Method for the collection, dissemination and use of environmental information in road vehicles and system for implementing the method

Abstract

The invention relates to a method for detecting, disseminating, and using environmental information in road vehicles, comprising a first vehicle (4) parked on or adjacent to a road (2), which first vehicle (4) has a driver assistance system with an environmental detection device (12) and a transmitting and receiving device (20) for V2V communication (vehicle-to-vehicle communication) and / or for V2I communication (vehicle-to-infrastructure communication), and comprising a second vehicle (24) traveling on the same road in the direction (34) towards the first vehicle (4), which second vehicle has a driver assistance system with a cruise control and emergency braking device (29) and a transmitting and receiving device (30) for V2V communication and / or V2I communication, and in which at least one measure is carried out to avoid a collision of the second vehicle with vulnerable road users (36; 38, 40) located in the vicinity of the first vehicle (4).According to the invention, if the surroundings detection device (12) of the first vehicle detects at least one vulnerable road user in the vicinity, a warning message is transmitted via the transmitting and receiving device (20) of the first vehicle. When this warning message is received by the transmitting and receiving device (30) of the second vehicle (24), at least one measure is carried out in the second vehicle to prepare for a possible emergency braking maneuver. Furthermore, the invention relates to a system (1) for implementing this method.

Description

The invention relates to a method for detecting, distributing and using environmental information in road vehicles, having a first vehicle which is standing on or on a road and has a driver assistance system having an environment detection device and a transmitting and receiving device for V2V communication (vehicle-to-vehicle communication) and / or for V2I communication (vehicle-to-infrastructure communication), and having a second vehicle which is travelling on the same road in the direction of the first vehicle and has a driver assistance system having a cruise control and emergency braking device and a transmitting and receiving device for V2V communication and / or V2I communication, and in which at least one measure is carried out to avoid a collision of the second vehicle with vulnerable road users located in the vicinity of the first vehicle. The invention also relates to a system for carrying out such a method.Driver assistance systems of vehicles are known, each of which has a surroundings detection device and a cruise control and emergency braking device. The environment detection device can be used to detect an obstacle located in the front of a vehicle, such as a vehicle or a vulcanizable road user, that is to say, for example, a pedestrian, a cyclist or a wheelchair user, and then the cruise control and emergency braking device can be used to trigger automatic emergency braking of the vehicle when approaching the obstacle.Thus, DE 10 2018 122 865 A1 discloses a method for emergency braking of a vehicle, in which the front of this vehicle is detected sensorially by means of a surroundings detection device in a moving vehicle. After an object located in the area in front of the vehicle is detected, an autonomous emergency braking system is activated, which is operated outside an emergency braking situation in a stand-by mode, which in an emergency braking situation considered unsafe successively triggers a driver warning, a partial braking and an emergency braking, and which in an emergency braking situation considered safe in the present case triggers an emergency braking without a previous driver warning.In contrast, DE 10 2008 049 824 B4 describes a method for avoiding a collision of a vehicle with a non-motorized road user, such as a pedestrian or cyclist, in which it is assumed that the road user carries a mobile telephone with it, which is switched on and continuously transmits a signal, and that the vehicle has a receiving device for receiving this signal. In an evaluation device of the vehicle, the location, the direction of movement and the speed of movement and the trajectory of the road user are determined from a plurality of successively received signals. A collision-avoiding action is triggered when the distance between the trajectories of the road user and the vehicle falls below a minimum distance.Driver assistance systems of vehicles are likewise known, each of which has an emergency detection device and emergency information device, which can each detect an accident of a vehicle, for example by means of an evaluation of signals from installed acceleration sensors, and can transmit a warning message to other vehicles and / or to a stationary server operated by the respective vehicle manufacturer or a rescue service by means of a transmitting and receiving device for V2V communication and / or V2I communication.Thus, EP 1 486 931 B1 describes a distribution system for transmitting warning