Motor vehicle, method for issuing a warning signal from a motor vehicle and control device for carrying out such a method

Abstract

Motor vehicle (1), comprising an image acquisition device (14) for acquiring image data (13) relating to an occupant compartment (15) of the motor vehicle (1), wherein a control device (9) of the motor vehicle (1) is configured to evaluate the image data (13) to determine whether an imminent opening of a vehicle door (19) of the motor vehicle (1) is to be expected, wherein the control device (9) is further configured to generate control signals (26) in this case and to output them to an output device (25) of the motor vehicle (1) such that at least one warning signal directed at the imminent opening of the vehicle door (19) is output to the surroundings of the motor vehicle (1) by means of the output device (25).

Description

[0001] The present invention relates to a motor vehicle. Furthermore, the present invention relates to a method for issuing a warning signal in a motor vehicle. Finally, the present invention relates to a control device.

[0002] A well-known hazard associated with motor vehicles involves the careless opening of a vehicle door, especially a side door. Such actions can be problematic for other road users, such as other motorists or cyclists, particularly if they cannot avoid the opening door in time.

[0003] It is known from the prior art to address this problem by issuing warning signals. Corresponding concepts are known, for example, from US 4 833 448 A, JP 2004 276 843 A, DE 2 308 728 A1, DE 103 12 252 A1, DE 195 37 619 A1 and DE 10 2004 062 459 A1.

[0004] The problem here, however, is that the warning signals are triggered by an action of the occupant that directly causes the vehicle door to open, potentially leaving other road users insufficient time to react. A more advanced concept in this regard is known from EP 1 060 951 A2. According to this technical teaching, the warning signals are issued before the actual opening of the vehicle door. For example, they are issued in response to the vehicle being unlocked.

[0005] Another publication addressing this problem is US 2012 / 0194356A1. According to the disclosures therein, this problem is solved by triggering the warning signals based on a sensor-detected user action typically performed before the vehicle door is opened. Specific examples given include turning off the ignition, unfastening a seatbelt, checking makeup application using a vehicle mirror, applying the brakes, or extinguishing a cigarette. According to this doctrine, the warning signal is generated as an image projection onto a surface.

[0006] DE 10 2005 039 984 A1 discloses a further concept for issuing warning signals when a vehicle door is about to be opened. Accordingly, the warning signals are generated when a proximity switch located in the vicinity of the door's opening lever detects a hand approaching the opening lever or when a vehicle engine is switched off. A comparable concept is described in WO 2004 / 071 815 A1.

[0007] The present invention aims to provide an improved concept in connection with the generation of warning signals in the event of the opening of a vehicle door, in particular with regard to the most efficient possible preventive effect and simple feasibility.

[0008] According to the invention, the problem is solved in a motor vehicle of the type mentioned at the outset by the fact that it comprises an image acquisition device for acquiring image data relating to an occupant compartment of the motor vehicle, wherein a control device of the motor vehicle is configured to evaluate the image data to determine whether an imminent opening of a vehicle door of the motor vehicle is to be expected, wherein the control device is further configured to generate control signals in this case and to output them to an output device of the motor vehicle such that at least one warning signal directed at the imminent opening of the vehicle door is output to the surroundings of the motor vehicle by means of the output device.

[0009] The invention is based in particular on the idea of ​​being able to detect an impending opening of the vehicle door as reliably and efficiently as possible, so that a warning signal can be generated or issued in a timely manner. The image data acquired by an image acquisition device typically already provided in a modern motor vehicle serves as the data basis for this purpose. Therefore, no further specific technical components are required for this purpose within the scope of the present invention. Nevertheless, the use of image data provided for in the invention allows for sufficiently reliable detection of an impending opening of the vehicle door or an impending exit by the occupant. In this regard, the image data is not evaluated, or not only evaluated, with respect to an action by the occupant that actually causes the vehicle door to be opened.Instead, the image data is analyzed to identify actions taken by the occupant that, while not yet directly causing the vehicle door to open, indicate that such an opening is highly likely. The generation and output of warning signals in this case therefore occurs at a time when other road users have enough time to react appropriately, for example, by swerving or stopping. The warning signal serves to alert other road users, clearly and as intuitively as possible, to the fact that the vehicle door might be about to open.

[0010] The control unit is designed and configured to perform at least one step involved in evaluating the image data and / or controlling the output device. Preferably, the control unit is a component of the motor vehicle.

