Method and device for a vehicle with a driver assistance function

Abstract

A method, for example a computer-implemented method, for a vehicle, with a driver assistance function, for example active, for example for accident avoidance, wherein the method comprises: executing a first sub-function of the driver assistance function, for example in the vehicle; receiving first information, for example from at least one other device, for example an infrastructure device or a cloud device, wherein the first information characterizes at least one aspect of a second sub-function of the driver assistance function, wherein the second sub-function is executable and / or is executed outside the vehicle, for example by the at least one other device; and at least temporarily executing the driver assistance function based on the first sub-function and based on the first information.

Description

State of the art

[0001] The disclosure relates to a process for a vehicle with a driver assistance function.

[0002] The disclosure also relates to a device for a vehicle with a driver assistance function.

[0003] The disclosure further relates to a method for an establishment, for example an infrastructure establishment, such as a mobile infrastructure establishment, or an edge establishment or a cloud establishment.

[0004] The disclosure further relates to a device for a facility, for example an infrastructure facility, such as a mobile infrastructure facility, or an edge facility or a cloud facility. Disclosure of the invention

[0005] Some examples refer to a method, for example a computer-implemented method, for a vehicle, for example a motor vehicle, with a driver assistance function, for example active, for example for accident avoidance, wherein the method comprises: executing a first sub-function of the driver assistance function, for example in the vehicle; receiving first information, for example from at least one other device, for example an infrastructure device, for example mobile infrastructure device, or an edge device or a cloud device, wherein the first information characterizes at least one aspect of a second sub-function of the driver assistance function, wherein the second sub-function is executable and / or is executed outside the vehicle, for example by the at least one other device.At least temporary execution of the driver assistance function based on the first sub-function and the initial information. In some examples, this allows for at least temporary distributed implementation of one or more aspects of the driver assistance function, where, for example, the execution of at least the second sub-function is not limited to the vehicle or the resources associated with the vehicle (e.g., the vehicle's equipment for executing the driver assistance function). This can increase flexibility and / or functionality in some examples compared to some conventional approaches for driver assistance functions, which are, for example, limited to the resources of a vehicle.

[0006] In some examples, at least some aspects of the method according to the disclosure can be carried out by a device for the vehicle, wherein the device is, for example, integrated into the vehicle. In some examples, at least some aspects of the method according to the disclosure (e.g., execution of at least the second sub-function) can be carried out, at least temporarily, by a device for the further equipment, wherein the device for the further equipment is, for example, integrated into the further equipment or, in some other examples, is at least in data communication with the further equipment.

[0007] For example, the driver assistance function includes at least one of the following elements: a) automated emergency braking, or b) automated emergency steering. The functions mentioned above are examples of active driver assistance functions that can intervene, at least temporarily, in the vehicle's control system and / or a vehicle system such as a braking system or a steering system, for example, in critical situations, such as to avoid accidents or reduce their severity.

[0008] In some examples, alternatively or additionally, one or more further driver assistance functions, for example active or inactive, may be provided and, in accordance with the principle of disclosure, may be provided with distributedly implementable, for example executable, sub-functions.

[0009] Other examples of driver assistance functions that can be used with the principle according to the disclosure are: a) Lane Keeping Assist, or b) Blind Spot Detection, or c) Adaptive Cruise Control, or d) Traffic Sign Recognition.

[0010] For the sake of clarity and without limiting generality, the examples described below refer to the driver assistance functions "automatic emergency braking function" and "automatic emergency steering function".

[0011] In some examples, information or data exchange between the vehicle or a device for the vehicle for carrying out aspects according to the disclosure and the further device or a device for the further device can be carried out by means of a communication system, for example cellular, e.g. according to and / or based on a standard such as 3GPP 5G or 6G or the like. Other wireless data connections are also conceivable as alternatives or supplements in other examples.

[0012] In some examples, a communication system can be used for data exchange that, in addition to data communication, also supports integrated communication and sensing, such as positioning, localization, or integrated sensing and communication (ISAC). This can lead to synergistic effects in some cases, enabling data communication while simultaneously allowing the acquisition of sensing information, such as object recognition and / or traffic situation monitoring. In other examples, this sensing information can also be used for driver assistance functions, for example, their at least temporarily distributed implementation within the vehicle and other systems.

[0013] In further examples, the procedure demonstrates: at least temporary execution of the driver assistance function based on the first sub-function, for example, based solely on the first sub-function, for example, not based on the first information and / or the second sub-function, for example, independently of the first information and / or independently of the second sub-function. This allows, at least temporarily, independent operation of the driver assistance function, for example, "autonomous" operation, which can be useful, for example, when the second sub-function is not required, e.g., in comparatively simple traffic situations where, for example,sufficient security is ensured by the first sub-function, and / or in cases where no data connection between the vehicle and the further device is possible, for example in the case of insufficient radio network coverage of the communication system.

[0014] In further examples, the method includes at least one of the following elements: a) exchanging, for example sending and / or receiving, second information by means of a wireless, for example cellular, communication system with at least one other device and / or with at least one other road user, for example vehicle, wherein, for example, the wireless communication system, as mentioned above, supports integrated communication and sensing, for example ISAC, wherein, for example, the second information includes at least one of the following elements: a1) information of the first sub-function (for example, calculation results and / or parameters and / or other information of the first sub-function).or a2) the first information (for example, calculation results and / or parameters and / or other information of the second sub-function), or a3) sensing information associated with the vehicle, for example, determined by a vehicle sensing system, for example, regarding the vehicle's environment, or b) receiving sensing information from at least one other device, for example, using the sensing information from the at least one other device, for example, in the vehicle, for example, for and / or by the driver assistance function, for example, fusing the sensing information with at least one other piece of information from the vehicle, or c) receiving third-party information, for example, from at least one other device, wherein the third-party information indicates that the driver assistance function should enter a standby state,for example, for an active intervention in at least one system of the vehicle, for example, a braking system and / or a steering system; d) receiving fourth information, for example, from at least one other device, wherein the fourth information indicates that the driver assistance function is to perform an active intervention in at least one system of the vehicle, for example, the braking system and / or the steering system, for example, immediately; and, optionally, triggering the active intervention in the at least one system of the vehicle, for example, in response to receiving the fourth information, for example, overriding, for example, at least one local component of the driver assistance function.

[0015] In some examples, the vehicle's sensing system is based on the ISAC principle, for example, using an ISAC-enabled (e.g., 6G) communication system. In other examples, different sensing principles such as radar, e.g., FMCW (continuous wave with frequency modulation) radar, which are not associated with the communication system, can also be used, as well as lidar, ultrasound, and / or camera-based sensing principles, etc.

[0016] In some examples, the procedure involves: selectively controlling one or the braking system and / or one or the steering system of the vehicle using the first sub-function and / or using the first information (i.e., including information from the second sub-function) based on at least one of the following elements: a) a state of the vehicle, or b) a situation, for example, a traffic situation, in the vicinity of the vehicle (e.g., analyzable by the further device), or c) historical and / or current performance data (e.g., data rate and / or latency and / or error rate) of a communication system for receiving the first information, or d) a specification from a driver of the vehicle (e.g., manual selection), or e) a specification from the at least one further device.

[0017] Further examples relate to a device for a vehicle, for example a motor vehicle, wherein the vehicle has a driver assistance function, for example active, for example for accident avoidance, wherein the device is designed to carry out the method according to the disclosure.

[0018] Some examples relate to a method, for example a computer-implemented method, for a device, for example an infrastructure device, such as a mobile infrastructure device, or an edge device or a cloud device, for at least temporary support of a, for example active, driver assistance function of a vehicle, for example for accident avoidance, wherein a first sub-function of the driver assistance function is executable in the area of ​​the vehicle, for example by a device for the vehicle, wherein the method comprises: executing a second sub-function of the driver assistance function, for example in the device, sending first information to the vehicle, wherein the first information characterizes at least one aspect of the second sub-function of the driver assistance function,for example, for the at least temporary execution of the driver assistance function based on the first sub-function and based on the initial information.

[0019] In other examples, the driver assistance function – as mentioned above – includes at least one of the following elements, but is not limited to them: a) automatic emergency braking function, for example automated emergency braking, or b) automatic emergency steering function, for example automated emergency steering.

[0020] For example, the method comprises at least one of the following elements: a) exchanging, for example sending and / or receiving, second information by means of a wireless, for example cellular, communication system, at least with the vehicle and / or with at least one other road user, for example another vehicle, wherein, for example, the wireless communication system supports integrated communication and sensing, for example positioning, for example localization, for example integrated sensing and communication, for example ISAC, wherein, for example, the second information comprises at least one of the following elements: a1) information of the first sub-function, or a2) the first information, or a3) sensing information associated with the vehicle, for example determined by a vehicle sensing system, for example regarding the vehicle's environment.or b) sending sensing information from the device and / or at least one other device or, for example, another road user, to the vehicle, or c) fusing sensing information, for example, with each other and / or with other information, for example, regarding the environment of the device and / or the vehicle, whereby, for example, fused information is obtained, or d) using sensing information and / or fused information for and / or by the second sub-function.

