (3); - determining (S1), from the second vehicle (3), a detection range (5) of a sensor unit of a first vehicle (1) located in an environment of the second vehicle (3) in relation to the second vehicle (3); - determining (S2) a concealment area (7) in the detection area (5) of the sensor unit of the first vehicle (1), which is concealed due to the second vehicle (3); - detecting (S3) another road user (9) in the coverage area (7) by a sensor system of the second vehicle (3); and - Artificially generating (S4) a signal for the sensor unit of the first vehicle (1), wherein the signal is designed to be received by a signal receiver of the sensor unit of the first vehicle (1) and is generated depending on a respective relative position of the first vehicle (1) and of the further road user (9) to the second vehicle (3), and for transmitting the generated signal from the second vehicle (3) in the direction of the first vehicle (1) in order to simulate an unobscured reflection on the further road user (9) by means of the signal for the sensor unit of the first vehicle (1); and further comprising an information unit for the first vehicle (1) which is designed to output information about the fact that a further road user (9) has been detected in the obscuration area (7) of the second vehicle (3). [11] System according to claim 10, further comprising an evaluation unit for the first vehicle (1), which is designed to determine a masking area (7) caused by the second vehicle (3), to determine a movement path of the further road user (9) in the masking area (7) by means of the signal received from the second vehicle (3) and, based thereon, to determine a prediction as to the time at which the further road user (9) will leave the masking area (7). [12] System according to one of claims 10 to 11, wherein the information unit is designed to detect the presence of the second vehicle (3) by means of a detected reflection of waves emitted by the sensor unit and, in combination with the signal received from the second vehicle (3), to infer a further road user (9) in a coverage area via the further road user (9).

Images