messages between vehicles located on a road and a traffic information network, which uses radio receiving and transmitting stations arranged along the road and at least one server, and by means of which warning messages are distributed by means of a V2V communication and / or V2I communication via radio frequencies present.DE 10 2016 111 787 A1 discloses a communication system for a vehicle, with which an emergency mode is activated after an accident of the vehicle detected by means of the signal of an accelerometer, in which an emergency message is sent with an identification code of the vehicle, the location of the vehicle, the time of activation of the emergency mode and biometric data of the vehicle occupants by V2V communication and / or V2I communication.In the known driver assistance systems, however, a frequently occurring hazardous situation in which vulnerable road users, such as pedestrians, cyclists or wheelchair users, are located in the vicinity of a vehicle standing on or on a road remains ignored. A vehicle may stop on a road to enable other vehicles to enter the road or leave the road, for example at a road junction or at a parking lot entrance or parking lot exit. Also, a vehicle may stop on the roadside to make a repair or wait for a tow service or to receive or unload load in a technical failure such as tire or engine damage. In addition, a vehicle provided for transporting persons, for example a bus or a roadway, can stop on the side of the road or in a retaining bay located next to the road in order to allow passengers to exit and enter.Then, when vulnerable road users are present in the vicinity of the stationary vehicle, there is a risk that some of them may use the opportunity to cross the road. If this takes place in the driver-related viewing shadows formed by the stationary vehicle and / or in the region of cameras and sensors of a surroundings detection device of an approaching second vehicle shielded by the stationary vehicle, the vulnerable road user can suddenly appear in the field of vision of the driver or in the detection region of cameras and sensors of the surroundings detection device of the approaching vehicle when passing the stationary vehicle, which can result in an emergency braking of the rear vehicle being triggered too late and thus in a collision of the latter with at least one of the vulnerable road users.The object of the invention is therefore to present a method for detecting, distributing and utilizing environmental information in road vehicles having a first vehicle which is stationary on or on a road and a second vehicle which is travelling on the same road in the direction of the first vehicle, of the type mentioned at the beginning, with which a collision of the approaching vehicle with vulnerable road users located in the vicinity of the stationary vehicle can be avoided. A system for carrying out this method is also to be presented.These objects are achieved by a method or by a system for carrying out this method, which have the features of the respective independent claim. Advantageous refinements are defined in the respectively assigned dependent claims.Accordingly, the invention relates first to a method for detecting, distributing and using environmental information in road vehicles, having a first vehicle which is standing on or on a road and has a driver assistance system having an environment detection device and a transmitting and receiving device for V2V communication (vehicle-to-vehicle communication) and / or for V2I communication (vehicle-to-infrastructure communication), and having a second vehicle which is travelling on the same road in the direction of the first vehicle and has a driver assistance system having a cruise control and emergency braking device and a transmitting and receiving device for V2V communication and / or V2I communication, and in which at least one measure is carried out to avoid a collision of the second vehicle with vulnerable road users located in the vicinity of the first vehicle.To achieve the object related to the method, it is provided here that, if at least one vulnerable road user located in the vicinity is detected by the surroundings detection device of the first vehicle, a warning message is transmitted via the transmitting and receiving device of the first vehicle, and that, if this warning message is received by the transmitting and receiving device of the second vehicle, at least one measure for preparing a possible emergency braking is carried out in the second vehicle.Because a warning message is already transmitted via the transmitting and receiving device of the first vehicle if at least one vulnerable road user located in the vicinity is detected by the environment detection device of the first vehicle, other vehicles located in the vicinity are already informed prematurely about the hazard zone formed by the location of the first vehicle. This therefore occurs before the driver of the at least one other vehicle recognizes this hazard zone or cameras and sensors of his environment detection device can detect this hazard zone.Because at least one measure