[0011] The passenger compartment of a motor vehicle can be a passenger cell. Generally speaking, the passenger compartment is the interior space of the motor vehicle where the vehicle's occupants are typically present while the vehicle is in motion. The occupants are typically the driver of the motor vehicle or at least a passenger seated in the front passenger seat or on the rear bench seat of the motor vehicle.

[0012] The image acquisition device can be located in the passenger compartment. Preferably, the image acquisition device comprises at least one optical camera and / or at least one radar device and / or at least one lidar device. Images relating to the visually visible part of the electromagnetic spectrum can be acquired using the optical camera. The radar device can comprise a radar source by which radar signals can be generated. Furthermore, the radar device can comprise a radar sensor by which the image of the passenger compartment is acquired using radar beams. In particular, the radar beams are the radar signals reflected from surfaces in the passenger compartment. Imaging is achieved using the lidar device by means of a laser beam generated by the lidar device scanning the passenger compartment, with the corresponding reflected laser light being detected by the lidar device.The camera and / or radar and / or lidar system thus implements an image acquisition sensor, which generates the image data that is transmitted to the control unit for further evaluation. Preferably, the image acquisition system comprises several image acquisition sensors, for example, to enable evaluation by combining multiple image data sets. Preferably, the entire area of ​​the passenger compartment is captured by the image acquisition system. For example, the fields of view of several image acquisition sensors can capture different areas of the passenger compartment, with each position in the passenger compartment being included in the field of view of at least one of the image acquisition sensors.

[0013] Preferably, the image acquisition device can capture two- or three-dimensional image data. Thus, the image data, or the raw images that represent the image data or from which the image data is generated, are present as at least a two-dimensional array of pixels and / or as at least a three-dimensional array of voxels. If three-dimensional image data is present, it can be represented as an array of two-dimensional pixels, with each pixel additionally assigned a depth value. The depth value can refer to the distance between the image acquisition device or the image acquisition sensor and the surface that represents or can be assigned to the respective pixel.

[0014] It is conceivable that the output device includes at least one acoustic output device for generating the warning signal as an acoustic signal. The acoustic output device, or at least one of the acoustic output devices, can be a loudspeaker. The warning signal can be output as spoken text via the acoustic output device, for example, as the text "Attention" or "Caution, door about to open!".

[0015] Additionally or alternatively, the output device can include an optical output means for generating the warning signal. This optical signal can be a warning symbol, such as a car with an open side door seen from a bird's-eye view, so that other road users can intuitively understand the meaning of the warning signal. The optical output means, or at least one of the optical output means, can be a vehicle light. The vehicle light can be a headlight, which illuminates the area in front of the vehicle, a rear light, which can generate taillights and / or brake lights, or a side light.

[0016] Furthermore, the present invention relates to a computer-implemented method for issuing a warning signal from a motor vehicle. According to the invention, the problem with such a method is solved by capturing image data relating to the passenger compartment of the motor vehicle, evaluating the image data to determine whether an imminent opening of a vehicle door is to be expected, and in this case, at least one warning signal directed at the imminent opening of the vehicle door is issued to the surroundings of the motor vehicle. All advantages, features, and aspects explained in connection with the motor vehicle according to the invention are equally transferable to the method according to the invention, and vice versa.

[0017] In the method according to the invention, it is preferably provided that the image data is acquired by means of an image acquisition device of the motor vehicle. The evaluation of the image data can be carried out by means of a control unit of the motor vehicle. The control unit is configured and designed to carry out at least one of the steps of the method. Appropriate image evaluation software can be implemented on the control unit for the evaluation of the image data. Furthermore, the output of the at least one warning signal can be carried out by means of an output device of the motor vehicle.

[0018] In the method according to the invention, it is conceivable that the fulfillment of an exit condition, in particular by means of the control device, is checked and the warning signal is only issued when this condition is met. The exit condition is only met or can be met if the image data shows that an occupant present in the passenger compartment is performing an action and / or exhibiting behavior that indicates the imminent opening of the vehicle door. Using software implemented by the control device, which, as will be explained in detail later, can implement artificial intelligence, the image data is specifically evaluated to detect the occupant's actions and to determine whether these actions lead to the opening of the vehicle door or whether these actions represent typical user behavior exhibited before opening the vehicle door.Regarding the evaluation of the image data, it can be segmented. This means that certain image areas are assigned to specific objects, such as the occupant, a dashboard, a vehicle seat, a steering wheel, a handbrake, or the like. The control device is preferably configured to generate control signals when the exit condition is met and to output them to the output device, wherein the control signals cause the generation or output of at least one warning signal.