[0021] For example, the method comprises at least one of the following elements: a) sending third-party information, for example via a communication system, at least to the vehicle, wherein the third-party information indicates that the vehicle's driver assistance function should enter a standby state, for example for active intervention in at least one system of the vehicle, such as a braking system and / or a steering system; b) sending fourth-party information, for example via a communication system, at least to the vehicle, wherein the fourth-party information indicates that the driver assistance function should, for example immediately, actively intervene in at least one system of the vehicle, such as a braking system and / or a steering system.The steering system is to be executed, whereby, for example, the intervention involves overriding, for instance, at least one local component of the driver assistance function. In other words, the active intervention can provide that the influence of the driver assistance function by the at least one local component is prevented, at least temporarily, so that, for example, the influence of the driver assistance function by the second sub-function is enabled, at least temporarily.

[0022] In some examples, the procedure is provided for to include at least one of the following elements: a) coordinating the operation of at least one driver assistance function of a vehicle with at least one other road user, for example, coordinating several driver assistance functions of different road users, for example, vehicles, for example, in the sense of optimizing accident avoidance and / or in the sense of minimizing damage, for example, accident damage, for example, collateral damage, for example, providing a coordination function that is designed to perform at least one aspect of the coordination, or b) location- and / or situation-dependent execution of or the coordination of aof the operation of at least the driver assistance function of the vehicle with at least one other road user, or c) providing, for example executing, a sensing service for processing sensing information, wherein, for example, the sensing service is configured to perform at least one of the following aspects: c1) exchanging the sensing information with at least one other device, or c2) providing the sensing information for a orthe coordination of the operation of at least the driver assistance function of a vehicle with at least one other road user, for example for the coordination function, or c3) fusion of at least the sensing information, or c4) evaluation of at least the sensing information, for example comprising object detection and / or analysis of a traffic situation and / or prediction of a possible hazard situation, for example a collision, or d) predefinable, for example optional, for example dynamic, division of at least one aspect of the driver assistance function between the vehicle and the device, for example between the first sub-function and the second sub-function, for example based on at least one of the following elements: d1) a state of the vehicle, or d2) a situation, for example traffic situation, in the vicinity of the vehicle, or d3) historical and / or current performance data of a vehicle.of the communication system for sending the initial information, or d4) a specification from a driver of the vehicle, or d5) a specification from the facility.

[0023] Further examples relate to a device for a facility, for example a mobile infrastructure facility, an infrastructure facility or an edge facility or a cloud facility, for at least temporary support of a, for example active, driver assistance function of at least one vehicle, wherein the device is configured to carry out the method according to the disclosure.

[0024] Further examples relate to a vehicle having at least one device according to the disclosure.

[0025] Other examples relate to a device, for example an infrastructure device, such as a mobile infrastructure device, such as a roadside unit, or an edge device or a cloud device, comprising at least one device according to the disclosure.

[0026] Further examples relate to a system comprising at least one device according to the disclosure and / or at least one vehicle according to the disclosure and / or at least one apparatus according to the disclosure.

[0027] Other examples relate to a computer-readable storage medium comprising instructions which, when executed by a computer, cause it to perform the procedure according to the disclosure.

[0028] Other examples relate to a computer program, comprising instructions which, when the program is executed by a computer, cause it to perform the procedure according to the disclosure.

[0029] Further examples relate to a data carrier signal that transmits and / or characterizes the computer program according to the disclosure.

[0030] Further examples relate to the use of the method according to the disclosure and / or the device according to the disclosure and / or the vehicle according to the disclosure and / or the installation according to the disclosure and / or the system according to the disclosure and / or the computer-readable storage medium according to the disclosure and / or the computer program according to the disclosure and / or the data carrier signal according to the disclosure for at least one of the following elements: a) implementing a distributed driver assistance function for a vehicle, which is distributed at least to the vehicle and to at least one other installation, or b) improving object detection for at least one vehicle, or c) distributed situation detection, for example, a traffic situation, for example, in the vehicle's environment, or d) extending a detection area, for example, a field of view, for example, for the vehicle.or e) providing increased computing power, for example for the vehicle's driver assistance function, for example beyond the capabilities of the vehicle's local computing resources, or f) coordinating multiple local vehicle driver assistance functions based at least on information from the facility, or g) coordinating at least one local vehicle driver assistance function with at least one other vehicle driver assistance function, for example based on information from the facility, or h) using at least one artificial intelligence-based model, for example machine learning, for the vehicle driver assistance function, or i) evaluating, for example simulating, possible scenarios in the vehicle's environment, for example to determine at least one strategy for avoiding hazardous situations and / or reducing potential damage,e.g., accident damage, or j) increasing the probability of accident avoidance, or k) selecting which of several driver assistance functions available in the vehicle is activated, or whether several driver assistance functions available in the vehicle are activated, or i) configuring the driver assistance function for the vehicle, for example, performing an ad-hoc configuration using information from the facility, or m) configuring the driver assistance function for the vehicle with the aim of minimizing risk or damage to at least one other road user, for example, a comparatively vulnerable road user, or n) configuring the driver assistance function for the vehicle with the aim of reducing impact energy and / or influencing an impact location, e.g., of at least one component of the vehicle and / or another road user.for example, in the sense of reducing the severity of an accident.

[0031] Further features, applications, and advantages will become apparent from the following description of examples illustrated in the figures of the drawing. All described or illustrated features, individually or in any combination, constitute the subject matter of the disclosure, irrespective of their aggregation in the claims or their cross-reference, and irrespective of their formulation or representation in the description or in the drawing.

[0032] The drawing shows: Fig. 1. A simplified flowchart (schematical). Fig. 2. A simplified block diagram (schematically). Fig. 3. A simplified flowchart (schematically). Fig. 4. A simplified flowchart (schematically). Fig. 5. A simplified flowchart (schematically). Fig. 6. A simplified flowchart (schematically). Fig. 7. A simplified flowchart (schematically). Fig. 8. A simplified block diagram (schematically). Fig. 9. A schematic scenario based on some examples, Fig. 10. A schematic scenario based on some examples, Fig. 11 schematically a simplified block diagram, Fig. 12 schematic examples of uses.

[0033] Some examples, e.g. Fig. 1, Fig. 2, refer to a procedure, for example a computer-implemented procedure, for a vehicle, for example motor vehicle, 10 ( Fig. 2) with a driver assistance function AF, for example an active one, for example for accident avoidance, wherein the procedure has: Execute 100 ( Fig. 1) a first sub-function TF-1 of the driver assistance function AF, for example in the vehicle 10, receiving 102 of first information I-1, for example from at least one further device 20, for example an infrastructure device, for example a mobile infrastructure device, or an edge device or a cloud device, wherein the first information I-1 characterizes at least one aspect (e.g. information and / or results) of a second sub-function TF-2 of the driver assistance function AF, wherein the second sub-function TF-2 is executable and / or is executed outside the vehicle 10, for example by the at least one further device 20, at least temporarily executing 104 the driver assistance function AF based on the first sub-function TF-1 and based on the first information I-1.In some examples, this allows for at least a temporary distributed implementation of one or more aspects TF-1, TF-2 of the driver assistance function AF, where, for example, the execution of at least the second sub-function TF-2 is not limited to the vehicle 10 or the resources associated with the vehicle (e.g., device 200 of the vehicle 10 for executing the driver assistance function AF). This can increase flexibility and / or functionality in some examples compared to some conventional approaches for driver assistance functions, which are, for example, limited to the resources of a single vehicle.

[0034] For example, at least the first sub-function TF-1 and the second sub-function TF-2 thus form components of the driver assistance function AF. In other examples, it is also possible that the driver assistance function AF has more than the two sub-functions TF-1 and TF-2 mentioned here as examples.

[0035] In some examples, Fig. 2. At least some aspects of the method according to the disclosure are feasible by a device 200 for the vehicle 10, wherein the device 200 is, for example, integrated into the vehicle 10. Possible realizations of the device 200 according to some examples are described below with reference to Fig. 8 described. In some examples, the functionality of the device 200 can be implemented for the vehicle 10 by means of another device (not shown), for example a control unit or vehicle computer.

[0036] In some examples, at least some aspects of the method according to the disclosure (e.g., execution of at least the second sub-function TF-2) can be carried out at least temporarily by a device 200' for the further device 20, wherein the device 200' for the further device 20 is, for example, integrated into the further device 20 or, in some other examples, is at least in data communication with the further device 20.

[0037] For example, Fig. 2, the driver assistance function AF shall have at least one of the following elements: a) automatic emergency braking function, for example automated emergency braking, AEB, or b) automatic emergency steering function, for example automated emergency steering, AES.

[0038] In some examples, an automatic emergency braking function is a driving function that triggers emergency braking, for example, upon detection of a potential accident. Accident prediction is based, for example, on radar and / or video signals, which are used to detect obstacles and determine, among other things, their approach speed. For instance, AEB can be triggered if a frontal collision (e.g., from the perspective of vehicle 10) is anticipated.

[0039] In some examples, automatic emergency steering (AES) is a driving function that initiates an evasive maneuver (e.g., without acceleration or deceleration), for example, by temporarily taking over vehicle steering. AES is triggered, for instance, when the vehicle's onboard sensors detect an object that could cause a potential collision. For example, AES is triggered when a side or frontal impact is anticipated (e.g., from the perspective of the vehicle).

[0040] The goal of functions such as AEB and AES is to reduce the probability of an accident or at least minimize the impact of an impending accident. In some cases, this can depend on a number of factors, such as the residual speed of an impacting vehicle, the residual probability of an accident, and the point of impact, such as "front side," "center side," or "rear side."

