Driver assistance procedures and driver assistance systems

Abstract

Driver assistance system for supporting a driver of a motor vehicle (1) in communicating with a road user (2), comprising the following procedural steps: - Detecting a first gesture of the driver in a passenger compartment of the motor vehicle (1), wherein the first gesture is directed towards the road user (2), - Determining an initial gesture position for the first gesture in the passenger compartment, - Scanning the area around the motor vehicle (1) for the road user (2), - Determining the position of the road user (2) in relation to the first gesture position, - Scanning the surroundings for at least one potential obstacle (3), - Checking whether the visibility of the first gesture is restricted by the potential obstacle (3) starting from the position of the road user (2), - Signaling and recommending a second gesture at a second gesture position in the passenger compartment if the visibility of the first gesture is restricted.

Description

[0001] The invention relates to a driver assistance method according to the preamble of claim 1 for supporting a driver of a motor vehicle in communicating with a road user. Furthermore, the invention relates to a driver assistance system for carrying out the driver assistance method.

[0002] Driver assistance systems are designed to support the driver of a motor vehicle in specific driving situations. This support focuses primarily on safety aspects, but also on comfort and fuel efficiency. The range of driver assistance systems extends from ultrasonic parking assistance and lane change assist to automatic distance warning using radar or lidar, and even traffic sign recognition via camera.

[0003] German patent DE 10 2017 216 737 A1 discloses a communication system for vehicles in which a driver's gestures are detected and recognized by sensors. If it is determined that the gesture is intended for another road user, the system sends a signal to that user. Furthermore, the communication system includes a device that evaluates the received gesture signals and forwards them to the intended recipient. Additional information such as gaze direction and position can contribute to a more precise determination of the gesture's intended recipient.

[0004] German patent DE 10 2021 131 852 A1 discloses a method and a system for maneuvering a vehicle or trailer by detecting and interpreting movements of a personal communication device. The system determines movements of the device, which serve as gesture commands for maneuvers, and corrects these by eliminating interference caused by the vehicle's own movements.

[0005] Further technological background is revealed in DE 10 2015 209 090 A1, DE 10 2014 226 254 A1, DE 10 2016 206 694 A1, DE 10 2016 208 410 A1, DE 10 2021 104 349 A1, US 2017 / 0243490 A1 and US 2021 / 0304617 A1.

[0006] The common feature of current technology is that, in order to support a driver of a motor vehicle in communicating with a road user, the communication path between the driver and the road user is not considered. In particular, no check is made as to whether an obstacle exists between the driver and the road user. Furthermore, no check is made as to whether the position of an obstacle restricts the visibility of a gesture between the driver and the road user, even if the obstacle is not physically located between them.

[0007] This results in the technical disadvantage that the gesture made by the driver may not be seen by the other road user, which can lead to misunderstandings.

[0008] Against this background, the invention is based on the first objective of providing a driver assistance method that improves communication between a driver of a motor vehicle and a road user. Furthermore, the invention is based on the second objective of providing an improved driver assistance system for implementing the driver assistance method.

[0009] The first problem is solved by a driver assistance method with the features according to claim 1. The second problem is solved by a driver assistance system with the features according to dependent claim 10. The dependent claims relate to advantageous embodiments of the invention.

[0010] According to the invention, a driver assistance method with the features according to claim 1 is disclosed.

[0011] A driver assistance system according to the preamble of claim 1 is designed to support a driver of a motor vehicle in communicating with a road user. The driver assistance system comprises the following process steps: In one process step, an initial gesture is detected, for example, by a camera system. This initial gesture is performed by the driver of the vehicle, who is located in the passenger compartment. The first gesture is therefore performed within the passenger compartment. This initial gesture can be, for example, a hand movement, a head movement, or a combination of both. Furthermore, the initial gesture is directed at a road user who is outside the vehicle.

[0012] In a further procedural step, an initial gesture position is determined. This initial gesture position marks the location where the first gesture is executed. The first gesture is performed in the passenger compartment of the vehicle, therefore the initial gesture position is located within the passenger compartment.

[0013] According to the invention, the driver assistance method comprises further process steps: In a further process step, the area surrounding the vehicle is scanned, for example by a camera system. The camera system scanning the area and the camera system capturing the initial gesture can be two interconnected camera systems or one and the same camera system. The scan of the area specifically includes scanning for road users located outside the vehicle.

[0014] In a further step of the process, the position of the road user is determined. This determination is made in relation to the first gesture position, with particular attention paid to the horizontal orientation of the road user relative to that initial gesture position.

[0015] In a further step of the process, the vehicle's surroundings are scanned again. This scan includes searching for at least one potential obstacle. A potential obstacle is an object that could restrict the visibility of a gesture. A potential obstacle is not limited to an opaque, self-contained object, but can also be part of an object or another body, such as the sun.