[0019] Furthermore, it is conceivable that, particularly by means of the control device, the fulfillment of a suitability condition is checked and the warning signal is only issued if this condition is met. The suitability condition is only fulfilled or fulfillable if the evaluation of at least one piece of suitability information, directed at the suitability of issuing the warning signal, shows that issuing the warning signal is currently appropriate. For example, situations are conceivable in which, on the one hand, the image data indicates that the vehicle door is about to be opened, but on the other hand, due to certain circumstances, generating and issuing the warning signal is not appropriate. This can be the case if the suitability information indicates that the imminent opening of the vehicle door poses no danger. Further examples of such circumstances will be explained below.The absence of a warning signal when the suitability condition is not met is particularly advantageous from an energy perspective.

[0020] The information relevant to the vehicle's purpose, or at least one piece of information relevant to its purpose, can be at least one piece of presence information that is detected and relates to the current presence of another road user in the vicinity. This presence information can be determined using data from a presence detection device in the vehicle, in particular by means of the control unit. The presence detection device can be an environmental camera that captures the vehicle's surroundings. The environmental image data captured by this camera can be the presence information itself or can be used to determine the presence information, in particular by means of image analysis software provided for this purpose and implemented on the control unit.The requirement of expediency can only be met or fulfilled if at least one piece of presence information indicates that another road user is currently present in the vicinity. In this case, it can be assumed that the opening vehicle door poses a potential danger to the other road user, making the issuance or generation of the warning signal appropriate.

[0021] The suitability information, or at least one piece of suitability information, can be at least one piece of position information related to the current location of the vehicle. This position information can be determined by means of a position detection device in the vehicle. The position detection device can be a component of the vehicle's navigation system, by means of which the current location or position of the vehicle is detected, in particular using GPS. Within the scope of this embodiment, the suitability condition can only be fulfilled or fulfilled if the at least one piece of position information indicates that the vehicle is currently located in a position where issuing the warning signal is currently appropriate. For example, the position information might indicate that the vehicle is currently located on a busy road, in which case issuing the warning signal is advisable.If, on the other hand, the location information indicates that the vehicle is currently on a forest or field path, then the warning signal may not be issued, as it can be assumed that there are unlikely to be any other road users there.

[0022] The information relevant to the vehicle's purpose, or at least one piece of relevant information, can be at least one piece of side information captured and directed towards the side of the vehicle toward which the opening of the vehicle door is expected. This side information can be determined from the image data, particularly by means of the control unit. Thus, the image data not only allows for the mere detection of whether the opening of the vehicle door is imminent, but also, in principle, for the determination of which of the vehicle doors are affected. For example, the image data can be used to determine whether the user actions aimed at opening the vehicle door are being carried out by the driver, the front passenger, or a passenger in the rear seat, with this information providing a clear indication of which vehicle door is likely to be opened.In this embodiment, the suitability condition can only be met or fulfilled if the at least one side information indicates that the side toward which the imminent opening of the vehicle door is expected faces a road, cycle path, or pedestrian walkway. To determine this, additional location information and / or historical data recorded in the past can be used. The warning signals can then be omitted if the side information indicates that one of the side doors will open in the direction where only a shoulder of the roadway is present, as no other road users are expected there.Based on the side information, if warning signals are issued, at least one of the vehicle lights can be specifically selected to issue the warning signals, which is located on the side of the vehicle towards which the vehicle door will open.

[0023] Preferably, the emitted warning signal has a signal signature specifically directed at the impending opening of the vehicle door. The control unit can be configured to generate the control signals in such a way that the emitted warning signal exhibits this signal signature. This means, in particular, that the warning signal emitted when the vehicle door is about to be opened differs from signals emitted in other cases with regard to temporal variability and / or visual appearance. For example, the emitted warning signals differ from those emitted when the brakes are applied, the hazard warning lights are activated, or the turn signals are shown.

[0024] The warning signal can be an acoustic signal, which, according to its signal signature, is a dynamic warning tone indicating the impending opening of the vehicle door. As already mentioned, the dynamic warning tone can be a spoken text. A warning tone that rises and falls in volume and / or frequency is also conceivable.

[0025] The warning signal can be a visual signal, which, according to the signal structure, is a dynamic light signal indicating the impending opening of the vehicle door. This visual signal can be a warning light, particularly one that pulsates in size and / or brightness, and / or a moving wave pattern, and / or written text.