[0041] In some conventional approaches, information for activating, configuring, and / or executing AEB or AES is derived exclusively from the vehicle's own sensors, such as the "ego" vehicle, like radar, lidar, or video. A disadvantage of conventional approaches that rely solely on information from ego vehicle sensors for functions like AEB or AES is that, for example, under conditions where there is no line of sight to a potential obstacle, the available information is insufficient to execute functions like AEB and / or AES with a comparatively high probability of success. A possible scenario is, for example, a road intersection where a line of sight is obstructed by building E2 (see below). Fig. 9) or is obstructed by other objects, as can be the case, for example, in densely built-up urban environments. Another disadvantage of some conventional solutions is that AEB and AES are independent functions, so that, for example, a trade-off between frontal and side impacts or an improvement in accident mitigation through the combination of AEB and AES is not possible. The aspects or disadvantages of some conventional systems described above can be addressed, for example, improved or overcome, by the principle according to the disclosure.

[0042] The functions AEB and AES mentioned above as examples are examples of active driver assistance functions that can intervene, at least temporarily, in the control of the vehicle 10 and / or in a system of the vehicle 10 such as a braking system 10-BS or a steering system 10-LS, for example in critical situations, for example to avoid accidents or to reduce their severity.

[0043] In some examples, alternatively or additionally to the functions AEB, AES, one or more further driver assistance functions, for example active or non-active, may be provided and, according to the principle of disclosure, may be provided with distributedly implementable, for example executable, sub-functions TF-1, TF-2.

[0044] Other examples of driver assistance functions that can be used with the principle according to the disclosure are: a) Lane Keeping Assist, or b) Blind Spot Detection, or c) Adaptive Cruise Control, or d) Traffic Sign Recognition.

[0045] For the sake of clarity and without limiting generality, the examples described below refer to the driver assistance functions “automatic emergency braking function” AEB and “automatic emergency steering function” AES.

[0046] In some examples, Fig. 2. Information and data exchange between the vehicle 10 or the device 200 for the vehicle 10 for carrying out aspects according to the disclosure and the further device 20 or the device 200' for the further device 20 can be carried out by means of a communication system KS, for example a cellular system, e.g. according to and / or based on a standard such as 3GPP 5G or 6G or the like. Other wireless data connections are also conceivable alternatively or additionally in further examples.

[0047] In some examples, Fig. 2. For example, a communication system (CS) can be used for data exchange, which, in addition to data communication, also supports integrated communication and sensing, such as positioning, localization, or integrated sensing and communication (ISAC). In some examples, this can result in synergistic effects, enabling data communication on the one hand and, on the other hand, allowing sensing information to be obtained simultaneously. This information can then be used, for example, to detect objects 10a (e.g., another vehicle) and / or to assess a traffic situation, etc. In other examples, this sensing information can also be used for the driver assistance function (FA), for example, its at least temporarily distributed implementation in the vehicle 10 and the other device 20.

[0048] For example, vehicle 10 has according to Fig. 2 an optional sensing device 12, by means of which corresponding sensing information I-SENS, e.g., regarding the environment of the vehicle 10, can be determined, for example, by means of, but not limited to, ISAC functions of the communication system KS. Alternatively or additionally, the optional sensing device 12 can also use, for example, conventional radar methods that do not have ISAC.

[0049] Another example is in Fig. 2 the double arrows a1, a2 contain, which symbolize a sensing, e.g. detection, of the vehicles 10, 10a by the further device 20 e.g. by, but not limited to, ISAC functions of the communication system KS, see the sensing information I-SENS'.

[0050] For further examples, Fig. 1, the procedure exhibits: at least temporary execution 106 of the driver assistance function AF based on the first sub-function TF-1, for example, based solely on the first sub-function TF-1, for example, not based on the first information I-1 and / or the second sub-function TF-2, for example, independently of the first information I-1 and / or independently of the second sub-function TF-2. This enables at least temporary operation of the driver assistance function AF that is independent of, for example, the second sub-function TF-2 or the further device 20, for example, “autonomous”, which can be useful, for example, when the second sub-function TF-2 is not required, e.g., in comparatively simple traffic situations where, for example, sufficient safety is provided by the first sub-function TF-1, and / or in cases where there is no data connection between the vehicle 10 and the further device 20 (orwhose devices 200, 200') is possible, for example in the case of insufficient radio network coverage of the KS communication system.

[0051] For further examples, Fig. 3, the method comprises at least one of the following elements: a) exchanging 110, for example sending 110a and / or receiving 110b, second pieces of information I-2, by means of a wireless, for example cellular, communication system KS, with at least one other device 20 and / or with at least one other road user, for example vehicle 10a (for example either via a network device (not shown) such as a base station, e.g. gNB, of the communication system KS and / or directly between the vehicles 10, 10a, e.g.via a sidelink connection), wherein, for example, the wireless communication system KS, as mentioned above, supports integrated communication and sensing, for example, integrated sensing and communication, for example, ISAC, wherein, for example, the second information I-2 includes at least one of the following elements: a1) information of the first subfunction TF-1 (for example, calculation results and / or parameters and / or other information of the first subfunction TF-1), or a2) the first information I-1 (for example, calculation results and / or parameters and / or other information of the second subfunction TF-2), or a3) associated with the vehicle 10, for example, by a detection system (e.g.,a) Sensing device 12) of the vehicle 10 determines sensing information I-SENS, for example regarding an environment UM of the vehicle 10, or b) Receive 112 of sensing information I-SENS' of at least one other device 20, for example Use 112a of the sensing information I-SENS' of the at least one other device 20, for example in the vehicle 10, for example for and / or by the driver assistance function AF, for example Fusion 112b of the sensing information I-SENS' with at least one other piece of information of the vehicle 10 (e.g.the sensing information I-SENS of the vehicle 10), or c) receive 114 third information I-3, for example from at least one other device 20, wherein the third information I-3 indicates that the driver assistance function AF should enter a standby state, for example for active intervention in at least one system of the vehicle 10, for example a braking system 10-BS (e.g. signaling that brake pressure should be built up or increased) and / or a steering system 10-LS, d) receive 115 fourth information I-4, for example from at least one other device 20, wherein the fourth information I-4 indicates that the driver assistance function AF should, for example immediately, perform active intervention in at least one system of the vehicle 10, for example a braking system 10-BS and / or a steering system 10-LS (e.g. increasing brake pressure and / or pre-tensioning restraint systems, e.g.as preparation for a planned emergency braking maneuver, and / or building up a yaw rate for an evasive maneuver), and, optionally, triggering 115a of active intervention in at least one system of the vehicle 10, for example in response to receiving 115 of the fourth piece of information I-4, for example overriding 115b, for example disabling, at least one local component (e.g., first sub-function TF-1) of the driver assistance function AF. Overriding 115b may be useful, for example, if the further device 20 has information that is useful, for example, for accident avoidance, while it can be assumed, for example, that the vehicle 10 does not already have comparable information and therefore cannot execute a comparably safe or effective measure for accident avoidance.For example, override 115b can exhibit at least temporary, for example complete, control of the second subfunction TF-2 with respect to the driver assistance function AF, wherein, for example, the first subfunction TF-1 does not exercise control with respect to the driver assistance function AF at least temporarily, or wherein the first subfunction TF-1 executes instructions of the second subfunction TF-2 in order to influence and / or implement the driver assistance function AF.

[0052] In some examples, Fig. 2. The vehicle's detection system 12 for determining sensing information is based, for example, on the ISAC principle, e.g., using the ISAC-enabled (e.g., 6G) communication system KS. In other examples, other detection principles such as radar, e.g., FMCW (continuous wave with frequency modulation) radar, which are not associated with the communication system KS, can also be used, and / or lidar and / or ultrasound and / or camera-based detection principles, etc. This also applies, for example, to detection, e.g., sensing, by the other device 20 and / or other road users 10a, 10b.

[0053] In some examples, Fig. 3, the procedure shows: optional control 116 of the brake system 10-BS ( Fig. 2) and / or the steering system 10-LS of the vehicle 10 by means of the first sub-function TF-1 and / or using the first information I-1 (i.e., including information from the second sub-function TF-2) based on at least one of the following elements: a) a state of the vehicle 10, or b) a situation, for example, a traffic situation, in the environment UM of the vehicle 10 (e.g., analyzable by the further device 20), or c) historical and / or current performance data (e.g., data rate and / or latency and / or error rate) of the communication system KS for receiving 102 ( Fig. 1) the first information I-1, or d) a specification from a driver F of the vehicle 10 (e.g. manual selection), or e) a specification from at least one further device 20.

[0054] Further examples, Fig. 2, refer to the device 200 for the vehicle 10, for example a motor vehicle, wherein the vehicle has at least one, for example active, driver assistance function AF, for example for accident avoidance, wherein the device 200 is configured to carry out the method according to the disclosure.

[0055] Some examples, Fig. 4, refer to a method, for example a computer-implemented method, for a device 20, for example an infrastructure device, for example a mobile infrastructure device, or an edge device or a cloud device, for at least temporary support of a driver assistance function AF of a vehicle 10, for example for accident avoidance, wherein a sub-function TF-1 of the driver assistance function AF can be executed in the area of ​​the vehicle 10, for example by the device 200 for the vehicle 10, wherein the method comprises: Executing 150 ( Fig. 4) a second sub-function TF-2 of the driver assistance function AF, for example in the device 20 (for example by the device 200'), sending 152 of first information I-1 to the vehicle 10, wherein the first information I-1 characterizes at least one aspect (e.g. information and / or results) of the second sub-function TF-2 of the driver assistance function, for example for at least temporary execution 104 ( Fig. 1) the driver assistance function AF based on the first sub-function TF-1 and based on the first information I-1.

