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

Abstract

Method for assisting the detection of a road user of a first vehicle (1) using a second vehicle (3), comprising the steps: - Determine (S1), from the second vehicle (3), a detection range (5) of a sensor unit of a first vehicle (1) located in the vicinity of the second vehicle (3) in relation to the second vehicle (3); - Determining (S2) a cover area (7) in the detection area (5) of the sensor unit of the first vehicle (1), which is covered because of the second vehicle (3); - Detection (S3) of another road user (9) in the obscuration area (7) by a sensor system of the second vehicle (3); and - Artificial generation (S4) of a signal for the sensor unit of the first vehicle (1), wherein the signal is designed for reception 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 other road user (9) to the second vehicle (3), and transmission of the generated signal from the second vehicle (3) in the direction of the first vehicle (1), wherein the signal for the sensor unit of the first vehicle (1) simulates a reflection at the other road user (9) that would be caused by the emitted waves of the sensor unit of the first vehicle (1) if the second vehicle (3) were not present.

Description

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

[0002] Modern vehicles, such as cars and trucks, are equipped with a variety of sensors to warn the driver of potential hazards or to perform automated driving maneuvers based on sensor signals. In both applications, detecting other road users is often crucial. Radar sensors, for example, are used for this purpose. From the perspective of a vehicle equipped with a sensor, another parked vehicle might obscure a third road user, such as a pedestrian. However, since a pedestrian is a moving road user, it would be desirable to detect them using the vehicle's own sensors. In such a situation, however, they will remain undetected by a camera, lidar unit, radar unit, ultrasonic distance sensor, or similar devices.

[0003] The principle of an active sensor, unlike a passive one, 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 environment. In the prior art, it is known to artificially simulate radar echoes in a test setup, a so-called hardware-in-the-loop system.

[0004] DE 11 2016 000 274 ​​B4 relates to a method for testing and evaluating the response of a motor vehicle radar system for a specific motor vehicle safety scenario, wherein the method comprises the following: arranging at least one motor vehicle radar in a hardware-in-the-loop setup, 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 that corresponds to at least one virtual target in a specific virtual scenario and that exhibits at least one frequency difference f band / or includes 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 using 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 using 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 values, transmitting the first output signal using a first transmitting antenna, transmitting the second output signal using a second transmitting antenna,Receiving the simulated signature by the at least one vehicle radar, evaluating a response of the vehicle radar system by comparing an output of the vehicle radar system with an expected output based on the simulated target signature, displaying one or more of the following: 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 the following: a previously recorded real reflected radar signature of at least one real target in a specific real scenario, or an analytical representation of a radar target signature of at least one target in a specific virtual scenario.

[0005] German patent DE 103 26 648 A1 describes a method for object detection in vehicles using radar, in which measurement data from radar systems of different vehicles are wirelessly exchanged and classified according to predefined criteria. Local groups of vehicles are formed whose radar systems cooperate. For object classification, the respective sensor data are exchanged and analyzed in an ad hoc network.

[0006] German patent DE 10 2014 208 006 A1 discloses a method for sensing the environment of a vehicle, wherein an environment map of the vehicle is created and detection area data from at least one sensor system is received. The detection area data is entered into the environment map and a detection area is determined.

[0007] From DE 10 2018 105 293 A1 a method is known which includes determining data relating to the location of a first object, determining a bandwidth and latency of a transmission channel and transmitting part of the data in response to the bandwidth and latency of the transmission channel.

[0008] The object of the invention is to reduce a potential danger caused by undetected road users due to vehicles obscuring sensor signals.

[0009] The invention is defined by the features of the independent claims. Advantageous further developments and embodiments are the subject of the dependent claims.

[0010] A first aspect of the invention relates to a method for supporting the detection of road users by a first vehicle with the aid of a second vehicle, comprising the steps of: - Determining, from the second vehicle, the detection range of a sensor unit of a first vehicle located in the vicinity of the second vehicle in relation to the second vehicle; - Determining an area of ​​obstruction within the detection range of the sensor unit of the first vehicle, which is obscured by the second vehicle; - Detection of another road user in the obscuration area by a sensor system of the second vehicle; and - Artificial generation of a signal for the sensor unit of the first vehicle, wherein the signal is designed for reception by a signal receiver of the sensor unit of the first vehicle and is generated depending on the respective relative position of the first vehicle and the other road user to the second vehicle, and transmission of the generated signal from the second vehicle in the direction of the first vehicle, wherein the signal for the sensor unit of the first vehicle simulates a reflection at the other road user that would occur due to the emitted waves of the sensor unit of the first vehicle if the second vehicle were not present.