[0026] It is preferably provided according to the invention that, during the output of at least one warning signal, an additional output of at least one occupant warning signal is made to the occupant compartment, by means of which the occupant is alerted to a danger arising from the impending opening of the vehicle door. According to this embodiment, in addition to the generation and output of the warning signal, a further measure is taken to reduce the danger emanating from opening the vehicle door. The occupant is thus specifically informed that opening the vehicle door could result in a corresponding danger. The occupant warning signal can also be an acoustic and / or visual signal that is output by means of an occupant output device. The occupant output device is preferably arranged in the occupant compartment.The passenger output device can be a loudspeaker or a display or touchscreen, in particular one located on the dashboard of the motor vehicle.

[0027] In addition, or alternatively, it is conceivable that during the issuance of at least one warning signal, a safety device that inhibits or prevents the opening of the vehicle door is triggered. Triggering the safety device results in the generation of a force opposing the opening of the vehicle door or in the locking of the vehicle door.

[0028] In the embodiments described above, the control signals generated by the control device, which cause the generation of the warning signal, and / or additional control signals generated by the control device, can cause the output of at least one occupant warning signal and / or the triggering of the safety device.

[0029] Preferably, it is provided that during the output of the at least one warning signal, in particular by means of the control device, the fulfillment of a termination condition is checked and the output of the warning signal is stopped upon fulfillment of this condition. Fulfillment of the termination condition indicates that continuing the output of the warning signals is not useful, so that upon fulfillment of the termination condition, the generation of the control signals is stopped or further control signals are generated that cause the output of the warning signals to cease.

[0030] The closing condition can only be fulfilled or fulfilled if a recorded closing information indicates that the vehicle door has been closed again after being opened. This closing information can be obtained through an evaluation of measurement data, particularly by the control unit, which is acquired via a door opening detection device. The door opening detection device generates measurement data from which it can be determined whether the vehicle door is currently open or not. The door opening detection device can be located near the respective vehicle door and may, if necessary, be designed as a corresponding contact sensor. If the closing information indicates that the vehicle door has already been closed again, then the generation or output of warning signals is unnecessary and can therefore be discontinued.In this case, the process can be restarted from the beginning by re-acquiring the image data or information.

[0031] Alternatively or additionally, the termination condition can be fulfilled or fulfillable if the termination information indicates that a termination signal generated by the occupant is present. The presence of the termination signal indicates that the occupant has performed an action aimed at ending the warning signal. This can occur, for example, if the user becomes aware of the danger associated with opening the vehicle door due to the occupant warning signal and abandons their intention to open it. The termination signal can be generated by an input from the occupant at an occupant input device, which may also function as the occupant output device. For instance, the occupant input device could be a touchscreen, in which case the termination signal is generated when the occupant taps or selects a button displayed on it.The termination signal can also be generated based on the image data, for example if the occupant makes a gesture aimed at ending the output of the warning signals, which is detected based on the image data.

[0032] It should be noted that, to keep the existing database up to date, it is preferable that the acquisition of image data and, where applicable, information be repeated in parallel with the execution of the other procedural steps, particularly on a cyclical basis. This will allow for the identification of changing circumstances and the recording and consideration of any situation-specific changes regarding the requirement to issue warning signals.

[0033] The evaluation of image data is preferably carried out by a model implementing artificial intelligence. The model, or rather the software implementing the model, can be implemented on the vehicle's control unit. The image data constitutes input data for the model, which uses it to determine whether the vehicle door is about to be opened. The model can also be used to evaluate the relevant data to determine or capture at least one piece of information relevant to the vehicle's functionality. The model can be a trained model created using machine learning. Compared to static algorithms, a trained model can potentially achieve more reliable results, as a trained artificial intelligence allows for the consideration of numerous circumstances and relationships that would be overwhelming for a human user.In particular, when using artificial intelligence, the evaluation can also be carried out in occupant-specifically, whereby identity information relating to the identity of the respective occupant is determined, especially on the basis of the image data.

[0034] Regarding model training, training input datasets representing image data are provided, along with corresponding training results, each assigned to one of the training input datasets. Based on the training input dataset, the model is trained by comparing the results obtained using artificial intelligence with the training results. The goal is to minimize any existing deviations. Training preferably involves separate training steps or cycles performed sequentially, with the model continuously improving. Specifically, supervised training can be performed, although unsupervised training is also possible. Continuing the training during ongoing use of the model is also conceivable.This allows for a comparison to determine whether a prediction regarding the opening of a vehicle door, made using artificial intelligence, is accurate.