[0056] In other examples, the driver assistance function AF - as mentioned above - has at least one of the following elements, but is not limited to them: a) automatic emergency braking function AEB, or b) automatic emergency steering function AES.

[0057] For example, Fig. 5, the method comprises at least one of the following elements: a) exchanging, for example, transmitting 160a and / or receiving 160b, second pieces of information I-2, by means of a wireless, for example, cellular, communication system KS, at least with the vehicle 10 and / or with at least one other road user, for example, another vehicle 10a, wherein, for example, the wireless communication system KS, as already mentioned, supports integrated communication and sensing, for example, ISAC, wherein, for example, the second pieces of information I-2 comprise at least one of the following elements: a1) information I-TF-1 of the first sub-function TF-1, or a2) the first pieces of information I-1, or a3) sensing information I-SENS associated with the vehicle 10, for example, determined by a detection system 12 of the vehicle 10, for example, with regard to a orthe environment UM of the vehicle 10, or b) transmit 162 sensing information I-SENS', I-SENS" of the device 20 and / or at least one other device or, for example, another road user 10a, to the vehicle 10, or c) fuse 164 sensing information I-SENS, I-SENS', I-SENS", for example with each other and / or with other information, for example, regarding an environment UM of the device 20 and / or the vehicle 10, for example obtaining fused information I-FUS, or d) use 166 sensing information I-SENS, I-SENS', I-SENS" and / or fused information I-FUS for and / or by the second sub-function TF-2.

[0058] For example, Fig. 6, the method comprises at least one of the following elements: a) sending 170 of third information I-3, for example via a communication system KS, at least to the vehicle 10, wherein the third information I-3 indicates that the driver assistance function AF of the vehicle 10 should enter a standby state, for example for active intervention in at least one system of the vehicle 10, for example a braking system 10-BS and / or a steering system 10-BS; b) sending 172 of fourth information I-4, for example via a communication system KS, at least to the vehicle 10, wherein the fourth information I-4 indicates that the driver assistance function AF should, for example directly, actively intervene in at least one system of the vehicle 10, for example a braking system 10-BS and / or a steering system 10-BS.the steering system 10-LS, is to be executed, whereby, for example, the intervention involves oversteering, for example, overriding, at least one local component TF-1 of the driver assistance function AF.

[0059] In some examples, sending 170 may also involve sending the third piece of information I-3 to at least one other road user 10a, 10b, for example to inform road users 10a, 10b who may be potentially affected by a dangerous situation in the vicinity about the readiness state of the driver assistance function AF of the vehicle 10.

[0060] In some examples, sending 172 may also involve sending the fourth piece of information I-4 to at least one other road user 10a, 10b, for example to inform road users 10a, 10b who may be potentially affected by a dangerous situation in the vicinity about the planned active intervention in the at least one system of the vehicle 10.

[0061] In some examples, Fig. 7, it is provided that the procedure includes at least one of the following elements: a) Coordinating 180 of the operation of at least the driver assistance function AF of a vehicle 10 with at least one other road user 10a, for example, coordinating 180a several driver assistance functions AF, AF' of different road users, for example vehicles, 10, 10a, for example, in the sense of optimizing accident avoidance and / or in the sense of minimizing damage, for example, accident damage, for example, collateral damage, for example, providing 180b a coordination function KF (see also element E21 of Fig. 11), which is trained to perform at least one aspect of coordinating 180, 180a, or b) location- and / or situation-dependent execution 181 of coordinating 180, 180a, 180b of operating at least the driver assistance function AF of the vehicle 10 with at least one other road user 10a, or c) providing 182, for example executing 182a, a sensing service SD for processing sensing information I-SENS, I-SENS', I-SENS'', wherein, for example, the sensing service SD is trained to perform at least one of the following aspects: c1) exchanging 182b the sensing information with at least one other device 10, 10a, or c2) providing 182c the sensing information for athe coordination 180 of an operation of at least the driver assistance function of a vehicle with at least one other road user, for example for the coordination function KF, or c3) fusion 182d of at least the sensing information (and / or other information), or c4) evaluation 182e of at least the sensing information (and / or other information), for example having object detection and / or analysis of a traffic situation and / or prediction of a possible hazard situation, for example a collision, or d) predefinable, for example optional, for example dynamic, splitting 183 of at least one aspect AF-ASP of the driver assistance function AF between the vehicle 10 and the device 20, for example between the first sub-function TF-1 and the second sub-function TF-2 (orSplitting the at least one aspect into the first sub-function TF-1 and the second sub-function TF-2), for example based on at least one of the following elements: d1) a state of the vehicle 10, or d2) a situation, for example a traffic situation, in the environment UM of the vehicle 10, or d3) historical and / or current performance data of a communication system KS for sending the first information I-1, or d4) a specification of a driver F of the vehicle 10, or d5) a specification of the device 20, for example definable and / or defined by a configuration for the device 20.

[0062] For example, the sensing service SD can be a part, such as a sub-function, of facility 20. In some examples, the sensing service SD can, for example, rely on one or more services of the communication system KS, i.e., use one or more services of the communication system KS.

[0063] In some examples, coordinating 180 can also involve coordinating multiple driver assistance functions AF, AF-2 ( Fig. 2) of the same vehicle exhibit 10 among themselves, and / or a coordination of the multiple driver assistance functions AF, AF-2 ( Fig. 2) of the same vehicle 10 among themselves in combination with coordinating with one or more driver assistance functions AF' of at least one other vehicle 10a.

[0064] Further examples, Fig. 2, refer to a device 200' for a facility 20, for example an infrastructure facility, for example a mobile infrastructure facility, or an edge facility or a cloud facility, for at least temporary support of an, for example active, driver assistance function AF of at least one vehicle 10, 10a, wherein the device 200' is configured to carry out the method according to the disclosure.

[0065] Further examples, Fig. 2, refer to a vehicle 10 having at least one device 200 according to the disclosure. The further vehicle 10a may, in some examples, also have a device 200 according to the disclosure.

[0066] In some examples, at least one vehicle (not shown), e.g., as an alternative or supplement to a device 200, may have a device 200', i.e., be configured to perform aspects of the device 20. For example, the term "vehicle" here is not limited to land vehicles, but also includes, for example, aircraft such as drones and / or so-called high altitude platforms (HAPs), which may be used, at least temporarily, in environments to provide, for example, more comprehensive sensing information I-SENS', I-SENS'' to other road users and / or to provide aspects of the device 20 according to the disclosure.

[0067] Further examples, Fig. 2, refer to a facility 20, for example an infrastructure facility 20, for example a road infrastructure facility, for example a roadside unit and / or mobile infrastructure facility, or an edge facility or a cloud facility, comprising at least one device 200' according to the disclosure.

[0068] In some examples, at least one of the elements 20, 200, 200' can also be integrated into a base station for the KS communication system.

[0069] Further examples, Fig. 2, refer to a system 1 comprising at least one device 200, 200' according to the disclosure and / or at least one vehicle 10, 10a according to the disclosure and / or at least one device 20 according to the disclosure.

[0070] Fig. Figure 8 schematically shows aspects of a possible realization of the device 200 and / or 200'.

[0071] In some examples, Fig. 8, it is provided that the device 200, 200' comprises: a computing device (“computer”) 202 having at least one computing core 202a, a storage device 204 associated with the computing device 202 for at least temporary storage of at least one of the following elements: a) data DAT (e.g., information associated with the information I-1 and / or I-2, and / or I-3 and / or I-4 and / or the driver assistance function AF and / or the sensing function, for example, data), b) computer program PRG, for example, for carrying out the method according to the disclosure.

[0072] For further examples, Fig. 8, the memory device 204 includes volatile memory (e.g., RAM) 204a, and / or non-volatile (NVM) memory (e.g., Flash EEPROM) 204b, or a combination thereof or with other memory types not explicitly mentioned.

[0073] Further examples, Fig. 8, refer to a computer-readable storage medium SM, comprising instructions PRG which, when executed by a computer 202, cause it to execute the procedure according to the disclosure.

[0074] Further examples, Fig. 8, refer to a computer program PRG, comprising commands which, when the program PRG is executed by a computer 202, cause it to execute the procedure according to the disclosure.

[0075] Further examples, Fig. 8, refer to a data carrier signal DCS, which characterizes and / or transmits the computer program PRG according to the disclosure. The data carrier signal DCS can be transmitted (e.g., sent and / or received) via an optional data interface 206 of the device 200, 200'. In further exemplary embodiments, the optional data interface 206 uses, for example, the communication system KS ( Fig. 2).

[0076] Fig. Figure 9 schematically shows a possible scenario according to some examples. It depicts a view of an environment UM' with a road intersection, in the area of ​​which a network device, for example a base station, e.g. gNB, E1 of a communication system KS (see Figure 9) is located. Fig. 2) is arranged, which can, for example, perform ISAC and whose associated sensing detection area B1 at least partially covers the intersection. Also shown is a structure such as a building E2 in the vicinity UM', which, for example, prevents a direct line of sight (LOS) between a vehicle 10-1 at a first time at position P1 outside the intersection and a vehicle 10-2 at a first time at position P2 outside the intersection, thereby increasing the risk of collision between the vehicles (see the reference symbols 10-1', 10-2', which symbolize the two vehicles at a later time). In other words, a risk of accident for the vehicles 10-1, 10-2 in the vicinity UM' may exist because nLOS (non-LOS) conditions prevail due to building E2. In this scenario, the principle according to the disclosure can be useful because, for example,at least one of the vehicles 10-1, 10-2 can benefit from a better field of view B1 of the facility E1 with regard to the road intersection. For example, the gNB E1 can be a facility 20 (. Fig. 2) and / or device 200' according to the disclosure, which for at least one driver assistance function at least one of the vehicles 10-1, 10-2 according to Fig. 9 at least one second subfunction TF-2 ( Fig. 2) executes, which can, for example, use sensing information from gNB E1 regarding area B1 and thus provide early information about at least one other vehicle 10-2 approaching the intersection. In some examples, vehicles 10-1 and 10-2 can be informed about this, and / or a corresponding driver assistance function, e.g., a first sub-function TF-1 ( Fig. 2) will be informed by facility 20 or its second sub-function TF-2.