for preparing a possible emergency braking is carried out in the second vehicle when the warning message of the first vehicle is received by the transmitting and receiving device of the second vehicle, the driver of the second vehicle and / or at least one device of the second vehicle is prepared before reaching the location of the first vehicle to the hazard zone and a possibly required emergency braking. As a result, a collision with the at least one vulcanizable road user can be prevented with high probability. The method having the features of the invention is thus preventively effective in that the driver of the second vehicle and the second vehicle themselves are already prepared for a possible emergency braking even before they reach and recognize the hazard zone.The warning message of the first vehicle preferably comprises the following details:at least one identification feature of the first vehicle,the location of the first vehicle,the number of detected vulnerable road users,the type of detected vulnerable road users,the positions of the detected vulnerable road users,the movement directions of the detected vulvenerable road users, andthe movement speeds of the detected vulvenerable road users.In the case of a short distance between the two vehicles, the warning message is preferably transmitted directly from the first vehicle to the second vehicle via a V2V communication. In the case of a greater distance between the two vehicles, the warning message can be transmitted from the first vehicle to the second vehicle via a V2I communication using radio towers of a mobile radio network, WLAN routers and / or a stationary server. In this context, a distance of up to 500 meters between the two vehicles may be defined as a short distance, for example. A greater distance is accordingly greater than 500 meters.To warn the driver of the hazard zone and prepare it for a possible emergency braking, it is preferably provided that an acoustic and / or optical warning signal is output in the driver's cab of the second vehicle after the warning message has been received. For this purpose, a warning sound can be emitted, for example, via a loudspeaker or sound generator arranged in the vicinity of the driver's position and / or a warning light arranged in the instrument carrier or dashboard can light up permanently or flashingly.Alternatively or additionally, it can be provided for this purpose that after the warning message is received in the driver's cab of the second vehicle, a warning message in the form of a warning text and / or a warning icon is displayed on a display arranged there.In order to prepare the service brake system of the second vehicle for a possible emergency braking, after receiving the warning message in the second vehicle, pre-filling of the wheel brake cylinders from its service brake system with a hydraulic or pneumatic fluid is preferably and advantageously carried out. By pre-filling the wheel brake cylinders with a hydraulic or pneumatic fluid, the brake lining carriers with the brake linings are placed against the brake disks or brake drums, so that in the event of a required emergency braking, the idle travel which otherwise exists no longer has to be bridged and the wheel brakes react directly, as a result of which the required brake travel of the second vehicle is significantly shortened.After passing the vulcanizable road users, the wheel brake cylinders of the service brake system are again de-pressurized according to another development of the method, provided that the brake pedal of the second vehicle is then unactuated, no automatic braking of the second vehicle takes place, or no wheel brake cylinders which are pre-filled by any other vehicle function are required. This prevents premature wear of the brake linings and overheating of the wheel brakes, which is important for future braking operations.To prepare the second vehicle for a possible emergency braking further, it may be provided as another development of the method that, after the warning message has been received in the driver assistance system of the second vehicle, the trajectories thereof and the anticipated collision locations of the second vehicle with the respective vulnerable road users are determined from the information about the positions, the movement directions and the movement speeds of the vulnerable road users.In addition, it can also be provided for this purpose that after the warning message is received in the second vehicle, its travel speed is automatically reduced by the cruise control and emergency braking device, provided that the brake pedal of the second vehicle is then unactuated. The reduction in the travel speed also significantly shortens the braking distance of the second vehicle when emergency braking is carried out. On the other hand, when the brake pedal is operated, it is the responsibility of the driver to sufficiently reduce the running speed of the second vehicle.The amount of automatic speed reduction of the second vehicle may be determined depending on the content of the received warning message. In this case, for example, the travel