[0016] In a further procedural step, the visibility of the initial gesture is checked. This check is performed from the road user's position. It is examined whether a potential obstacle restricts the visibility of the initial gesture. For example, it is checked whether a potential obstacle is located between the driver of the vehicle and the road user, thereby restricting the visibility of the initial gesture. In this case, the road user may not recognize the initial gesture as such, or may not even see or perceive it at all. This, in turn, can lead to misunderstandings.

[0017] In a further process step, the driver of the motor vehicle is signaled that the visibility of the first gesture is restricted. Subsequently, i.e., if the visibility of the first gesture is restricted, the driver is advised to perform a second gesture. The driver assistance method according to the invention recommends performing the second gesture at a second gesture position in the passenger compartment.

[0018] By checking whether a potential obstacle restricts the visibility of the first gesture, the likelihood is increased that the first gesture will be seen and recognized as a gesture by the other road user. This, in turn, reduces the occurrence of misunderstandings.

[0019] According to a preferred driver assistance procedure, the vehicle's surroundings are scanned for a stationary object that can obstruct the visibility of the first gesture and that remains stationary relative to a connecting line between the road user and the first gesture position, or that maintains a constant distance and orientation to the connecting line regardless of time. Therefore, the stationary object can obstruct the visibility of the first gesture for an unlimited period of time.

[0020] In the case of a stationary motor vehicle, the immobile object can be a part of the vehicle itself, for example, the A-pillar. Particularly when a road user is in front of the vehicle and on the left side, the A-pillar of the driver's vehicle can obstruct the driver's view of the first gesture from the road user's perspective.

[0021] In cases where the road user is in a motor vehicle, the stationary object may be part of the vehicle. For example, the B-pillar of the road user's vehicle may obstruct the visibility of the initial gesture. In particular, if the road user intends to pull out of a parking space with a B-pillar, the visibility of an initial gesture made from the waiting vehicle may be obstructed by the B-pillar.

[0022] Furthermore, the stationary object can be an obstacle in the surroundings, such as a traffic sign, a tree, a small structure, or any other type of opaque or partially translucent object. Particularly in a traffic situation with roads of equal priority, a driver approaching from the left may overlook the initial signal from a driver who, according to traffic regulations, would have the right of way, if, for example, a priority sign restricts visibility. This can lead to a so-called deadlock situation, especially if the yielding vehicle, due to its external dimensions, further impedes the progress of the vehicle with the right of way.

[0023] The system checks whether the visibility of the first gesture is obstructed by the stationary object, based on the road user's position. If the visibility of the first gesture is obstructed, a signal is issued, along with a recommendation to perform a second gesture in a different position within the passenger compartment. The first and second gesture positions differ.

[0024] The preferred driver assistance procedure with the feature of the stationary object has a further increase in the probability that the first gesture will be seen by the road user due to the specific adaptation to the respective traffic situation.

[0025] According to another preferred driver assistance method, the vehicle's surroundings are scanned for a moving object that can obstruct the visibility of the first gesture and that moves relative to a connecting line between the road user and the first gesture position, or that has a time-dependent distance and / or orientation relative to the connecting line. Therefore, the moving object can obstruct the visibility of the first gesture for a limited period of time.

[0026] The moving object can be another motor vehicle, for example, a vehicle traveling in the opposite direction. Particularly in heavy traffic, and after a road user has a clear view of the driver of the other vehicle, followed by a delay in the driver's initial signal, an oncoming vehicle can obstruct the view of that signal.

[0027] The moving object can be a non-motorized vehicle, such as a bicycle. In particular, if the cycle path is set back somewhat from a main road and the driver of the motor vehicle cannot see the cycle path, the sudden appearance of a cyclist can obstruct the visibility of the initial gesture.

[0028] The moving object could also be a pedestrian. In particular, a pedestrian waiting at the side of the road could, for example, restrict the visibility of the first gesture by moving sideways.

[0029] The system checks whether the visibility of the first gesture is obstructed by the moving object, based on the road user's position. If the visibility of the first gesture is obstructed, a signal is issued, along with a recommendation to perform a second gesture again in the passenger compartment from the same position as the first gesture, but with a slight delay.

[0030] The preferred driver assistance procedure with the moving object feature has a further increase in the probability that the first gesture will be seen by the road user due to its specific adaptation to the respective traffic situation.

[0031] According to another preferred driver assistance procedure, the area around the motor vehicle is scanned for a stationary object that is immobile in relation to a connecting line between the road user and the first gesture position, can restrict the visibility of the first gesture, and is also a light source.

[0032] The light source can be a source with high light intensity, such as the sun. In particular, if the sun is positioned directly in line with the road user's position, the visibility of the first signal may be impaired. This is because the road user is blinded by the sun.

[0033] The system checks whether the visibility of the first gesture is obstructed by the light source, based on the road user's position. If visibility is obstructed, a signal is displayed, along with a recommendation to perform a second gesture in a different position within the passenger compartment. The first and second gesture positions differ.