[0077] Fig. Figure 10 schematically illustrates a scenario based on some examples where the principle according to the disclosure can also be used. The figure depicts an intersection with vehicles 10-3, 10-4, and a cyclist 10-5 as an example of a vulnerable road user. The field of view (FOV) of vehicle 10-3 is at least temporarily obstructed by vehicle 10-4, such that vehicle 10-3, its driver, or a (e.g., conventional) driver assistance system of vehicle 10-3 cannot detect the cyclist 10-5, thus creating a risk of accident. This risk of accident can be reduced using the principle according to the disclosure, for example, by designing vehicle 10-3 according to the disclosure, for instance, by means of a device 200 (see also Figure 10-3). Fig. 2, Fig. 7) has a first sub-function TF-1, and that a device 20 (e.g. infrastructure device) is provided in the intersection area KB, which can detect the cyclist 10-5, for example, by means of ISAC-based sensing, and which performs a second sub-function TF-2 according to the disclosure, so that a driver assistance function AF ( Fig. 2) the vehicle 10-3, for example, based on the first information I-1 of the second sub-function TF-2, can initiate a measure to prevent an accident at an early stage, for example, even if the cyclist 10-5 is not already in the field of vision FoV.

[0078] Fig. Figure 11 schematically shows a block diagram according to some examples for the realization of aspects according to the disclosure, for example, regarding a logical architecture of a system according to the disclosure. Two vehicles 10-6 and 10-7 are shown as examples. Element E10 symbolizes aspects of a device 200 according to the disclosure that are assigned to vehicle 10-6, e.g., a first sub-function E11a of an AEB emergency braking function and a first sub-function E11b of an AES emergency steering function. Element E12 symbolizes a communication device, optionally ISAC-capable, e.g., terminal equipment, e.g., user equipment (UE), for a wireless communication system. Optionally, the other vehicle 10-7 can have functionality comparable to element E10; see the optional element E10'.

[0079] In other words, the vehicle 10-6 has according to Fig. Vehicle 11 has distributed AEB and / or AES functionality, and vehicle 10-7 also optionally, but not necessarily, has distributed AEB and / or AES functionality. In some examples, "distributed" in this sense means that, for example, at least some parts, such as essential parts, of a corresponding function (e.g., AEB and / or AES) are implemented in the vehicle (e.g., first sub-function TF-1), and at least some AES and / or AEB parts are executed outside the vehicle, e.g., in the cloud (e.g., second sub-function TF-2), e.g., to provide additional functionality.

[0080] Element E20 according to Fig. 11 accordingly symbolizes aspects of an institution 20 ( Fig. 2) as disclosed, for example, implementable as an edge or cloud facility. Element E21 symbolizes a coordination function, for example, at least similar to element KF as disclosed. Fig. 7, see Block 180 of Fig. 7, for edge- or cloud-side coordination of aspects of at least one driver assistance function, at least for the vehicle 10-6. Element E22 symbolizes a sensing service, for example at least similar to element SD according to Fig. 7, Block 182. Element E23 symbolizes one or more functions based on artificial intelligence, for example machine learning, for example for edge- or cloud-side support and / or execution of aspects of at least one driver assistance function, at least for vehicle 10-6. Element E24a symbolizes an edge- or cloud-side component of functions, for example sub-functions, for example in the sense of the second sub-function TF-2 according to Fig. 2, for the AEB emergency braking function of at least vehicle 10-6, see also element E11a. Element E24b similarly symbolizes an edge- or cloud-side component of functions, for example sub-functions, for example in the sense of the second sub-function TF-2 according to Fig. 2, for the AES emergency steering function of at least vehicle 10-6, see also element E11b. Element E24c symbolizes an edge- or cloud-side component of further functions, for example further sub-functions, for example in the sense of the second sub-function TF-2 according to Fig. 2, for at least one optional further driver assistance function of at least vehicle 10-6, wherein a corresponding vehicle-side component (e.g. in the sense of the first sub-function TF-1 according to Fig. 2) not in Fig. As shown in Figure 11. Optionally, further edge- or cloud-side functions or parts of further functions, for example further sub-functions, may be provided in Element E20.

[0081] Element E30 according to Fig. 11 symbolizes aspects of, for example, an ISAC-capable communication system, at least similar to element KS according to Fig. 2. For example, aspects of a core network of a cellular communication system, e.g., of the 5G or 6G type. Element E31 symbolizes an optional management function for sensing, e.g., Sensing Management Function. Element E32 symbolizes functions of a user plane, e.g., User Plane Function (UPF). Elements E33a and E33b symbolize further optional network functions of the core network E30.

[0082] Element E35 according to Fig. 11 symbolizes aspects of a radio access network, for example, Radio Access Network, RAN. Element E35a symbolizes a network device, for example, gNB, for example, comprising a central unit, CU, E35b, at least one distributed unit, DU, E35c, and at least one radio unit, RU, E35d.

[0083] Element B2 according to Fig. 11 symbolizes a sensing, for example in the sense of ISAC, by the gNB E35a, and the elements B3, B4 symbolize sensing signals associated with the sensing B2, which can be used, for example, to detect at least one of the vehicles 10-6, 10-7.

[0084] The in Fig. The configuration shown in Figure 11 advantageously enables a distributed implementation of driver assistance functions, whereby different sub-functions for the driver assistance functions can be distributed between vehicles 10-6 and 10-7 on the one hand, and an edge or cloud sphere (see element E20) on the other. Furthermore, the configuration according to Fig. 11 an efficient exchange of information between driver assistance functions, for example at least in the area of ​​the edge or cloud sphere E20.

[0085] In some examples, Fig. 11, the gNB E35a uses radio signals to enable communication between the on-board (vehicle-side) AEB / AES sub-functions E11a, E11b and the "cloud parts" E24a, E24b, ... of the respective functions, and simultaneously detect, for example, vehicles 10-6, 10-7 as passive objects, e.g., using ISAC. In some examples, vehicle 10-6 is equipped with a distributed AEB / AES according to the disclosure and with connectivity (data communication, e.g., element E12, e.g., CCU = Connectivity Control Unit), while vehicle 10-7 does not necessarily have these functionalities. For example, both vehicles 10-6, 10-7 represent passively detected objects for the ISAC function of gNB E35a.

[0086] In some examples, the cellular core network E30 can manage and / or provide acquisition functions, such as sensing functions, for example via the Sensing Management Function (SeMF) E31 or similar. The sensing service E22 according to Fig. 11 can, for example, retrieve sensing information from the SeMF E31. For instance, the sensing information can include raw wireless signal information (such as I / Q sample values ​​and / or spectral data) and / or a point cloud (e.g., at least similar to radar signals) and / or an object list (e.g., with many different parameters, each describing an object). This also applies to the above with reference to Fig. Sensing information described in sections 2 ff.: I-SENS, I-SENS', I-SENS''.

[0087] In some examples, Fig. 11, the sensing information can be made available to the coordination function E21, which is trained, for example, to communicate with the “cloud parts” E24a, E24b, ... of the driver assistance function(s), e.g. AEB / AES, etc.

[0088] For example, based on passively detected objects (e.g., via ISAC) (and their direction, speed, etc.), historical data, and using artificial intelligence methods (see element E23) and machine learning, the coordination function E21 can, in some examples, control the "cloud parts" E24a, E24b, ... of the respective functions, e.g., instructing them to minimize the probability of an accident, completely avoid an accident, or reduce or prevent other collateral damage to other road users and vulnerable road users. In some examples, communication between the "cloud parts" E24a, E24b, ... and the "onboard parts" E11a, E11b, ... also takes place, e.g., via the same mobile network infrastructure E30, E35.

[0089] Further aspects and examples are described below, which – in the case of further examples – can each be combined individually or in any combination with at least one of the aspects and / or examples described above.

[0090] In some examples, Fig. 2. Direct information or data exchange between vehicles 10, 10a, e.g., the dashed double arrow I-2, can be used, for example, through V2V (vehicle-to-vehicle) connectivity, such as enabled by a sidelink connection of the communication system KS. In some examples, the vehicles 10, 10a, which might be involved in a possible future accident situation, can exchange information about their location and / or direction of travel and / or speed and / or similar information, especially under conditions where, for example, there is no line of sight. Direct V2V communication can, for example, be used to complement the principle according to the disclosure, whereby, for example, sub-functions TF-1 of driver assistance functions AF, AF-2, AF' located in different vehicles 10, 10a can exchange data with each other.This can also enable support for systems such as AEB or AES in some examples, thereby increasing the probability of success. In particular, V2V connectivity can be useful in some examples for coordinating driver assistance functions between different vehicles, for example, when a data connection between the vehicles in question and the facility is temporarily unavailable.