[0011] For the application of this method, a first vehicle is equipped with a sensor unit to detect other road users. The sensor unit includes, in particular, at least one active sensor, meaning that it emits waves such as ultrasound or electromagnetic waves 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 includes a signal receiver.

[0012] Depending on the sensor unit's design, the presence of an object in the vicinity of the first vehicle can 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 profile, the distance of the other road user to the first vehicle can also be determined. Furthermore, if a frequency change between the emitted and reflected waves is detected, the speed of the other road user relative to the first vehicle can be calculated using the well-known Doppler effect. Depending on the complexity of the sensor unit, and optionally through data fusion with another sensor unit, movement patterns of the other road user can also be recorded.

[0013] However, if a second vehicle is present in the vicinity of the first vehicle, it can restrict the detection range of the first vehicle's sensor unit by obscuring it. Given this situation, the second vehicle assists the first vehicle in its other road users detection by using its own sensor system to detect the first vehicle, determine the detection range of the first vehicle's sensor unit, and, depending on the relative position between the first and second vehicles, determine how this detection range is restricted by the second vehicle's obscuration. The restriction of the detection range caused by the second vehicle's obscuration is then defined by the second vehicle as the obscuration area.

[0014] If, according to the sensor system of the second vehicle, another road user is within this obscuration area, the second vehicle generates an artificial signal that simulates a reflection from other road users, mimicking the reflection that would occur from the emitted waves of the first vehicle's sensor unit if the second vehicle were not present. The sensor unit of the first vehicle is thus tricked into believing it can detect the other road user through the reflection of its own waves. This is particularly relevant if the second vehicle is parked and the first vehicle has a radar unit integrated into its sensor unit.

[0015] 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 any other road users, if present, within the obscured area. Outside the obscured area, a potential road user is within the detection range of the first vehicle's sensor unit and is therefore not obscured. Thus, the sensor unit of the first road user receives either direct reflections within its detection range or simulated reflections from the obscured area using the second vehicle.

[0016] For an energy- and computationally efficient solution to the process, it can be helpful to use only other road users within the obscuration area within certain geometric limits, preferably within a certain radius, to generate and transmit a simulated reflection as a signal to the signal receiver of the sensor unit of the first vehicle. Furthermore, the efficiency of the process can be increased by using only moving road users within the obscuration area to generate a corresponding signal for the first vehicle. The respective road user within the obscuration area can be identified via a tracking algorithm or, in the case of radar or ultrasonic sensors, directly by evaluating the respective Doppler value of each other road user.

[0017] To generate the signal and ensure compatibility and meaningfulness for the signal receiver of the first vehicle's sensor unit, the second vehicle must generate a wave of the same type as that emitted by the first vehicle's sensor unit. For example, if the first vehicle's sensor unit is a radar unit, then radar waves must be transmitted from the second vehicle to the first vehicle to transmit the artificially generated signal. The artificially generated signal must be transmitted by the second vehicle with a corresponding time delay and phase shift relative to the first vehicle's transmission, so that it gives the first vehicle's sensor unit the impression of receiving a genuine reflection from another road user.

[0018] Preferably, the signal is designed such that the distance between the first vehicle and the other road user, and / or the speed of the other road user relative to its surroundings or relative to the first vehicle, are included as information within the signal. A greater time delay corresponds to 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 different relative speeds. The quality of the information in the artificially generated signal can be adapted to the system requirements or to the maturity of the sensors used, particularly radar sensors, in the sensor unit.For example, if the positions between the first and second vehicles are known as precisely as possible relative to each other, a corresponding signal can be generated with high accuracy; on the other hand, a signal can also be generated that only replicates the distance information between the first vehicle and the other road user, without including any angle information.

[0019] If the exact relative position of the other road user to the area of ​​obstruction behind the second vehicle is to be taken into account and information about it is to be transmitted 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.

[0020] Preferably, the second vehicle detects a radar signature of the other road user and wirelessly transmits this signal to the sensor unit, in particular its signal receiver, by emitting a signal appropriately 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.

[0021] Preferably, the sensor unit of the first vehicle comprises a radar unit. More preferably, the sensor system of the second vehicle comprises a radar unit and / or an ultrasonic unit and / or a lidar unit and / or a camera unit.