[0034] The preferred driver assistance method with the feature of a stationary object as a light source has a further increase in the probability that the first gesture will be seen by the road user due to the specific adaptation to the respective traffic situation.

[0035] According to another preferred driver assistance procedure, the area around the motor vehicle is scanned for a moving object that behaves in relation to a connecting line between the road user and the first gesture position, can restrict the visibility of the first gesture and is also a light source.

[0036] A moving object as a light source of this kind is a temporary light source that can limit the visibility of the first gesture for a limited time.

[0037] A temporary light source can be, for example, a low sun. In particular, during a parking maneuver with a waiting vehicle and a low sun in the extended line connecting the road user and the vehicle, a temporary light source can exist if the movement of the waiting vehicle obscures the low sun to such an extent that the driver of the parking vehicle is no longer blinded.

[0038] The system checks whether the visibility of the first gesture is obstructed by the temporary light source, based on the road user's position. If visibility is obstructed, a signal is issued, along with a recommendation to perform a second gesture in the passenger compartment from the same position as the first, but with a slight delay.

[0039] The preferred driver assistance method with the feature of a moving object as a light source has a further increase in the probability that the first gesture will be seen by the road user due to the specific adaptation to the respective traffic situation.

[0040] According to another preferred driver assistance procedure, the area around the motor vehicle is scanned for a stationary object that is immobile in relation to a connecting line between the road user and the first gesture position, can restrict the visibility of the first gesture, and is also a reflective object.

[0041] A reflective object is an object that can reflect a light source in such a way that it can dazzle a road user.

[0042] A reflective object could be, for example, the windshield of the driver's vehicle. In particular, if the windshield reflects the sun and the sun's rays are reflected towards the road user, the windshield can restrict the visibility of the first gesture.

[0043] The system checks whether the visibility of the first gesture is obstructed by the reflective object, based on the road user's position. If the visibility of the first gesture is obstructed, a signal is issued, along with a recommendation to perform a second gesture in a different position within the passenger compartment. The first and second gesture positions differ.

[0044] The preferred driver assistance procedure with the feature of a stationary object as a reflection object has a further increase in the probability that the first gesture will be seen by the road user due to the specific adaptation to the respective traffic situation.

[0045] According to another preferred driver assistance procedure, the environment of the motor vehicle is scanned for a moving object that behaves in relation to a connecting line between the road user and the first gesture position, can restrict the visibility of the first gesture and is also a reflective object.

[0046] A moving object as a reflection object of this type is a temporary reflection object that temporarily restricts the visibility of the first gesture through a time-limited reflection of a light source.

[0047] A temporary reflective object could be, for example, the windshield of the driver's vehicle. In particular, if the driver's vehicle is not stationary and the windshield is therefore moving, glare from the sun, for example, can temporarily impair the visibility of the first gesture.

[0048] The system checks whether the visibility of the first gesture is obstructed by the temporary reflective object, based on the road user's position. If the visibility of the first gesture is obstructed, a signal is issued, along with a recommendation to perform a second gesture again in the passenger compartment from the same position as the first, but with a slight time delay.

[0049] The preferred driver assistance method with the feature of the moving object as a reflection object has a further increase in the probability that the first gesture will be seen by the road user due to the specific adaptation to the respective traffic situation.

[0050] According to another preferred driver assistance procedure, the first gesture is directed to a driver of another motor vehicle, so that the area around the motor vehicle is scanned for the driver of the other motor vehicle.

[0051] From the driver's position in the other vehicle, the system checks whether the visibility of the first gesture is obstructed by a potential obstacle. If the visibility of the first gesture is obstructed, a signal is given, along with a recommendation to perform a second gesture in a different position within the passenger compartment.

[0052] The preferred driver assistance procedure with the feature of the driver of the other motor vehicle as a road user has a further increase in the probability that the first gesture will be seen by the road user due to the specific adaptation to the respective traffic situation.

[0053] According to another preferred driver assistance procedure, the first gesture is directed towards a cyclist, so that the area around the motor vehicle is scanned for the cyclist.

[0054] The system checks whether the visibility of the first gesture is obstructed by a potential obstacle, based on the cyclist's position. If visibility is obstructed, a signal is given, along with a recommendation to perform a second gesture in a different position within the passenger compartment.

[0055] The preferred driver assistance procedure with the feature of the cyclist as a road user has a further increase in the probability that the first gesture will be seen by the road user due to the specific adaptation to the respective traffic situation.

[0056] According to another preferred driver assistance procedure, the first gesture is directed towards a pedestrian, so that the area around the vehicle is scanned for the pedestrian.

[0057] The system checks whether the visibility of the first gesture is obstructed by a potential obstacle, based on the pedestrian's position. If visibility of the first gesture is obstructed, a signal is issued, along with a recommendation to perform a second gesture in a different position within the passenger compartment.

[0058] The preferred driver assistance procedure with the feature of the pedestrian as a road user has a further increase in the probability that the first gesture will be seen by the road user due to the specific adaptation to the respective traffic situation.