[0091] In some examples, infrastructure-based sensor technology, e.g., in the sense of ISAC, e.g., using a communication infrastructure comprising 6G base stations, can be used for sensing, e.g., for environmental monitoring and / or for the detection and / or tracking of objects, e.g., on a road. For example, corresponding infrastructure facilities 20 ( Fig. 2) e.g., roadside units, RSUs, e.g., each featuring a 6G base station or comparable functionality, may be provided at important and / or critical locations, such as road junctions. For example, sensing information (I-SENS) can be transmitted. Fig. 2) RSUs 20 can be used to supplement sensing information (I-SENS) from vehicles 10 or vehicle radar systems 12, for example by fusing the information. In some examples, the different sensing information exhibits different accuracies. In some examples, sensing using RSUs 20 enables a comparatively large field of view (FoV), e.g., compared to the field of view of a vehicle radar system 12.

[0092] In some examples, a communication system KS ( Fig. 2) of the 3GPP 6G type, both for information exchange between different vehicles 10, 10a or facilities 20, and for sensing.

[0093] In some examples, the communication system KS can be used, for example, as a platform for at least one of the following elements: a) communication, or b) computing power (e.g., by providing one or more facilities 20 in a cloud or edge environment), or c) execution of artificial intelligence models, or d) management of digital twins, etc. Thus, the communication system KS can provide computing power, e.g., local high-performance calculations, to applications and / or services, particularly functions and applications in the automotive sector, so that, for example, real-time simulations of scenarios can be executed, e.g., in parallel, enabling, for example, predictive decision-making for the at least one driver assistance function AF, e.g., for AEB and / or AES. For example, the second subfunction TF-2 according to the disclosure, see also elements E24a, E24b, E24c according to Fig. 11, at least one simulation, for example real-time simulations of scenarios, which are based, for example, on digital twins of one or more vehicles and / or the environment.

[0094] In some examples, the principle according to revelation can be used for at least one of the following aspects: a) Detection and / or tracking and / or prediction of the trajectory of objects, for example road users, including road users that do not have V2V or other (e.g. V2X) connectivity, such as old vehicles, bicycles and other vulnerable road users (VRUs) such as pedestrians. b) By using ISAC as in some examples, additional sensor information, e.g. sensing information I-SENS', which e.g. from a communication infrastructure such as the 6G system KS ( Fig. 2) originate, are used to extend the field of vision of vehicles 10, 10a, for example so that other road users 10b can be detected and / or tracked and / or their trajectory can be predicted. c) If the communication system KS has a comparatively low latency, as is the case with 5G, and especially 6G, efficient information exchange is possible for the realization of the distribution of sub-functions TF-1, TF-2 ( Fig. 2) enables. For example, applications or sub-functions TF-2 in an infrastructure facility 20, which can be executed on computer hardware within the communication platform of the communication system KS, can then be reliably connected with applications or sub-functions TF-1 in the vehicle 10, 10a. d) Artificial intelligence algorithms (“AI”), for example machine learning, can in some examples be implemented as integral components of a communication platform, e.g. a 6G platform, e.g. using the KS communication system ( Fig. 2) are provided, for example, for processing aspects, such as sub-functions, TF-2, possibly with local adaptation, e.g., through sub-functions TF-1 arranged in the vehicle. In some examples, this can enable analysis, learning, and derivation or prediction of traffic situations. This can, for example, improve the amount of information for the driver assistance function AF (e.g., a broader overview of the situation by considering multiple sensing information I-SENS, I-SENS', I-SENS'') and / or the quality of processed information, for example, far beyond the mere transmission of a current location, direction of travel, and speed of vehicles, as is possible, for example, in a V2V scenario.In some examples, AI can be used to analyze (and / or simulate) how specific actions of individual road users 10, 10a, 10b influence the probability of accidents, so that, for example, possible strategies for accident avoidance and / or mitigation can be identified, developed, and / or learned, for example, based on local, historical data. This can significantly improve the probability of accident avoidance in some examples. For instance, a cloud- or edge-side second sub-function TF-2 could be responsible for such an analysis and / or simulation of aspects of road users 10, 10a, 10b. e) By gaining a broader overview of a traffic situation, e.g. based on infrastructure-related sensing, other road users can also be included in further examples 10b ( Fig. 2) be protected, for example, those who could be indirectly involved in a possible accident. This means that in some examples, accident reduction can be achieved on a comparatively larger scale and not solely between two road users (10, 10a).

[0095] In some examples, Fig. 2, are, for example, depending on the robustness of a data communication, e.g., the communication system KS ( Fig. 2) Different distribution options are possible between the second sub-functions TF-2 (e.g. “Cloud sharing”) that can be executed outside the vehicle (e.g. “Cloud sharing”) and the “On-board parts” TF-1: 1) One option for a division between sub-functions TF-1, TF-2 according to some examples is that infrastructure-based sensing information I-SENS' is used to supplement the vehicle 10's onboard sensing information I-SENS, which may enable a "see-through obstacles" (see connecting line P1, P2 according to Fig. 9) enables, but, for example, full AEB and AES functionality remains on board, meaning that the first sub-function TF-1 performs the full AEB and AES functionality. In these examples, the sensing service E22 ( Fig. 11) e.g. the sensing information I-SENS' ( Fig. 2) Feed the device 20 directly into the vehicle's onboard AEB / AES, e.g., for the first sub-function TF-1, e.g., as an additional information source. The type of sensing information I-SENS' can range from raw wireless signal data to a point cloud to object data, as already described above. Depending on the type of sensing information I-SENS', different types of sensor fusion then take place in the vehicle, e.g., with regard to the sensing information I-SENS, I-SENS'. 2) Another option for a division between the sub-functions TF-1 and TF-2, as in some examples, is that the “cloud parts” TF-2 ( Fig. 2), E24a, E24b, ... ( Fig. 11) Trigger the onboard AEB and / or AES, see first sub-function TF-1, e.g. to prepare an activation (but not to activate it yet, e.g. also block 114 according to Fig. 3), e.g. based on information about a traffic situation in the vicinity UM ( Fig. 2), which were analyzed, for example, in the 6G platform E30 using ISAC signals. In some examples, functions in the 6G platform can be trained to detect dangerous traffic situations, e.g., when a vehicle approaches an intersection at excessive speed (see Fig. 9), which increases the probability of an accident. Preparatory measures that the second sub-function TF-2 can perform in the first sub-function TF-1 include, for example, an adjustment, such as a preparatory build-up, of brake pressure in the case of an emergency braking function. 3) Another option for a division between sub-functions TF-1 and TF-2, as in some examples, is that an AEB and / or AES function is triggered cloud-based, i.e., by the second sub-function TF-2, before an onboard AEB or AES can actually be triggered locally, e.g., by the first sub-function TF-1. For example, if a traffic situation is so serious that the "cloud parts" TF-2, E24a, E24b, etc., recognize that an accident is very likely or almost inevitable, they can, for example, trigger the activation of the onboard equivalents (local AEB and / or AES function, e.g., in the sense of the first sub-function TF-1). In some examples, they can also override an onboard triggering algorithm, e.g., override block 115. Fig. 3. 4) In some examples, the coordination function KF ( Fig. 7), E21 ( Fig. 11), e.g., based on an overall situation (e.g., determinable by fusing multiple sensing information I-SENS, I-SENS', I-SENS'', ...), determine an optimally configured combination of AEB and AES, e.g., on a 6G platform (e.g., in a cloud or edge facility 20), and send this configuration to the corresponding components TF-1 on board at least one vehicle 10, thereby further increasing the probability of accident avoidance and minimizing collateral damage. Triggering can be initiated, for example, either by the "cloud components" TF-2 or the "on-board components" TF-1. 5) In further examples, the complete execution of AEB and AES (e.g., preparation, configuration, and execution) can take place in an edge and / or cloud sphere, e.g., the facility 20 ( Fig. 2) and element E20 ( Fig. 11), for example using a 6G KS platform.

[0096] For the execution of AEB / AES and / or other, e.g., active, driver assistance functions AF by a cloud instance TF-2, E24a, E24b, ... in the infrastructure, special security measures, e.g., for the infrastructure, may be required in some examples. This applies, for example, to aspects 3) and 5) mentioned above.