[0035] Finally, the present invention relates to a control device, in particular for a motor vehicle. The problem is solved according to the invention in such a control device by providing it with a computer-readable storage medium, wherein the storage medium comprises instructions which, when executed by means of the control device designed as a computer, cause a processing unit of the control device to perform at least one of the steps of the method according to the above description. All advantages, features, and aspects explained in connection with the motor vehicle and the method according to the invention are equally transferable to the control device according to the invention, and vice versa.

[0036] Further advantages, features and details of the present invention will become apparent from the exemplary embodiments presented below and from the figures. These are shown schematically: Fig. 1 a schematic diagram of a motor vehicle according to the invention in an exemplary embodiment, comprising a control device according to the invention in an exemplary embodiment, and Fig. 2 a flowchart of a method according to the invention in an exemplary embodiment, based on the motor vehicle of the Fig. 1 is explained.

[0037] Fig. Figure 1 shows a motor vehicle 1 according to an exemplary embodiment of the invention. Based on the [reference to the illustration in the] Fig. A method according to the invention is explained in accordance with an exemplary embodiment of the motor vehicle shown in section 1, with reference to the Fig. Reference is made to Figure 2, which shows a flowchart of this procedure comprising steps 2 to 8. To carry out the procedure, the motor vehicle 1 includes a control unit 9 equipped for this purpose, with a computer-readable storage medium 10 and a processing unit 11. Instructions are stored on the storage medium 10, which can be executed by the processing unit 11 to carry out the procedure steps. These instructions are executed according to a model 12, which is implemented by an artificial intelligence. The model 12 is a trained model that was generated using machine learning.The control unit 9 is connected to the corresponding components of the motor vehicle 1 via connecting lines, in particular wiring, for the purpose of recording and evaluating the data and information intended for the implementation of the present procedure and for outputting control signals, which will be explained in detail later.

[0038] In the first step 2, image data 13 is acquired using an image acquisition device 14 of the motor vehicle 1. The image data 13 depicts the passenger compartment 15 of the motor vehicle 1, so that any occupants present in the passenger compartment 15 can also be identified based on the image data 13. The image acquisition device 14 comprises several optical cameras 16, a radar device 17, and a lidar device 18. The cameras 16 acquire images relating to the visually visible part of the electromagnetic spectrum as the image data 13. The radar device 17 comprises a radar source for generating radar signals and a radar sensor, which acquires images of the passenger compartment 15 based on the reflected radar beams as the image data 13.The lidar device 18 acquires the image data 13 by scanning the passenger compartment 15 with a laser beam generated by the lidar device 18, with the reflected laser light being detected by the lidar device 18. The image acquisition sensors of the image acquisition device 14, implemented as the cameras 16, the radar device 17, and the lidar device 18, capture the entire area of ​​the passenger compartment 15. Thus, the fields of view of these image acquisition sensors cover different areas of the passenger compartment 15, with every position in the passenger compartment 15 being included in the field of view of at least one of the image acquisition sensors.

[0039] The image data 13 are present as a two- or three-dimensional array of pixels or voxels. Specifically, the image data 13 are each present as an array of two-dimensional pixels, with each pixel additionally assigned a depth value. The depth value describes the distance between the respective image acquisition sensor and the surface in the occupant compartment 15 that can be assigned to the respective pixel.

[0040] In the second step 3, the artificial intelligence implemented on the control unit 9 analyzes the image data 13 to determine whether a vehicle door 19 of the motor vehicle 1 is about to be opened. For this purpose, the image data 13 is first segmented. This means that areas of the image data 13, or rather the captured images, are assigned to specific objects, namely the occupant and other components of the motor vehicle 1 located in the passenger compartment 15, such as a dashboard 32, etc. The image data 13 is then analyzed to determine whether an occupant present in the passenger compartment 15 is performing an action and / or exhibiting behavior that indicates the imminent opening of the vehicle door 19. To achieve the most reliable results possible, the artificial intelligence was trained not only before its actual use but also during its operation.Furthermore, the evaluation of the image data 13 carried out using artificial intelligence is also aimed at identifying the occupants, which is likewise determined using the image data 13. Regarding the four vehicle doors 19 of the motor vehicle 1, it is stated in . Fig. 1 only one of the vehicle doors 19 is shown, namely the driver's door.