[0059] According to another preferred driver assistance method, the vehicle's surroundings are scanned for a first potential obstacle as well as a second potential obstacle that could restrict the visibility of the first gesture. The first potential obstacle is a stationary object that remains stationary relative to a line connecting the road user and the first gesture position, or that maintains a constant distance and orientation relative to this line regardless of time. The second potential obstacle is a moving object that moves relative to the line connecting the road user and the first gesture position, or that has a time-dependent distance and / or orientation relative to this line.

[0060] The system checks whether the visibility of the first gesture is obstructed by the first and second potential obstacles, based on the road user's position. If the visibility of the first gesture is obstructed, a signal is issued, along with a recommendation to perform a second gesture in a different position within the passenger compartment. This second gesture position must differ from the first and be performed with a time delay.

[0061] The preferred driver assistance procedure with the feature of two potential obstacles has a further increase in the probability that the first gesture will be seen by the road user due to the specific adaptation to the respective traffic situation.

[0062] According to the invention, a driver assistance system with the features according to dependent claim 10 is disclosed. The driver assistance system according to the invention is designed to carry out a driver assistance method according to the invention.

[0063] Further features, advantages and details of the invention will now be described in more detail with reference to the drawings. Fig. Figure 1 shows an initial traffic situation with various potential obstacles, in which an initial advantageous driver assistance procedure is applied by an advantageous driver assistance system. Fig. Figure 2 shows another traffic situation with a stationary object as a potential obstacle, in which another advantageous driver assistance procedure is applied by an advantageous driver assistance system. Fig. Figure 3 shows another traffic situation with a moving object as a potential obstacle, in which another advantageous driver assistance procedure is applied by an advantageous driver assistance system. Fig. Figure 4 shows another traffic situation with a stationary object as a light source, in which another advantageous driver assistance procedure is applied by an advantageous driver assistance system. Fig. Figure 5 shows another traffic situation with a stationary object as a reflection object, in which another advantageous driver assistance procedure is applied by an advantageous driver assistance system. Fig. Figure 6 shows another traffic situation with a moving object as a reflection object, in which another advantageous driver assistance procedure is applied by an advantageous driver assistance system. Fig. Figure 7 shows another traffic situation with a stationary object as a potential obstacle, in which another advantageous driver assistance procedure is applied by an advantageous driver assistance system. Fig. Figure 8 shows another traffic situation with a moving object as a light source, in which another advantageous driver assistance procedure is applied by an advantageous driver assistance system. Fig. Figure 9 shows another traffic situation with a pedestrian as a road user, in which another advantageous driver assistance procedure is applied by an advantageous driver assistance system. Fig. Figure 10 shows another traffic situation with a stationary object and a moving object as potential obstacles, in which another advantageous driver assistance procedure is applied by an advantageous driver assistance system.

[0064] The Fig. Figure 1 shows a first traffic situation in which an advantageous driver assistance procedure is applied by an advantageous driver assistance system.

[0065] In the Fig. Figure 1 depicts a main road with oncoming traffic, where a cross street merges into the main road on the left. A first vehicle, 1, is traveling on the main road towards the junction with the cross street. The driver of the first vehicle, 1, intends to turn into the cross street and has activated the left turn signal.

[0066] A second road user is in a second motor vehicle. This second vehicle, containing road user 2, is on the cross street, heading towards the main road. The cross street is narrow, allowing two vehicles to pass each other only very closely. Due to its own dimensions, the second vehicle obstructs the first vehicle's (1) entry into the cross street.

[0067] The second road user, in the second vehicle, is on a road where priority must be given and therefore must yield to the first vehicle, 1. However, due to the dimensions of the second vehicle, which obstruct the entry of the first vehicle, 1, the driver of the first vehicle decides not to exercise priority and to allow the second road user to proceed.

[0068] In order for road user 2 to receive information that they have the right of way, the driver of the first vehicle 1 makes an initial gesture. This initial gesture takes place in the passenger compartment of the first vehicle 1 and may not be seen or perceived by road user 2.

[0069] The traffic situation in Fig. Figure 1 shows several potential obstacles. 3. In the present case, a potential obstacle 3 could, for example, be the A-pillar of the first motor vehicle 1, which restricts the visibility of the driver's first gesture. Furthermore, the Fig. One further potential obstacle is shown, which will be discussed in more detail in the following figures.

[0070] The driver assistance system detects the first gesture of the driver of the first vehicle 1 and recognizes that the first gesture is directed towards a road user 2 who is located outside the first vehicle 1. In addition, the driver assistance system determines the initial position of the first gesture within the passenger compartment of the first vehicle 1.

[0071] The driver assistance system also scans the area around the first vehicle 1 after the road user 2 and determines the position of road user 2 in relation to the first gesture position. In this case, the driver assistance system determines that road user 2 is in a second vehicle on the left side, in front of the driver's first vehicle 1.