[0097] In other examples, one or more of the following aspects are conceivable, e.g. as possible further extensions to the principle according to the revelation. 1) ISAC support may not always be available, usable, or necessary. In some examples, an additional feature is the ability to selectively enable ISAC functions, for example, dynamically, e.g., only in scenarios and / or at locations with known obstacles or comparatively complex traffic situations ( Fig. 10, Obstruction of view building E2) or high probability of accident to activate, e.g. by subscribing to the sensing service SD, E22 ( Fig. 11), e.g. through the coordination function E21. 2) In some examples, activating an ISAC function, such as ISAC support, may also be possible for road users already connected via V2V 10a ( Fig. 2) be provided for situations where, for example, the presence of the vehicles is known to some road users, but where the aggregation of additional recording information may still be helpful. 3) In some examples, additional functionality can be a monitoring function that observes the probability of AEB / AES triggering. Since at least some AEB / AES functions work with execution probabilities, these probabilities can be passed, for example, via defined interfaces, e.g., APls, or directly as input for the communication system KS ( Fig. 2) can be used. Based on this probability, communication between the cloud, for example, facility 20 or second sub-function TF-2, and the respective on-board components, for example, first sub-function TF-1, can be enhanced. This allows, for example, additional radio resources to be allocated or reserved, a data flow to be given a higher priority, or multi-connectivity to be activated. In some examples, this ensures proper interaction between sub-functions TF-1 and TF-2 via the KS communication system. 4) If the coordination function KF, E21 e.g. with more than one driver assistance function AF, AF-2 ( Fig. 2) If the coordination function KF, E21 can be linked, these functions AF, AF-2 can be coordinated in some examples. In the case of AEB and AES, for example, it can be decided whether AEB or AES or a combination of AEB and AES should be activated. If the coordination function KF, E21 can be linked to the driver assistance functions AF, AF-2, AF' of more than one vehicle 10, 10a, it can, in some examples, jointly coordinate the activities of these multiple vehicles 10, 10a, e.g., with regard to the driver assistance functions AF, AF-2, AF', and thus further reduce the probability of an accident. 5) In some examples, sensing information or sensor signals cannot be obtained solely from an ISAC-enabled infrastructure, e.g. Fig. 11. In some examples, different sensor information from different sources can be combined, for example through a sensing service E22 ( Fig. 11), including but not limited to vehicle radars, street cameras, sensors on roadside devices, etc. 6) In some examples, an adaptive division, for example function division, can be used between the first subfunction TF-1 ( Fig. 2) and the second sub-function TF-2, e.g., between a "cloud" sphere, e.g., facility 20, and the "onboard components" TF-1. Depending on the traffic situation, which is detected, e.g., by an ISAC-enabled infrastructure 20, E30, E35, and the previous and current performance of the network KS, one of the various distribution options explained above as an example can be activated.

[0098] In some examples, Fig. 11, a possible sequence of steps according to the principle of disclosure is as follows: 1) Setting up the sensing service E22 and registering this service E22 to provide sensing information via the SeMF E31 and, for example, via additional sources. 2) Setting up the coordination function E21 and registering the coordination function E21 to provide sensing information supplied by the sensing service E22. 3) Two vehicles, for example, cars 10-6 and 10-7, are approaching a scene, with, for example, one car traveling too fast. 4) ISAC sensor signals B3 and B4 are used to detect both cars 10-6 and 10-7, for example, at the object level. The sensing service E22 analyzes a traffic situation based on this object-level information and, for example, predicts a collision between the two cars 10-6 and 10-7.5) The sensing service E22 informs the coordination function E21 accordingly and provides all necessary information about the objects, the traffic situation, or, for example, point cloud information. 6) The coordination function E21 analyzes the situation and derives a suitable configuration for AEB and AES, such as the optimal time to trigger AEB and the appropriate steering angle for AES. 7) The coordination function E21 configures the cloud parts E24a and E24b of AEB and AES accordingly. 8) The cloud parts E24a and E24b trigger the AEB / AES combination in one of the vehicles 10-6 or 10-7, for example, in vehicle 10-6, using the local sub-functions E11a and E11b. 9) This vehicle 10-6 stops, and an accident is avoided.10) Information, for example all information, about the situation and the prevented accident is stored in a database (not shown) and in some examples can be made available to support functions E23 for artificial intelligence and machine learning, which can be trained on this basis, for example further trained, and / or can therefore help in similar future situations, for example by appropriate control of at least some sub-functions E11a, E11b, E24a, E24b.

[0099] Further examples, Fig. 12 refer to a use 300 of the method according to the disclosure and / or the device 200, 200' according to the disclosure and / or the vehicle 10, 10a according to the disclosure and / or the device 20 according to the disclosure and / or the system 1 according to the disclosure and / or the computer-readable storage medium SM according to the disclosure and / or the computer program PRG according to the disclosure and / or the data carrier signal DCS according to the disclosure for at least one of the following elements: a) implementing 301 a distributed driver assistance function AF for a vehicle 10, which is distributed at least to the vehicle 10 and to at least one other device 20, or b) improving 302 an object detection 10a, 10b for at least one vehicle 10, or c) distributed detection 303 of a situation, for example a traffic situation, for example in an environment UM of the vehicle 10, or d) extending 304 a detection range,for example, field of view, for example, for vehicle 10, or e) providing 305 increased computing power, for example, for the driver assistance function AF for vehicle 10, for example, beyond the possibilities of local computing resources (e.g., computing unit 202 of device 200) of vehicle 10, or f) coordinating 306 several local driver assistance functions AF, AF-2 for vehicle 10 based at least on information I-1, I-2, I-3, I-4, ... of device 20, or g) coordinating 307 at least one local driver assistance function AF for vehicle 10 with at least one driver assistance function AF' of at least another vehicle 10a, for example, based at least on information I-1, I-2, I-3, I-4, ... of device 20, or h) using 308 at least one model MOD ( , Fig.2) based on artificial intelligence, for example machine learning, for the driver assistance function AF for the vehicle 10, or i) evaluate 309, for example simulate, possible scenarios in an environment UM of the vehicle 10, for example to determine at least one strategy for avoiding dangerous situations and / or reducing possible damage, e.g. accident damage, or j) increase 310 a probability of accident avoidance, or k) select 311 which of several possibleWhether the driver assistance function AF, AF-2 present in the vehicle 10 is activated for the vehicle 10, or whether several driver assistance functions AF, AF-2 present in the vehicle 10 are activated (and optionally, coordinate the driver assistance functions AF, AF-2 with each other and / or with at least one driver assistance function AF' of another road user), or I) Configure 312 the driver assistance function AF for the vehicle 10, for example, by performing an ad-hoc configuration using information I-1, I-2, ... of the device 20, or m) Configure 313 the driver assistance function AF for the vehicle 10 with the aim of minimizing a risk or harm to at least one other road user 10a, 10b, for example, a comparatively vulnerable road user 10b (e.g.,cyclists or pedestrians), or n) configure 314 the driver assistance function AF for the vehicle 10 with the aim of reducing an impact energy and / or influencing an impact location e.g. of at least one component of the vehicle 10 and / or another road user 10a, 10b, for example in the sense of reducing an accident severity.