speed can be reduced more strongly with a greater number and higher movement speed of the vulvenerable road users than with a lower number and lower movement speed of the vulvenerable road users. This can take account of the fact that the risk of collision is naturally greater in the presence of a greater number and at a higher movement speed of the vulnerable road users.In order to inform and warn the drivers of further vehicles about the hazard zone lying ahead, according to another development of the method, it is provided that the received warning message is forwarded from the second vehicle via its transmitting and receiving device to third vehicles and / or to a stationary server. By means of the stationary server and an associated radio system, further third vehicles, which preferably move on the same road, can then also be notified with the warning message.As mentioned at the beginning, the invention also relates to a system having suitable devices in the vehicles and suitable stationary devices, by means of which the method according to the invention can be operated together.Therefore, the invention also relates to a system for detecting, distributing and utilizing environmental information in road vehicles, having a first vehicle standing on or on a road, which has a driver assistance system having an environment detection device and a transmitting and receiving device for V2V communication (vehicle-to-vehicle communication) and / or for V2I communication (vehicle-to-infrastructure communication), and having a second vehicle which is travelling on the same road in the direction of the first vehicle, which has a driver assistance system having a cruise control and emergency braking device and a transmitting and receiving device for V2V and / or V2I communication, wherein these system components are designed in such a way that they are able to perform a process of determining the speed of the vehicle and emergency braking device, The second vehicle may be configured and arranged to perform, with these measures, in order to avoid a collision of the second vehicle with vulnerable road users located in the vicinity of the first vehicle.To achieve the object related to the device, according to the invention, it is provided in this system that at least one vulnerable road user located in the vicinity can be detected by means of the environment detection device of the first vehicle, that a warning message can be sent to the transmitting and receiving device of the second vehicle via the transmitting and receiving device of the first vehicle and received there, and that the cruise control and emergency braking device of the second vehicle is designed and set up in such a way that at least one measure for preparing a possible emergency braking can be carried out by means of this.In a further embodiment of this system, it can be provided that the cruise control and emergency braking device of the second vehicle is designed and set up in such a way that, after receiving the warning message from the first vehicle, prefilling of the wheel brake cylinders of the service brake system of the second vehicle with a hydraulic or pneumatic fluid can be commanded by means of the latter.The invention will be explained in more detail below with reference to an exemplary embodiment shown in the attached drawing. In the drawing, the single figure shows, in a schematic side view, a section of a road with a first vehicle standing on or on a road and a second vehicle travelling on the same road in the direction of the first vehicle.The method and the system 1 for detecting, distributing and using environmental information in road vehicles 4, 24 are described below on the basis of a traffic situation which is illustrated in the figure.A first vehicle 4 is here exemplarily embodied as a medium-sized truck with a driver's cab 6 and a dump truck superstructure 8. The first vehicle 2 stands on or on a road 2 in order to dump a cargo 10, which may be ballast, for example. The first vehicle 4 has a surroundings detection device 12 having cameras 14 arranged on the front side of the driver's cab 6 and sensors 16, with which the front area 18 of the first vehicle 4 can be detected by sensors. In addition, the first vehicle 4 is equipped with a transmitting and receiving device 20 for V2V communication and / or V2I communication, with which warning messages can be transmitted and received via an antenna 22, for example.A second vehicle 24, here embodied as a medium-size truck with a driver's cab 26 and a tarpaulin superstructure 28, travels on the same road 2 in the direction 34 toward the first vehicle 4. the second vehicle 24 has a transmitting and receiving device 30 for V2V communication and / or V2I communication, with which warning messages can be transmitted and received via an antenna 32, for example. In addition, the second vehicle 24 is equipped with a cruise control and emergency braking device 29 with which, if necessary, a warning message can be output to its driver, the driving speed can be reduced and / or emergency braking can be triggered.In the present case, there are