[0022] 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, especially in the case of automated vehicles.

[0023] Because the sensor system of the second vehicle only needs to detect the road user as such within the obstruction area, an energy-efficient solution can be implemented for the second vehicle, as complex object recognition, for example through the use of artificial neural networks, is unnecessary. In other words, it is sufficient to detect a "moving object of any kind." 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 anything out. Pre-sorting is generally advantageous, but this requires sufficient computing power.

[0024] 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.

[0025] One option is to use the sensor system of the second vehicle itself to detect the first vehicle, analogous to how the second vehicle detects the other road user. This would then allow the system to check for the presence of a road user within the obscured area and, if so, generate a corresponding signal. However, a more energy-efficient approach is to configure the sensor system of the second vehicle to passively detect the radar waves actively emitted by the first vehicle and its sensor unit, thus inferring the presence of the first vehicle. This can then trigger the system to determine the presence of another road user within the obscured area and, if a match is found, generate a signal for the sensor unit of the first vehicle.In this context, the basic detection range of the first vehicle's sensor unit can also be determined, particularly with regard to 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 second vehicle's sensor system if the radar waves from the first vehicle are detected and the attitude angles, especially a compass angle, of the first vehicle can be determined by the second vehicle. From the perspective of the second vehicle, this allows the detection range to be estimated using the beamwidth and prior knowledge of a typical radar device.

[0026] 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 the respective relative position of the first vehicle and / or the other road user to the second vehicle.

[0027] According to a further advantageous embodiment, the area of ​​obscuration is limited to a predetermined distance limit relative to the second vehicle. Limiting the area of ​​obscuration takes into account the fact that other road users located further away from the first vehicle tend to be less relevant to the first vehicle, thus reducing the risk of a collision or adverse interaction.

[0028] According to a further advantageous embodiment, a signal for the sensor unit of the first vehicle is generated only for a road user moving relative to the static environment. This embodiment takes into account the fact that stationary road users are typically irrelevant or of little relevance to a first vehicle in operation.

[0029] According to a further advantageous embodiment, the sensor system of the second vehicle determines a geometric signature and / or a speed of the other road user relative to its surroundings and adapts the signal accordingly.

[0030] 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 an assistant in road user detection, particularly when parked. No additional sensors are required for the second vehicle, and only small amounts of data are needed.

[0031] According to a further advantageous embodiment, the signal includes information about the contour of the second vehicle. This ensures that the signal emitted by the second vehicle transmits its own contour to the first vehicle and, in addition, spatially depicts the other road user. This guarantees that the first vehicle has spatial information about the other road user as well as the second vehicle.

[0032] Another aspect of the invention relates to a second vehicle equipped to support the detection of road users by a first vehicle, comprising a support system designed to - Determining the detection range of a sensor unit of a first vehicle located in the vicinity of the second vehicle in relation to the second vehicle; - Determining an area of ​​obstruction within the detection range of the sensor unit of the first vehicle, which is obscured by the second vehicle; - Detecting another road user in the obscuration area by a sensor system of the second vehicle; and to - Artificial generation of a signal, wherein the signal is designed for reception by a signal receiver of the sensor unit of the first vehicle and is generated depending on the respective relative position of the first vehicle and the other road user to the second vehicle, and transmission of the generated signal from the second vehicle (3) in the direction of the first vehicle (1), wherein the signal simulates a reflection at the other road user (9) for the sensor unit of the first vehicle (1), which would be caused by the emitted waves of the sensor unit of the first vehicle if the second vehicle were not present.

[0033] Another aspect of the invention relates to a system for supporting the detection of a first vehicle by a second vehicle, comprising a support system for the second vehicle, which is designed to - Determining, from the second vehicle, the detection range of a sensor unit of a first vehicle located in the vicinity of the second vehicle in relation to the second vehicle; - Determining an area of ​​obstruction within the detection range of the sensor unit of the first vehicle, which is obscured by the second vehicle; - Detection of another road user in the obscuration 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 configured for reception by a signal receiver of the sensor unit of the first vehicle and is generated depending on the respective relative position of the first vehicle and the other road user to the second vehicle, and transmitting the generated signal from the second vehicle (3) in the direction of the first vehicle, wherein the signal for the sensor unit of the first vehicle simulates a reflection at the other road user that would be caused by the emitted waves of the sensor unit of the first vehicle if the second vehicle were not present; and further comprising an information unit for the first vehicle configured to output information that another road user has been detected in the obscuration area of ​​the second vehicle.