[0041] During step 3, an exit condition is checked. This condition is met if the image data 13 shows that an occupant in the passenger compartment 15 is performing an action or exhibiting behavior that indicates the imminent opening of the vehicle door 19. Such actions could include, for example, a change in the occupant's seating position. However, this is not exhaustive, particularly since the artificial intelligence can also incorporate less obvious correlations. If the exit condition is not met, the process continues in step 2 with the re-capture and thus updating of the image data 13. If the exit condition is met, the process continues in step 4.

[0042] In step 4, several pieces of information 20, 21, 22 representing expediency are determined using artificial intelligence. For example, presence information 20 is determined, which relates to the current presence of another road user in the vicinity of the vehicle 1. This presence information 20 is determined using data from a presence detection device 23 of the vehicle 1, which is a surround-view camera. Furthermore, position information 21 is determined, which relates to the current location or position of the vehicle 1. This position information 21 is available, for example, as the geographical coordinates and is determined using a position detection device 24 provided by the GPS-based navigation system of the vehicle 1.Furthermore, side information 22 is determined, which is directed towards the side of the motor vehicle 1 towards which the imminent opening of the vehicle door 19 is expected. For this purpose, the image data 13 are evaluated accordingly, the result of this evaluation being the information which of the vehicle doors 19 will be opened.

[0043] In the next step 5, a suitability condition is checked using information 20, 21, and 22. The suitability condition is met if, based on information 20, 21, and 22, it is currently appropriate to issue a warning signal to the vicinity of the vehicle 1, alerting other road users to the impending opening of the vehicle door 19. The suitability condition can be met if, based on presence information 20, it is currently possible for at least one other road user to be present in the vicinity. If this is not the case, the suitability condition is not met, and the procedure is restarted from step 2.

[0044] Furthermore, the suitability condition is fulfilled if the position information 21 indicates that the vehicle 1 is currently located in a position where issuing the warning signal is currently appropriate. This is not the case, for example, if the vehicle 1 is located in a place where other road users are unlikely to be found, such as on a country lane. If this is not the case, then the suitability condition is not fulfilled and the procedure is restarted from step 2. It should be noted that in the present embodiment, the check of the suitability condition based on the position information 21 is ultimately obsolete and can be skipped if the presence information 20 already indicates that another road user is currently present.In particular, since embodiments are conceivable in which not all three pieces of information 20, 21, 22 are recorded and evaluated, the recording of the position information 21 and its evaluation is therefore appropriate.

[0045] Ultimately, the suitability condition is met when the side information 22 indicates that the side toward which the vehicle door 19 is expected to open faces a road, cycle path, or pedestrian walkway. For this purpose, or rather, for recording the side information 22, the environmental image data acquired by the presence detection device 23 can be used. This data is evaluated for the presence of a road, cycle path, or pedestrian walkway on the side toward which the vehicle door 19 is expected to open. Alternatively, the position information 21 can be used, whereby data stored on a memory device and / or retrieved, in particular from the internet, can be used to determine the side information 22.

[0046] If the suitability condition is not met, the procedure continues with the re-acquisition of the image data 13 in the first step 2. Otherwise, the procedure continues in the next step 6, in which control signals 26 are generated by the control device 9 and output to an output device 25 of the motor vehicle 1, so that warning signals are issued to the surroundings of the motor vehicle 1 by means of the output device 25, which warn other road users of the possibly imminent opening of the vehicle door 19.

[0047] The output device 25 comprises an acoustic output means 27, in this case a loudspeaker, by means of which a dynamic acoustic signal is emitted as the warning signal. In this case, the acoustic signal is a warning tone that rises and falls in volume and pitch, and is accompanied by a spoken text indicating the imminent danger of the vehicle door 19 being opened. Since, in step 5, it was also determined which side this opening is to be expected to vehicularly open, the spoken text also includes information on this.

[0048] Furthermore, the output device 25 includes an optical output device 28 by means of which the warning signal is output as an optical signal. The optical output device 28 comprises several vehicle lights of the motor vehicle 1, namely two front headlights 29, two rear headlights 30, and two side lights 31. The optical signal is a dynamic light signal that pulsates with respect to its size and brightness. In addition, or alternatively, the optical signal includes written text indicating the impending opening of the vehicle door 29. Since, in step 5, it was also determined which side this opening is to be expected on, the written text also includes information on this.