Claims

[1] A method, for example a computer-implemented method, for a vehicle (10), for example a motor vehicle, with a driver assistance function (FA), for example active, for example for accident avoidance, wherein the method comprises: executing (100) a first sub-function (TF-1) of the driver assistance function (FA), for example in the vehicle (10), receiving (102) first information (I-1), for example from at least one other device (20), for example an infrastructure device or an edge device or a cloud device, wherein the first information (I-1) characterizes at least one aspect of a second sub-function (TF-2) of the driver assistance function (FA), wherein the second sub-function (TF-2) is executable and / or is executed outside the vehicle (10), for example by the at least one other device (20),at least temporary execution (104) of the driver assistance function (AF) based on the first sub-function (TF-1) and based on the first information (I-1). [2] Method according to claim 1, wherein the driver assistance function (AF) comprises at least one of the following elements: a) automatic emergency braking function, for example automated emergency braking (AEB), or b) automatic emergency steering function, for example automated emergency steering (AES). [3] Method according to at least one of the preceding claims, comprising: at least temporary execution (106) of the driver assistance function (AF) based on the first sub-function (TF-1), for example based solely on the first sub-function (TF-1), for example not based on the first information (I-1) and / or the second sub-function (TF-2), for example independently of the first information (I-1) and / or independently of the second sub-function (TF-2). [4] A method according to at least one of the preceding claims, comprising at least one of the following elements: a) exchanging (110), for example sending (110a) and / or receiving (110b), second information (I-2) by means of a wireless, for example cellular, communication system (CS), with the at least one further device (20) and / or with at least one other road user, for example vehicle, (10a), wherein, for example, the wireless communication system (CS) supports integrated communication and sensing, for example positioning, for example localization, for example integrated sensing and communication, for example ISAC, wherein, for example, the second information (I-2) comprises at least one of the following elements: a1) information (I-TF-1) of the first sub-function (TF-1), or a2) the first information (I-1), or a3) associated with the vehicle (10),for example, sensing information (I-SENS) obtained by a detection system (12) of the vehicle (10), for example, regarding an environment (UM) of the vehicle (10); or b) receiving (112) sensing information (I-SENS') from at least one other device (20; 10a), for example, using (112a) the sensing information (I-SENS') from the at least one other device (20; 10a), for example, in the vehicle (10), for example, for and / or by the driver assistance function (AF), for example, fusing (112b) the sensing information (I-SENS') with at least one other piece of information from the vehicle (10); or c) receiving (114) third-party information (I-3), for example, from at least one other device (20; 10a), wherein the third-party information (I-3) indicates that the driver assistance function (AF) should enter a standby state, for example, for active intervention in at least one system of the vehicle. (10)for example a braking system (10-BS) and / or a steering system (10-LS), d) Receiving (115) fourth information (I-4), for example from at least one other device (20; 10a), wherein the fourth information (I-4) indicates that the driver assistance function (AF) should, for example immediately, perform an active intervention in at least one system of the vehicle (10), for example a braking system (10-BS) and / or a steering system (10-LS), and, optionally, triggering (115a) the active intervention in the at least one system of the vehicle (10), for example in response to receiving (115) the fourth information (I-4), for example overriding (115b), for example, at least one local component (TF-1) of the driver assistance function (AF). [5] Method according to at least one of the preceding claims, comprising: selectively controlling (116) one or the braking system (10-BS) and / or one or the steering system (10-LS) of the vehicle (10) by means of the first sub-function (TF-1) and / or using the first information (I-1) based on at least one of the following elements: a) a condition of the vehicle (10), or b) a situation, for example traffic situation, in the environment (UM) of the vehicle, or c) historical and / or current performance data of a communication system (KS) for receiving (102) the first information (I-1), or d) a specification of a driver (F) of the vehicle (10), or e) a specification of at least one other device (20). [6] Device (200) for a vehicle (10), for example a motor vehicle, wherein the vehicle (10) has a driver assistance function (AF), for example active, for example for accident avoidance, wherein the device (200) is designed to carry out the method according to at least one of the preceding claims. [7] Method, for example a computer-implemented method, for a device (20), for example an infrastructure device, for example a mobile infrastructure device, or an edge device or a cloud device, for at least temporary support of a, for example active, driver assistance function (FA) of a vehicle (10), for example for accident avoidance, wherein a first sub-function (TF-1) of the driver assistance function (FA) is executable in the area of ​​the vehicle (10), for example by a device (200) for the vehicle (10), wherein the method comprises: executing (150) a second sub-function (TF-2) of the driver assistance function (FA), for example in the device (20), sending (152) first information (I-1) to the vehicle (10), wherein the first information (I-1) characterizes at least one aspect of the second sub-function (TF-2) of the driver assistance function (FA),for example, for the at least temporary execution (104) of the driver assistance function (AF) based on the first sub-function (TF-1) and based on the first information (I-1). [8] Method according to claim 7, wherein the driver assistance function (AF) comprises at least one of the following elements: a) automatic emergency braking function, for example automated emergency braking (AEB), or b) automatic emergency steering function, for example automated emergency steering (AES). [9] A method according to at least one of claims 7 to 8, comprising at least one of the following elements: a) exchanging (160), for example sending (160a) and / or receiving (160b), second information (I-2) by means of a wireless, for example cellular, communication system (CS), at least with the vehicle (10) and / or with at least one other road user, for example vehicle (10a), wherein, for example, the wireless communication system (CS) supports integrated communication and sensing, for example positioning, for example localization, for example integrated sensing and communication, for example ISAC, wherein, for example, the second information (I-2) comprises at least one of the following elements: a1) information (I-TF-1) of the first sub-function (TF-1), or a2) the first information (I-1), or a3) associated with the vehicle (10),for example, sensing information (I-SENS) obtained by a detection system (12) of the vehicle (10), for example, regarding an environment (UM) of the vehicle (10); or b) transmitting (162) sensing information (I-SENS'; I-SENS'') from the device (20) and / or at least one other device or, for example, another road user (10a), to the vehicle (10); or c) fusing (164) sensing information (I-SENS, I-SENS', I-SENS''), for example, with each other and / or with other information, for example, regarding an environment (UM) of the device (20) and / or the vehicle (10a), thereby obtaining, for example, fused information (I-FUS); or d) using (166) sensing information (I-SENS, I-SENS', I-SENS'') and / or fused information (I-FUS) for and / or by the second sub-function (TF-2), [10] Method according to at least one of claims 7 to 9, comprising at least one of the following elements: a) sending (170) of third information (I-3), for example via a communication system (CS), at least to the vehicle (10), wherein the third information (I-3) indicates that the driver assistance function (A) of the vehicle (10) should enter a standby state, for example for active intervention in at least one system of the vehicle (10), for example a braking system (10-BS) and / or a steering system (10-LS); b) sending (172) of fourth information (I-4), for example via a communication system (CS), at least to the vehicle (10), wherein the fourth information (I-4) indicates that the driver assistance function (A) should, for example directly, actively intervene in at least one system of the vehicle (10), for example a braking system (10-BS) and / or a steering system (10-LS).the steering system (10-LS), is to be executed, wherein, for example, the intervention is to override an oversteer (115b), for example, at least one local component (TF-1) of the driver assistance function (AF). [11] Method according to at least one of claims 7 to 10, comprising at least one of the following elements: a) Coordinating (180) the operation of at least one driver assistance function (AF) of a vehicle (10) with at least one other road user (10a), for example coordinating (180a) several driver assistance functions (AF);AF') different road users, for example vehicles (10, 10a), for example in the sense of optimizing accident avoidance and / or in the sense of minimizing damage, for example accident damage, for example collateral damage, for example providing (180b) a coordination function (CF) which is trained to perform at least one aspect of coordinating (180, 180a), or b) location- and / or situation-dependent execution (181) of coordinating (180, 180a, 180b) of operating at least the driver assistance function (AF) of the vehicle (10) with at least one other road user (10a), or c) providing (182), for example executing (182a), a sensing service (SD) for processing sensing information (I-SENS; I-SENS';I-SENS''), wherein, for example, the sensing service (SD) is configured to perform at least one of the following aspects: c1) exchanging (182b) the sensing information (I-SENS; I-SENS'; I-SENS'') with at least one other device (10; 10a; KS), or c2) providing (182c) the sensing information (I-SENS; I-SENS'; I-SENS'') for or coordinating (180) the operation of at least the driver assistance function (AF) of a vehicle (10) with at least one other road user (10a), for example, for the coordination function (KF), or c3) fusing (164; 182d) at least the sensing information (I-SENS; I-SENS'; I-SENS''), or c4) evaluating (182e) at least the sensing information (I-SENS; I-SENS';I-SENS''), for example, having object detection and / or analysis of a traffic situation and / or prediction of a possible hazard situation, for example, a collision, or d) predefinable, for example, optional, for example, dynamic, splitting (183) at least one aspect (AF-ASP) of the driver assistance function (AF) between the vehicle (10) and the device (20), for example, between the first sub-function (TF-1) and the second sub-function (TF-2), for example, based on at least one of the following elements: d1) a state of the vehicle (10), or d2) a situation, for example, a traffic situation, in the environment (UM) of the vehicle (10), or d3) historical and / or current performance data of a communication system (CS) for sending (152) the first information (I-1), or d4) a specification by a driver (F) of the vehicle (10), or d5) a specification by the device (20).; [12] Device (200') for a facility (20), for example an infrastructure facility, for example a mobile infrastructure facility, or an edge facility or a cloud facility, for at least temporary support of an, for example active, driver assistance function (AF) of at least one vehicle (10; 10a), wherein the device (200') is configured to carry out the method according to at least one of claims 7 to 11. [13] Vehicle (10; 10a) comprising at least one device (200; 200') of at least one of claims 6 or 12. [14] Equipment (20), for example infrastructure equipment, for example mobile infrastructure equipment, for example road infrastructure equipment, for example roadside unit, or edge equipment or cloud equipment, comprising at least one device (200') according to claim 12. [15] System (1) comprising at least one device (200; 200') according to at least one of claims 6 or 12 and / or at least one vehicle (10; 10a) according to claim 13 and / or at least one device (20) according to claim 14. [16] Computer-readable storage medium (SM) comprising instructions (PRG) which, when executed by a computer (202), cause it to execute the method according to at least one of claims 1 to 5 and / or 7 to 11. [17] Computer program (PRG) comprising instructions which, when the program (PRG) is executed by a computer (202), cause it to execute the method according to at least one of claims 1 to 5 and / or 7 to 11. [18] Data carrier signal (DCS) that transmits and / or characterizes the computer program (PRG) according to claim 17. [19] Use (300) of the method according to at least one of claims 1 to 5 and / or 7 to 11 and / or the device (200; 200') according to at least one of claims 6 or 12 and / or the vehicle (10; 10a) according to claim 13 and / or the device (20) according to claim 14 and / or the system (1) according to claim 15 and / or the computer-readable storage medium (SM) according to claim 16 and / or the computer program (PRG) according to claim 17 and / or the data carrier signal (DCS) according to claim 18 for at least one of the following elements: a) implementing (301) a distributed driver assistance function (DA) for a vehicle (10) distributed at least between the vehicle (10) and at least one other device (20), or b) improving (302) object detection for at least one vehicle (10), or c) distributed detection (303) a situation, for example a traffic situation, for example in a surrounding area (EPA) of the vehicle (10),or d) extending (304) a detection area, for example field of view, for example for the vehicle (10), or e) providing (305) increased computing power, for example for the driver assistance function (AF) for the vehicle (10), for example beyond the capabilities of local computing resources of the vehicle (10), or f) coordinating (306) several local driver assistance functions (AF; AF-2) for the vehicle (10) based at least on information (I-1, I-3, I-4) of the device (20), or g) coordinating (307) at least one local driver assistance function (AF; AF-2) for the vehicle (10) with at least one driver assistance function (AF') of at least another vehicle (10a), for example based at least on information (I-1, I-3, I-4) of the device (20), or h) using (308) at least one model (MOD) based on artificial intelligence, for example machine learning,for the driver assistance function (AF) for the vehicle (10), or i) evaluate (309), for example, simulate possible scenarios in an environment (UM) of the vehicle (10), for example, to determine at least one strategy for avoiding hazardous situations and / or reducing possible damage, e.g., accident damage, or j) increase (310) the probability of avoiding an accident, or k) select (311) which of several driver assistance functions (AF; AF-2) that may be present in the vehicle (10) is activated for the vehicle (10), or whether several driver assistance functions (AF; AF-2) present in the vehicle (10) are activated, or i) configure (312) the driver assistance function (AF; AF-2) for the vehicle (10), for example, perform an ad-hoc configuration using information from the facility (20),or m) Configure (313) the driver assistance function (AF; AF-2) for the vehicle (10) with the aim of minimizing a risk or damage to at least one other road user (10a, 1b), for example a comparatively vulnerable road user (10b), or n) Configure (314) the driver assistance function (AF; AF-2) for the vehicle (10) with the aim of reducing an impact energy and / or influencing an impact location, e.g., of at least one component of the vehicle (10) and / or another road user (10a, 10b), for example, in the sense of reducing an accident severity.

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