vulcanizable road users 36, namely a pedestrian 38 and a cyclist 40, in the front area 18 of the first vehicle 4. these road users 36 are detected by sensors using the cameras 14 and the sensors 16 of the environment detection device 12 of the first vehicle 4, whereupon a warning message is transmitted from the first vehicle 4 using the transmitting and receiving device 20. The warning message preferably comprises the following details:at least one identification feature of the first vehicle 4,the geographical location of the first vehicle 4,the number of vulcanizable road users 36; 38, 40,the type of vulcanizable road users 36; 38, 40,the positions of the vulcanizable road users 36; 38, 40,the movement directions of the vulcanizable road users 36; 38, 40, andthe movement speeds of the vulvenerable road users 36; 38, 40.In the case of a short distance between the two vehicles 4, 24, the warning message is transmitted directly from the first vehicle 4 to the second vehicle 24 via a V2V communication. This is illustrated by a first transmission signal 45 between the two vehicles 4, 24. With a greater distance between the two vehicles 4, 24, the warning message is transmitted from the first vehicle 4 to the second vehicle 24 using radio towers 42, 44 of a mobile radio network, which are arranged along or in the vicinity of the road 2 and are connected to one another via a data cable 46. This is illustrated by a second transmission signal 50 between the first vehicle 4 and the first radio tower 42, the data cable 46, the second radio tower 44 and a third transmission and reception signal 52.In the second vehicle 24, after the warning message has been received, the following measures can be carried out in preparation for a possible emergency braking and in order to avoid a collision with the vulnerable road users 36; 38, 40:First, after the warning message is received in the second vehicle 24, an acoustic and / or optical warning signal can be output in its driver's cab 26 in the area of the driver's seat. As a result, the driver is warned in good time of the hazard zone in the front area 18 of the first vehicle 4 and he can thus adjust to a possible emergency braking, which can be carried out by him himself or automatically triggered. Alternatively or additionally, it can also be provided for this purpose that after the warning message is received in the second vehicle 24, a warning message in the form of a warning text and / or a warning icon is displayed on a display (not shown) arranged in the region of the driver's position. The display can be mounted, for example, in the center console of the driver's cab. Alternatively, it can be the display of the instrument cluster. Such displays are usually part of the infotainment system. However, it can also be an additional display. An example is a display of a telematics unit that is mounted as an auxiliary component in the driver's cab and is connected to the vehicle bus SAE J1939.In order to prepare the second vehicle 24 for a possible emergency braking, it is preferably provided that, after receiving the warning message in the second vehicle 24, a pre-filling of the wheel brake cylinders 60, 62 of the service brake system of the second vehicle 24 with a hydraulic or pneumatic fluid is carried out. By prefilling the wheel brake cylinders 60, 62 in this way, the response time of the wheel brakes is shortened and, as a result, the braking distance of the second vehicle 24 is advantageously shortened in the event of emergency braking. The aforementioned pre-filling serves for a defined first pressure build-up in the wheel brake cylinders 60, 62.In order to avoid premature wear of the brake linings and overheating of the wheel brakes, the wheel brake cylinders 60, 62 of the service brake system are again de-pressurized after passing the vulcanizable road users 36, provided that the brake pedal of the vehicle 24 is then unactuated, no automatic braking of the vehicle 24 takes place, or no wheel brake cylinders 60, 62 pre-filled by any other vehicle function are required.After the warning message has been received in the driver assistance system of the second vehicle 24, the trajectories and the probable locations of collision of the second vehicle 24 with the vulnerable road users are advantageously determined from the information about the positions, the directions of movement and the speeds of movement of the vulnerable road users 36; 38, 40.As a further measure for preparing for a possible emergency braking and for avoiding a collision with the vulnerable road users 36; 38, 40, after receiving the warning message, the travel speed of the second vehicle 24 is advantageously automatically reduced by its speed regulating and emergency braking device, provided that the brake pedal of the vehicle 24 is then unactuated. The reduction in the travel speed also significantly shortens the braking distance of the second vehicle 24 when emergency braking is carried out. The amount of automatic speed reduction of the second vehicle 24 is preferably determined depending on the content of the received warning message. In this case, the travel