[0072] The driver assistance system further scans the surroundings of the first motor vehicle 1 for a potential obstacle 3. In this case, the driver assistance system determines that the A-pillar of the first motor vehicle 1 could represent a potential obstacle 3.

[0073] After the driver assistance system has determined the initial gesture position and the position of road user 2, it checks whether the visibility of the first gesture is obstructed by the potential obstacle 3, in this case the A-pillar of the first vehicle 1. This check for obstruction of visibility is performed from the position of road user 2, i.e., from the driver's position of the second vehicle.

[0074] If the visibility of the first gesture is restricted, the driver of the first vehicle 1 will be notified of this restriction and advised to perform a second gesture. The second gesture can be a repetition of the first gesture and should be performed in a different position within the passenger compartment of the first vehicle 1. Due to the A-pillar of the first vehicle 1, the driver assistance system will recommend performing the second gesture in a different location or position within the passenger compartment of the first vehicle 1. For example, if the first gesture is performed behind the steering wheel of the first vehicle 1, the driver assistance system may recommend performing the second gesture directly behind the windshield of the first vehicle 1, so that the second gesture is seen and recognized by road user 2.

[0075] The Fig. Figures 2 to 6 and 10 each show a further traffic situation in which an advantageous driver assistance procedure is applied by an advantageous driver assistance system.

[0076] In the Fig. Figures 2 to 6 and 10 each show a main road with a cross street intersecting it. A driver of a first vehicle (1) approaching the intersection with the cross street intends to turn into the cross street and has activated their left turn signal. A second road user (2) in a second vehicle is on the cross street heading towards the main road and must yield the right-of-way. Due to the dimensions of the second vehicle, which obstruct the entry of the first vehicle (1), the driver of the first vehicle (1) makes a gesture towards road user (2) from inside the passenger compartment. This gesture may not be seen or perceived by road user (2).

[0077] The respective advantageous driver assistance system in the Fig. 2 to 6 and 10 detect the first gesture of the driver of the first vehicle 1 directed towards road user 2 and determine an initial gesture position of the first gesture in the passenger compartment of the first vehicle 1. Furthermore, the driver assistance system scans the area around the first vehicle 1 for road user 2 and for a potential obstacle 3 and determines a position of road user 2 in relation to the initial gesture position.

[0078] In the traffic situations of Fig. In steps 2 to 6 and 10, the driver assistance system determines that road user 2 is in a second motor vehicle on the left side, in front of the driver's first motor vehicle 1.

[0079] In the traffic situations of Fig. 2 and Fig. 3 The driver assistance system determines that an object located between road user 2 and the driver of the first motor vehicle 1 may represent a potential obstacle 3.

[0080] The one in Fig. 1 tested potential obstacle 3 in the form of the A-pillar of the first motor vehicle 1 is in the traffic situations of the Fig. Numbers 2 to 6 and 10 were neglected.

[0081] In the traffic situation of Fig. 2 is the object and thus the potential obstacle 3, an immobile object that remains stationary in relation to the connecting line between road user 2 and the first gesture position and can restrict the visibility of the first gesture of the driver of the first motor vehicle 1 indefinitely. The in Fig. The stationary object shown in Figure 2 is a priority sign, which is fixed at the junction of the cross street and the main road and lies exactly on the line of sight between the road user 2 and the first gesture position in the first motor vehicle 1.

[0082] In the traffic situation of Fig. 3 is the object and thus the potential obstacle 3 a movable object which behaves in relation to the connecting line between the road user 2 and the first gesture position and can restrict the visibility of the first gesture of the driver of the first motor vehicle 1 for a limited period of time. The in Fig. The moving object shown in Figure 3 is a cyclist passing the intersection of the cross street and the main road, and at the time of the execution of the first gesture is located exactly on the line of sight between road user 2 and the first gesture position.

[0083] In the traffic situations of Fig. 4 to 6 there is no obvious potential obstacle 3 between road user 2 and the driver of the first motor vehicle 1. Nevertheless, road user 2 may not be able to recognize or perceive an initial gesture from the driver of the first motor vehicle 1.

[0084] In the traffic situation of Fig. 4 is a potential obstacle 3, a light source that can restrict the visibility of the first gesture of the driver of the first motor vehicle 1. Starting from road user 2 in the direction of the first gesture of the driver of the first motor vehicle 1, the light source "sun" is in the extension of the road user 2's field of vision. The sun can dazzle road user 2 and is therefore the potential obstacle 3 to be examined.

[0085] In the traffic situation of Fig. 5 is a potential obstacle 3, an object that, by means of the light from a light source, can restrict the visibility of the first gesture of the driver of the first motor vehicle 1. However, starting from road user 2 in the direction of the first gesture of the driver of the first motor vehicle 1, the light source "sun" is not located in the extension of road user 2's field of vision. Therefore, after examining whether the sun, as a potential obstacle 3, restricts the visibility of the first gesture, it is not actually an obstacle. Nevertheless, road user 2 may not be able to recognize or perceive the first gesture of the driver of the first motor vehicle 1 due to the light from the sun.