[0049] The acoustic and visual signals thus exhibit a signal signature specifically directed at the impending opening of the vehicle door 19. This means that the nature of the respective warning signal differs from other situations in which signals are issued, allowing other road users to intuitively recognize that the vehicle door 19 is likely to be opened. The warning signals issued differ, for example, from those given when the brakes are applied, the hazard warning lights are switched on, or the turn signal is activated.

[0050] Furthermore, the control signals 26 cause an additional occupant warning signal to be output to the occupant compartment 15 during the output of the warning signals. This occupant warning signal alerts the occupants to a potential hazard that could arise if the vehicle door 19 is about to be opened. For this purpose, the corresponding control signals 26 are output to an occupant output device 33 located on a dashboard 32. Specifically, several occupant warning signals are output: a spoken text as an acoustic signal and a warning light, as well as a written text as a visual occupant warning signal. The occupant output device 33 includes a loudspeaker and a display for this purpose.The occupant warning signals ensure that the attention of the occupant who is about to open the vehicle doors 19 is drawn to the danger present in this regard and that the occupant refrains from opening the vehicle door 19 if necessary.

[0051] Furthermore, the output of the control signals 26 triggers a safety device 34 that inhibits or prevents the opening of the vehicle door. The triggering of the safety device 34 thus generates a counterforce that inhibits the opening of the vehicle doors 19. Alternatively, the triggering of the safety device 34 causes the vehicle door 19 to lock.

[0052] Parallel to the output of the warning signal, step 7 involves checking a termination condition, the fulfillment of which indicates the termination of the warning signal output. This occurs when a generated termination information 35 is present, which implies this. The termination information 35 can be determined by the control unit based on the acquired measurement data from a door opening detection device 36, specifically when the measurement data shows that the process of opening the vehicle door 19 is complete and the vehicle door 19 has been closed again. In this case, the danger emanating from the open vehicle door 19 no longer exists, thus indicating the termination of the warning signal output. The door opening detection device 36 is, in this case, a contact sensor located in the area of ​​the respective vehicle door 19.

[0053] Alternatively or additionally, the termination information 35 can indicate that a termination signal generated by the occupant is present, implying that the occupant has performed an action to stop the warning signal from being issued. The termination signal can be generated by an occupant input device 37 located in the occupant compartment 15, which in this embodiment is a touchscreen and also implements the occupant output device 33. To generate the termination signal, the occupant performs a corresponding action on the occupant input device 37. The occupant warning signal is then issued by the occupant output device 33 or the occupant input device 37, and a button with the text "Cancel warning signal" is simultaneously displayed. The termination signal is then generated when the occupant taps the button.

[0054] If the termination condition is not met in step 7, the procedure continues in step 6 with the continuation of the output of the control signals 26 and thus the warning signals. If the termination condition is met in step 7, the generation and output of the control signals 26, and thus the generation of the warning signals, is stopped in the next step 8 of the procedure. The procedure then restarts in step 2 with the acquisition of the image data 13. QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] US 4 833 448 A

[0003] JP 2004 276 843 A

[0003] FROM 2 308 728 A1

[0003] DE 103 12 252 A1

[0003] DE 195 37 619 A1

[0003] DE 10 2004 062 459 A1

[0003] EP 1 060 951 A2

[0004] US 2012 / 0 194 356 A1

[0005] DE 10 2005 039 984 A1

[0006] WO 2004 / 071 815 A1

[0006]