[0034] The information unit can control a screen to display information about a road user detected in the obscuration area, preferably with directional information, for example, behind which parked second vehicle the other road user is likely to be.

[0035] According to a further advantageous embodiment, the system further comprises an evaluation unit for the first vehicle, which is designed to determine an area of ​​obscuration caused by the second vehicle, to determine a movement path of the other road user in the area of ​​obscuration using the signal received from the second vehicle, and to make a prediction, based on this, of when the other road user will leave the area of ​​obscuration.

[0036] If the predicted movement path leads out of the obscuration area, a warning message is preferably issued, particularly at the precise moment when the other road user leaves the obscuration area. The prediction of the future movement path is preferably carried out using a machine learning model, which is pre-trained and available in / on the first vehicle.

[0037] 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, to infer the presence of another road user in an area of ​​obscuration.

[0038] Because the sensor unit not only detects the presence of the second vehicle naturally through a corresponding reflection, but also receives the signal from the second vehicle as a simulated reflection of the other road user within 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. Thus, the first vehicle has 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.

[0039] Advantages and preferred further developments of the proposed system result from an analogous and substantive transfer of the above statements made in connection with the proposed procedure.

[0040] Further advantages, features, and details will become apparent from the following description, in which – possibly with reference to the drawing – at least one embodiment is described in detail. Identical, similar, and / or functionally equivalent parts are identified by the same reference numerals.

[0041] They show: Fig. 1: A situation without special measures in which a road user is not recognized by a first vehicle due to obstruction by a second vehicle. Fig. 2: A method for supporting the detection of road users by the first vehicle obscuring the second vehicle in the situation of Fig. 1. Fig. 3: A method to assist in the detection of a road user by a first vehicle by a second vehicle.

[0042] Fig. Figure 1 shows a situation in which a first vehicle 1 is driving on a road and attempts to detect other road users 9 using a radar sensor unit. The radar sensor unit has a certain opening angle, resulting in a detection area 5. However, a second vehicle 3 parked within the detection area 5 restricts the detection area 5, as the second vehicle 3 partially blocks it. The objects not detectable 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 obscuration area 7; no reflection of the road user 9 shown is detected by the radar sensor unit of the first vehicle 1.

[0043] Fig. Figure 2 shows an exemplary solution according to the invention for the detection of the other road user 9 by the radar sensor unit of the first vehicle 1. The second vehicle 3 has a sensor system that detects the radar waves emitted by the radar sensor unit of the first vehicle 1. This triggers a detection process in the second vehicle 3 of the first vehicle 1 to determine its relative orientation and position to the second vehicle 3. Furthermore, a process is initiated in the second vehicle 3 that estimates the detection range 5 of the radar sensor unit of the first vehicle 1 and from this determines the self-occlusion area 7. The second vehicle 3, with its sensor system comprising its own radar unit and / or an ultrasonic unit, therefore detects the other road user 9.A radar signal is now generated by the second vehicle 3, which 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 wave emitted by the radar sensor unit of the first vehicle 1, reflected by the other road user 9. This replication is based on a deliberately chosen time delay compared to the emission 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 positional information that this vehicle is located within a partial angular range, with an opening angle limited by the dimensions of the second vehicle 3, of the detection range 5.

[0044] Fig.Figure 3 shows a method for supporting the detection of road users by a first vehicle 1 using a second vehicle 3. In a first step S1, the sensor system of the second vehicle 3 searches for an active sensor unit of the first vehicle 1 located within a certain area around the second vehicle 3. The setting parameters here are a sensor range of the second vehicle 3's sensor system in which road user-detecting first vehicles 1 are traveling. Optionally, precise localization and tracking of the first road user 1 can be performed. In a second step S2, after detecting such a first vehicle 1, the sensor system searches areas opposite the detected first road user 1 to search for another road user 9 in a possible obscuration area 7.If another road user 9 is detected in the third step S3, it can be analyzed in more detail, for example using a perception algorithm. This includes determining its radar signature, its speed and / or direction of travel, and optionally a category for the road user 9. However, this would be more computationally intensive than the preceding steps. In a fourth step S4, the second vehicle 3 generates a signal with a predefined simulation quality. This signal is compatible with the radar signals emitted by the sensor unit of the first vehicle 1 and, with a corresponding time delay, simulates the reflection of the radar waves from the sensor unit of the first vehicle 1 at the road user 9.