speed is reduced more strongly with a larger number and higher movement speed of the vulcanizable road users 36; 38, 40 than with a lower number and lower movement speed of the vulcanizable road users. This takes into account that the risk of collision is naturally higher in the presence of a high number of vulcanizable road users 36; 38, 40 and at a higher movement speed of the vulcanizable road users.In order to inform and warn the drivers of further vehicles about the hazard zone in front 18 in front of the first vehicle 4, it is preferably provided that the received warning message is also forwarded from the second vehicle 24 via its transmitting and receiving device 30 to further vehicles and / or to a stationary server 48. This is illustrated in the figure by the transmission signals 52 and 54. By means of the third transmission signal 52, the server 48 and the second radio mast 44 or the fourth transmission signal 54, the warning message can be transmitted to other, third vehicles on the same road which travel in the same direction 34 as the second vehicle 24.List of Reference Numerals (Part of the Description)1 System for detecting, distributing and using environmental information in road vehicles 2 road 4 first vehicle, lorry 6 driver's cab of the first vehicle 4 8 dump body of the first vehicle 4 10 load, ballast 12 environment detection device of the first vehicle 4 14 camera of the first vehicle 4 16 sensor 18 in front of the field, hazard zone 20 transmitting and receiving device of the first vehicle 4 22 antenna of the transmitting and receiving device 20 24 second vehicle, lorry 26 driver's cab of the second vehicle 24 28 plan structure of the second vehicle 24 29 speed regulating and emergency braking device on the second vehicle 24 30 transmitting and receiving device of the second vehicle 24 32 antenna of the transmitting and receiving device 30 34 direction, direction of travel 36 vulcanizable road user 38 pedestrian, vulable road user 40 cyclists, uvenerable road user 42 first radio mast 44 second radio mast 45 first transmission signal (from the first vehicle to the second vehicle) 46 data cable 48 stationary server 50 second transmission signal (from the first vehicle to the first radio mast) 52 third transmission or reception signal (between the second radio mast and the second vehicle) 54 fourth transmission signal between the second vehicle and the third vehicles 60 wheel brake cylinders on the front axle of the second vehicle 62 wheel brake cylinders on the rear axle of the second vehicle V 21 vehicle-to-infrastructure communication (vehicle-to-infrastructure communication) V 2V vehicle-to-vehicle communication (vehicle-to-vehicle communication)References included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedDE 10 2018 122 865 A1

[0003] DE 10 2008 049 824 B4

[0004] EP 1 486 931 B1

[0006] DE 10 2016 111 787 A1

[0007]

Claims

Method for detecting, distributing and using environmental information in road vehicles, having a first vehicle (4) which is standing on or on a road (2) and has a driver assistance system having an environment detection device (12) and a transmitting and receiving device (20) for V2V communication (vehicle-to-vehicle communication) and / or for V2I communication (vehicle-to-infrastructure communication), and having a second vehicle (24) which is travelling on the same road (2) in the direction (34) toward the first vehicle (4), which has a driver assistance system having a cruise control and emergency braking device (29) and a transmitting and receiving device (30) for V2V communication and / or V2I communication, and in which at least one measure is carried out for avoiding a collision of the second vehicle (24) with vulcanizable road users (36; 38, 40) located in the vicinity of the first vehicle (4), characterized in that, if at least one vulcanizable road user (36 located in the vicinity is carried out by the environment detection device (12) of the first vehicle (4); 38, 40), a warning message is transmitted via the transmitting and receiving device (20) of the first vehicle (4), and that, when this warning message is received by the transmitting and receiving device (30) of the second vehicle (24), at least one measure for preparing a possible emergency braking is carried out in the second vehicle (24).Method according to Claim 1, characterized in that the warning message of the first vehicle (4) comprises the following details: - at least one identification feature of the first vehicle (4), - the location of the first vehicle (4), - the number of detected vulcanizable road users (36; 38, 40), - the type of detected vulcanizable road users (36; 38, 40), - the positions of the detected vulcanizable road users (36; 38, 40), - the directions of movement of the detected vulcanizable road users (36; 38, 40), and - the speeds of movement of the detected vulcanizable road users (36; 38, 40).Method according to Claim 1 or 2, characterized in that the warning message is transmitted from the first vehicle (4) to the second vehicle (24) directly via a V2V communication at a short distance between the two