[0086] In the traffic situation of Fig. 5 is a potential obstacle 3, a reflective object that can restrict the visibility of the first gesture of the driver of the first vehicle 1 by reflecting sunlight. The reflective object, the "windshield," is located between road user 2 and the driver of the first vehicle 1. The windshield can reflect sunlight toward road user 2, so that road user 2 may not be able to see or perceive the first gesture of the driver of the first vehicle 1. The windshield is therefore the potential obstacle 3 to be examined.

[0087] In the traffic situation of Fig. 6 is a potential obstacle 3, also an object that, by means of the light from a light source, can restrict the visibility of the first gesture of the driver of the first motor vehicle 1. Starting from road user 2 in the direction of the first gesture of the driver of the first motor vehicle 1, the light source "sun" is also not within the extension of road user 2's field of vision. The sun, as a potential obstacle 3, is therefore not an obstacle after examining whether it restricts visibility. Nevertheless, road user 2 may not be able to recognize or perceive the first gesture of the driver of the first motor vehicle 1 due to the light from the sun.

[0088] In the traffic situation of Fig. 6 is a potential obstacle 3, a temporary reflective object that, through a time-limited reflection of the sun, can restrict the visibility of the first gesture of the driver of the first vehicle 1 for a limited period of time. A windshield, as a reflective object, is located between road user 2 and the driver of the first vehicle 1. The windshield can reflect sunlight towards road user 2, so that road user 2 may not be able to see or perceive the first gesture of the driver of the first vehicle 1. The windshield is therefore the potential obstacle 3 to be examined.

[0089] In contrast to the traffic situation in the Fig. 5 moves within the traffic situation of Fig. 6. The first motor vehicle 1, and thus its windshield, is affected. This means that the windshield reflects sunlight towards road user 2 differently at different times. This, in turn, means that the windshield is a reflective object for a limited period of time, i.e., a temporary reflective object.

[0090] In the traffic situation of Fig. 10 The driver assistance system determines that two objects may represent potential obstacles 3, 4 located between the road user 2 and the driver of the first motor vehicle 1.

[0091] In the traffic situation of Fig. Figure 10 represents a stationary object in the form of a tree, depicted as a first potential obstacle 3, which can restrict the visibility of the first gesture of the driver of the first motor vehicle 1 indefinitely. Additionally, a moving object in the form of an oncoming motor vehicle is depicted as a second potential obstacle 4, which can restrict the visibility of the first gesture of the driver of the first motor vehicle 1 for a limited time.

[0092] The respective driver assistance system in the Fig. Steps 2 to 6 have determined the initial gesture position and the position of road user 2. In a further step, the driver assistance system checks whether the visibility of the initial gesture is obstructed by the respective potential obstacle 3. This check for obstruction of visibility is performed from the position of road user 2, i.e., from the driver's position of the second vehicle.

[0093] The driver assistance system in the Fig. Step 10 has determined the initial gesture position and the position of road user 2. In a further step, the driver assistance system checks whether the visibility of the first gesture is obstructed by potential obstacles 3 and 4. This check for obstructions is also performed from the position of road user 2, i.e., from the driver's position of the second vehicle.

[0094] If the visibility of the first gesture is restricted, the driver of the first motor vehicle 1 will be notified of the restriction of visibility and, for example, advised to repeat the first gesture in the form of a second gesture.

[0095] Due to the time-unchanging nature of the respective potential obstacle 3 in relation to a connecting line between the road user 2 and the first gesture position in the traffic situations of the Fig. 2, Fig. 4 and Fig. 5. The respective driver assistance system will recommend performing a second gesture at a second gesture position in the passenger compartment of the first vehicle 1, which differs from the first gesture position. For example, a first gesture performed behind the steering wheel of the first vehicle 1 may cause the driver assistance system to recommend performing a second gesture directly behind the windshield of the first vehicle 1, so that the second gesture is seen or recognized by the road user 2.

[0096] Due to the time-varying nature of the respective potential obstacle 3 in relation to a connecting line between the road user 2 and the first gesture position in the traffic situations of the Fig. 3 and Fig. 6. The driver assistance system will recommend performing a second gesture at the same gesture position in the passenger compartment of the first vehicle 1, repeating the second gesture after a time delay. For example, a first gesture performed behind the steering wheel of the first vehicle 1 may cause the driver assistance system to recommend performing a second gesture at the same position behind the steering wheel of the first vehicle 1, waiting until the respective potential obstacle 3 no longer restricts the visibility of the first gesture from the perspective of the road user 2, so that the second gesture is seen or recognized by the road user 2.