Claims

[1] Motor vehicle (1), comprising an image acquisition device (14) for acquiring image data (13) relating to an occupant compartment (15) of the motor vehicle (1), wherein a control device (9) of the motor vehicle (1) is configured to evaluate the image data (13) to determine whether an imminent opening of a vehicle door (19) of the motor vehicle (1) is to be expected, wherein the control device (9) is further configured to generate control signals (26) in this case and to output them to an output device (25) of the motor vehicle (1) such that the output device (25) outputs at least one warning signal directed at the imminent opening of the vehicle door (19) to the surroundings of the motor vehicle (1). [2] Motor vehicle (1) according to claim 1, characterized by, that two- or three-dimensional image data (13) can be acquired by means of the image acquisition device (14) comprising at least one optical camera (16) and / or at least one radar device (17) and / or at least one lidar device (18). [3] Motor vehicle (1) according to claim 1 or 2, characterized by , that the output device (25) comprises at least an acoustic output device (27) for generating the warning signal as an acoustic signal and / or an optical output device (28) for generating the warning signal as an optical signal. [4] Motor vehicle (1) according to claim 3, characterized by , that the acoustic output means (27) or at least one of the acoustic output means (27) is a loudspeaker and / or the optical output means (28) or at least one of the optical output means (28) is a vehicle light, in particular a front headlight (29) or a rear headlight (30) or a side light (31). [5] Computer-implemented method for issuing a warning signal from a motor vehicle (1), wherein image data (13) relating to an occupant compartment (15) of the motor vehicle (1) are acquired, wherein the image data (13) are evaluated to determine whether an imminent opening of a vehicle door (19) of the motor vehicle (1) is to be expected, wherein in this case at least one warning signal directed towards the imminent opening of the vehicle door (19) is issued to the surroundings of the motor vehicle (1). [6] Method according to claim 5, characterized by , that the fulfillment of an exit condition is checked and the warning signal is only issued when this condition is fulfilled, wherein the exit condition is only fulfilled or can be fulfilled if the image data (13) shows that an occupant present in the passenger compartment (15) is performing an action and / or exhibiting behavior that indicates the imminent opening of the vehicle door (19). [7] Method according to claim 5 or 6, characterized by that the fulfillment of an expediency condition is checked and the warning signal is only issued if this condition is met, whereby the expediency condition is only met or can be met if the evaluation of at least one recorded expediency information directed towards the expediency of issuing the warning signal shows that issuing the warning signal is currently expedient. [8] Method according to claim 7, characterized by , that the suitability information or at least one of the suitability information is at least one presence information (20) that is recorded and directed towards the current presence of another road user in the vicinity, wherein the suitability condition is only fulfilled or can be fulfilled if it can be seen from the at least one presence information (20) that another road user is currently present in the vicinity. [9] Method according to claim 7 or 8, characterized by , that the expediency information or at least one of the expediency information is at least one recorded position information (21) directed at the current position of the motor vehicle (1), wherein the expediency condition is only fulfilled or fulfillable if it can be seen from the at least one position information (21) that the motor vehicle (1) is currently in a position where the output of the warning signal is currently expedient. [10] Method according to any one of claims 7 to 9, characterized by, that the suitability information or at least one of the suitability information is at least one side information (22) that is captured and directed towards the side of the motor vehicle (1) towards which the imminent opening of the vehicle door (19) is to be expected, wherein the suitability condition is only fulfilled or can be fulfilled if it can be seen from the at least one side information (22) that the side towards which the imminent opening of the vehicle door (19) is to be expected faces a road or a cycle path or a pedestrian path. [11] Method according to any one of claims 5 to 10, characterized by , that the issued warning signal has a signal signature specifically directed towards the imminent opening of the vehicle door (19), wherein the warning signal - that is an acoustic signal which, according to the signal signature, is a dynamic warning tone, in particular a warning tone which rises and / or falls in volume and / or frequency and / or a spoken text indicating the imminent opening of the vehicle door (19), and / or - that or an optical signal which, according to the signal signature, is a dynamic light signal, in particular a warning light that pulses with respect to size and / or brightness and / or a moving wave pattern and / or written text, indicating the imminent opening of the vehicle door (19). [12] Method according to any one of claims 5 to 11, characterized by that during the issuance of at least one warning signal - the additional output of at least one occupant warning signal into the occupant compartment (15) by means of which the occupant is alerted to a danger emanating from the imminent opening of the vehicle door (19), and / or - a safety device (34) that inhibits or prevents the opening of the vehicle door (19) is triggered. [13] Method according to any one of claims 5 to 12, characterized by , that during the output of at least one warning signal the fulfillment of a termination condition is checked and the output of the warning signal is stopped when the condition is fulfilled, wherein the termination condition is only fulfilled or fulfillable if, based on a recorded termination information (35), it can be seen that after the process of opening the vehicle door (19) it has been closed again and / or a termination signal generated by the occupant is present. [14] Method according to any one of claims 5 to 13, characterized by, that the evaluation of the image data (13) is carried out by a model (12) implementing an artificial intelligence, which is implemented in particular on a control device (9) of the motor vehicle (1) and / or was trained and generated by means of machine learning. [15] Control device (9) with a computer-readable storage medium (10) comprising instructions which, when executed by means of the control device (9) designed as a computer, cause a processing device (11) of the control device (9) to perform at least one of the steps of the method according to any one of claims 5 to 14.

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