vehicles (4, 24).Method according to Claim 1 or 2, characterized in that the warning message is transmitted from the first vehicle (4) to the second vehicle (24) via a V2I communication using radio towers (42, 44) of a mobile radio network, WLAN routers and / or a stationary server (48) at a greater distance between the two vehicles (4, 24).Method according to one of Claims 1 to 4, characterized in that, after the warning message is received, an acoustic and / or optical warning signal is output in the driver's cab (26) of the second vehicle (24).Method according to one of Claims 1 to 5, characterized in that, after the warning message has been received in the driver's cab (26) of the second vehicle (24), a warning message in the form of a warning text and / or a warning icon is displayed on a display arranged there.Method according to one of Claims 1 to 6, characterized in that, after the warning message is received in the second vehicle (24), the wheel brake cylinders (60, 62) are pre-filled with a hydraulic or pneumatic fluid by the service brake system thereof.Method according to Claim 7, characterized in that, after the second vehicle (24) has passed the vulcanizable road users (36; 38, 40), the wheel brake cylinders (60, 62) of the service brake system are switched to unpressurized again, provided that the brake pedal of the second vehicle (24) is then unactuated, no automatic braking of the second vehicle (24) takes place, or no wheel brake cylinders (60, 62) which are pre-filled by any other vehicle function are required.Method according to one of Claims 1 to 8, characterized in that, after the warning message has been received in the driver assistance system of the second vehicle (24), the trajectories thereof and the probable collision locations of the second vehicle (24) with the respective vulnerable road users (36; 38, 40) are determined from the information about the positions, the directions of movement and the speeds of movement of the vulnerable road users (36; 38, 40).Method according to one of Claims 1 to 9, characterized in that, after the warning message is received in the second vehicle (24), its travel speed is automatically reduced by the speed regulating and emergency braking device (29), provided that the brake pedal of the second vehicle (24) is then unactuated.Method according to claim 10, characterised in that the extent of the automatic speed reduction of the second vehicle (24) is determined depending on the content of the received warning message, wherein the travel speed is reduced more strongly with a greater number and a higher movement speed of the vulvenerable road users (36; 38, 40) than with a lower number and a lower movement speed of the vulvenerable road users (36; 38, 40).Method according to one of Claims 1 to 11, characterized in that the received warning message is forwarded from the second vehicle (24) via its transmitting and receiving device (30) to third vehicles and / or to the stationary server (48).System (1) for detecting, distributing and using environmental information in road vehicles according to at least one of the preceding method claims, having a first vehicle (4) which is standing on or on a road (2) and has a driver assistance system having an environment detection device (12) and a transmitting and receiving device (20) for V2V communication (vehicle-to-vehicle communication) and / or for V2I communication (vehicle-to-infrastructure communication), and having a second vehicle (24) which is travelling on the same road (2) in the direction (34) and toward the first vehicle (4), which has a driver assistance system with a cruise control and emergency braking device (29) and a transmitting and receiving device (30) for V2V and / or V2I communication, wherein these system components are designed, set up and arranged in such a way that these measures can be used to avoid a collision of the second vehicle (24) with vulcanizable road users (36; 38, 40) located in the vicinity of the first vehicle (4), characterized in that at least one vulcanizable road user (36 located in the vicinity can be carried out by means of the environment detection device (12) of the first vehicle (4); 38, 40) it can be seen that a warning message can be sent to the transmitting and receiving device (30) of the second vehicle (24) via the transmitting and receiving device (20) of the first vehicle (4) and received there, and that the cruise control and emergency braking device (29) of the second vehicle (24) is designed and configured such that at least one measure for preparing a possible emergency braking can be carried out by means of this.System (1) according to Claim 13, characterized in that the cruise control and emergency braking device (29) of the second vehicle (24) is designed and set up in such a way that, after receiving the warning message from the first vehicle (4), it is possible to command a prefilling of the wheel brake cylinders (60, 62) of the service brake system of the second vehicle (24) with a hydraulic or pneumatic fluid by means of said prefilling device.

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