[0097] Due to the time-invariant nature of the first potential obstacle 3 and due to the time-varying nature of the second potential obstacle 4 in relation to a connecting line between the road user 2 and the first gesture position in the traffic situation of the Fig. 10 The driver assistance system will recommend performing a second gesture both at a second gesture position that differs from the first gesture position and with a time delay. For example, a first gesture performed behind the steering wheel of the first vehicle 1 may cause the driver assistance system to recommend performing a second gesture directly behind the windshield of the first vehicle 1, waiting until the second potential obstacle 4 no longer obstructs the view of the first gesture from the perspective of road user 2, so that the second gesture is seen or recognized by road user 2.

[0098] The Fig. 7 and Fig. Figures 8 each show another traffic situation in which an advantageous driver assistance procedure is applied by an advantageous driver assistance system.

[0099] In the Fig. 7 and Fig. Figure 8 depicts a street with parked vehicles on the right-hand side of the road. A driver (2) is in one of the parked vehicles and wants to pull out. Driver 2 has activated their left turn signal and begun to pull out. A driver in a vehicle (1), who wants to park in the same space, is facing the pulling-out vehicle and has activated their right turn signal. The driver of vehicle 1 wants to signal to driver 2 that they can pull out without obstruction.

[0100] In order to inform road user 2 that he can park unhindered, the driver in a passenger compartment of the motor vehicle 1 makes an initial gesture directed at road user 2, which may not be seen or perceived by road user 2.

[0101] The driver assistance system detects the first gesture of the driver of vehicle 1 directed towards road user 2 and determines the initial gesture position within the passenger compartment of vehicle 1. Furthermore, the driver assistance system scans the area around vehicle 1 for road user 2 and for a potential obstacle 3, and determines the position of road user 2 relative to the initial gesture position.

[0102] In the traffic situations of Fig. 7 and Fig. 8 The driver assistance system determines that road user 2 is in front of the driver's motor vehicle 1, in one of the parked motor vehicles on the right side of the road.

[0103] In the traffic situation of Fig. 7. The driver assistance system also determines that a potential obstacle 3 is located between road user 2 and the driver of vehicle 1. The potential obstacle 3 is the B-pillar of road user 2's vehicle, which can restrict the visibility of the driver of vehicle 1's first gesture indefinitely.

[0104] In the traffic situation of Fig. 8. The driver assistance system determines that a light source is a potential obstacle 3 and may restrict the visibility of the first gesture of the driver of vehicle 1. Starting from road user 2 and moving in the direction of the first gesture of the driver of vehicle 1, the light source "setting sun" is located in the extension of road user 2's field of vision. The setting sun is therefore the potential obstacle 3 to be checked.

[0105] In contrast to the traffic situation in the Fig. 7. The motor vehicle 1 moves in the traffic situation of Fig. 8. This means that, from a certain point onward, motor vehicle 1 obscures the setting sun from road user 2, so that there is no restriction on the visibility of the first gesture of the driver of motor vehicle 1. This, in turn, means that, with regard to a restriction on the visibility of the first gesture, the setting sun is a light source for a limited period of time, i.e., a temporary light source.

[0106] After the initial gesture position and the position of road user 2 have been determined, the driver assistance system checks in a further step whether the visibility of the first gesture is restricted by the potential obstacle 3 in the traffic situation. Fig. 7 through the B-pillar of the motor vehicle of road user 2 and in the traffic situation of Fig. 8 due to the setting sun. The check for restricted visibility is carried out from the position of road user 2, i.e., from the driver's position of the vehicle pulling out of the parking space.

[0107] If the visibility of the first gesture is restricted, the driver of motor vehicle 1 will be notified of the restriction of visibility and advised to make a second gesture.

[0108] Due to the time-unchanging nature of the potential obstacle 3 in relation to a connecting line between the road user 2 and the first gesture position in the traffic situation of the Fig. 7 The driver assistance system will recommend performing a second gesture at a different gesture position in the passenger compartment of the vehicle 1. For example, a first gesture performed behind the steering wheel of the vehicle 1 may cause the driver assistance system to recommend performing a second gesture directly behind the windshield of the vehicle 1, so that the second gesture is seen or recognized by the road user 2.

[0109] Due to the time-varying nature of the potential obstacle 3 in relation to a connecting line between the road user 2 and the first gesture position in the traffic situation of the Fig. 8 The driver assistance system will recommend performing a second gesture at the same gesture position in the passenger compartment of the vehicle 1, with the second gesture being performed after a time delay. For example, a first gesture performed behind the steering wheel of the vehicle 1 may cause the driver assistance system to recommend performing a second gesture at the same position behind the steering wheel of the vehicle 1, waiting until the potential obstacle 3 no longer restricts the visibility of the first gesture from the perspective of the road user 2.

[0110] The Fig. Figure 9 shows another traffic situation in which an advantageous driver assistance procedure is applied by an advantageous driver assistance system.

[0111] In the traffic situation of Fig. 9 is in contrast to the traffic situations in the Fig. 1 to 8 and 10 of the road users 2 a pedestrian.