[0045] Although the invention has been further illustrated and explained in detail by means of preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived from them by a person skilled in the art without departing from the scope of protection of the invention. It is therefore clear that a multitude of possible variations exist. It is also clear that the embodiments mentioned as examples are truly only examples and are not to be understood in any way as limiting, for example, the scope of protection, the possible applications, or the configuration of the invention.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 leaving the scope of protection defined by the claims and their legal equivalents, such as further explanations in the description.

Claims

[1] Method for assisting a road user detection of a first vehicle (1) with the aid of a second vehicle (3), comprising the steps: - Determine (S1), from the second vehicle (3), a detection range (5) of a sensor unit of a first vehicle (1) located in the vicinity of the second vehicle (3) in relation to the second vehicle (3); - Determining (S2) a cover area (7) in the detection area (5) of the sensor unit of the first vehicle (1), which is covered because of the second vehicle (3); - Detection (S3) of another road user (9) in the obscuration area (7) by a sensor system of the second vehicle (3); and - Artificial generation (S4) of a signal for the sensor unit of the first vehicle (1), wherein the signal is designed for reception 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 other road user (9) to the second vehicle (3), and transmission of the generated signal from the second vehicle (3) in the direction of the first vehicle (1), wherein the signal for the sensor unit of the first vehicle (1) simulates a reflection at the other road user (9) that would be caused by the emitted waves of the sensor unit of the first vehicle (1) if the second vehicle (3) were not present. [2] Method according to claim 1, wherein 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 other road user (9) to the second vehicle (3). [4] Method according to one of the preceding claims, wherein the covering 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 other road user (9) relative to its surroundings and adapts the signal accordingly. [7] Method according to one of the preceding claims, wherein the signal for the sensor unit of the first vehicle (1) is generated only when the second vehicle (3) is stationary. [8] Method according to any of the preceding claims, wherein the signal comprises information about a contour of the second vehicle (3). [9] Second vehicle (3) equipped to assist in the detection of road users by a first vehicle (1), comprising an assistance system designed to - Determining a detection range (5) of a sensor unit of a first vehicle (1) located in the vicinity of the second vehicle (3) in relation to the second vehicle (3); - Determining an area of ​​obscuration (7) within the detection range (5) of the sensor unit of the first vehicle (1), which is obscured because of the second vehicle (3); - Detection of another road user (9) in the obscuration area (7) by a sensor system of the second vehicle (3); and - Artificial generation of a signal, wherein the signal is designed for reception 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 other road user (9) to the second vehicle (3), and transmission of the generated signal from the second vehicle (3) in the direction of the first vehicle (1), wherein the signal simulates a reflection at the other road user (9) for the sensor unit of the first vehicle (1), which would be caused by the emitted waves of the sensor unit of the first vehicle (1) if the second vehicle (3) were not present. [10] System for assisting a road user (9) detection of a first vehicle (1) by a second vehicle (3), comprising a support system for the second vehicle (3) designed to - Determine, from the second vehicle (3), a detection range (5) of a sensor unit of a first vehicle (1) located in the vicinity of the second vehicle (3) in relation to the second vehicle (3); - Determining (S2) a cover area (7) in the detection area (5) of the sensor unit of the first vehicle (1), which is covered because of the second vehicle (3); - Detection (S3) of another road user (9) in the obscuration area (7) by a sensor system of the second vehicle (3); and - Artificial generation (S4) of a signal for the sensor unit of the first vehicle (1), wherein the signal is designed for reception by a signal receiver of the sensor unit of the first vehicle (1) and is generated depending on the respective relative position of the first vehicle (1) and the other road user (9) to the second vehicle (3); and transmission of the generated signal from the second vehicle (3) in the direction of the first vehicle (1), wherein the signal for the sensor unit of the first vehicle (1) simulates a reflection at the other road user (9) that would occur due to the emitted waves of the sensor unit of the first vehicle if the second vehicle (3) were not present;and further comprising an information unit for the first vehicle (1) designed to output information indicating that another road user (9) has been detected in the coverage area (7) of the second vehicle (3). [11] System according to claim 10, further comprising an evaluation unit for the first vehicle (1) designed to determine an obscuration area (7) caused by the second vehicle (3), to determine a movement path of the other road user (9) in the obscuration area (7) by means of the signal received from the second vehicle (3) and to determine, based on this, a prediction of when the other road user (9) will leave the obscuration 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) via the further road user (9), to infer the presence of a further road user (9) in an area of ​​concealment.

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