[0112] In the Fig. Figure 9 depicts a first street that merges into a second street. A motor vehicle (1) is traveling on the first street, heading towards the second street. A pedestrian (2), representing road users, is at the side of the first street and wishes to cross. The pedestrian waits at the side of the road to allow the motor vehicle (1) to pass. The driver of the motor vehicle (1), on the other side, wants to give the pedestrian the opportunity to cross the street unimpeded.

[0113] In order to inform the pedestrian that he can cross the road unhindered, the driver in a passenger compartment of the motor vehicle 1 performs an initial gesture directed at the pedestrian, which may not be seen or perceived by the pedestrian.

[0114] The driver assistance system detects the first gesture of the driver of vehicle 1 directed towards the pedestrian and determines an initial gesture position of the first gesture in the passenger compartment of vehicle 1. Furthermore, the driver assistance system scans the area around vehicle 1 for the pedestrian and for a potential obstacle 3 and determines a position of the pedestrian in relation to the initial gesture position.

[0115] In the traffic situation of Fig. 9. The driver assistance system determines that the pedestrian is located in front of the driver's vehicle 1, on the left side of the vehicle 1. Furthermore, the driver assistance system determines that a potential obstacle 3 is located between the pedestrian and the driver of the vehicle 1. In this case, the potential obstacle 3 is the A-pillar of the driver's vehicle 1, which can restrict the visibility of the driver's initial gesture indefinitely.

[0116] Once the initial gesture position and the pedestrian's position have been determined, the driver assistance system checks whether the visibility of the initial gesture is obstructed by the potential obstacle 3, i.e., the A-pillar of vehicle 1. This check for obstruction of visibility is performed from the position of road user 2, i.e., the waiting pedestrian.

[0117] If the visibility of the first gesture is restricted, the driver of motor vehicle 1 will be notified of the restriction of visibility and advised to make a second gesture.

[0118] Due to the time-unchanging nature of the potential obstacle 3 in relation to a connecting line between the pedestrian and the first gesture position in the traffic situation of the Fig. 9 The driver assistance system will recommend performing a second gesture at a second gesture position in the passenger compartment of the vehicle 1, which differs from the first gesture position. For example, a first gesture performed behind the steering wheel of the vehicle 1 may cause the driver assistance system to recommend performing the second gesture directly behind the windshield of the vehicle 1, so that the second gesture is seen or recognized by the pedestrian. Reference symbol list 1 motor vehicle 2 road users 3rd obstacle / first obstacle 4 second obstacle

Claims

[1] Driver assistance system for supporting a driver of a motor vehicle (1) in communicating with a road user (2), comprising the following steps: - Detecting a first gesture of the driver in a passenger compartment of the motor vehicle (1), wherein the first gesture is directed towards the road user (2), - Determining an initial gesture position for the first gesture in the passenger compartment, characterized by - Scanning the area around the motor vehicle (1) for the road user (2), - Determining the position of the road user (2) in relation to the first gesture position, - Scanning the surroundings for at least one potential obstacle (3), - Checking whether the visibility of the first gesture is restricted by the potential obstacle (3) starting from the position of the road user (2), - Signaling and recommending a second gesture at a second gesture position in the passenger compartment if the visibility of the first gesture is restricted. [2] Driver assistance method according to claim 1, characterized by , that the first gesture position and the second gesture position are different, and that the potential obstacle (3) is an immobile object, whereby the immobile object behaves immobile in relation to a connecting line between the road user (2) and the first gesture position and may restrict the visibility of the first gesture. [3] Driver assistance system according to any of the preceding claims, characterized by - Recommending the second gesture with a time delay, where the first gesture position and the second gesture position are the same and the potential obstacle (3) is a movable object, wherein the movable object behaves in relation to a connecting line between the road user (2) and the first gesture position and may restrict the visibility of the first gesture. [4] Driver assistance method according to claim 2, characterized by that the stationary object is a light source. [5] Driver assistance method according to claim 3, characterized by that the moving object is a light source. [6] Driver assistance method according to claim 2, characterized by that the stationary object is a reflection object. [7] Driver assistance method according to claim 3, characterized by that the moving object is a reflection object. [8] Driver assistance system according to any of the preceding claims, characterized by , that the road user (2) is a driver of another motor vehicle, a cyclist or a pedestrian. [9] Driver assistance system according to any of the preceding claims, characterized by , that the potential obstacle is a first potential obstacle (3), and that the driver assistance procedure includes the following further procedural steps: - Scanning the surroundings for a second potential obstacle (4), - Checking whether the visibility of the first gesture is restricted by the second potential obstacle (4) starting from the position of the road user (2), - Recommending the second gesture with a time delay, where the first gesture position and the second gesture position are different and the first potential obstacle (3) is an immovable object and the second potential obstacle (4) is a movable object, wherein the stationary object remains stationary in relation to a connecting line between the road user (2) and the first gesture position and the movable object remains movable in relation to the connecting line between the road user (2) and the first gesture position. [10] Driver assistance system for carrying out a driver assistance method according to any one of claims 1 to 9.

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