Warning system and warning method for a driver of an ego vehicle

Abstract

The present invention relates to a warning system (100) for a driver of an ego vehicle (10), comprising a monitoring module (110) that is set up to monitor at least one warning criterion for an output of driver warnings (FW), wherein the at least one warning criterion relates to at least one driving-relevant parameter and / or a driver's attention; and a control module (120) that is set up to control first output means (130) for displaying a driver warning (FW) or to cause the first output means (130) to be controlled for displaying the driver warning (FW) when the monitoring module (110) detects that the at least one warning criterion is fulfilled, wherein the first output means (130) are provided externally on the ego vehicle (10) and implement e-paper technology for displaying the driver warning (FW).

Description

[0001] Warning system and warning procedure for a driver of an ego vehicle

[0002] The present disclosure relates to a warning system for a driver of a host vehicle, a vehicle with such a warning system, a warning method for a driver of a host vehicle, and a storage medium for executing the warning method. In particular, the present disclosure relates to the use of e-paper technology for warning in assistance systems.

[0003] State of the art

[0004] Modern vehicles are equipped with a wide variety of assistance systems with warning functions designed to alert the driver to certain situations and thus support the driver in driving. Examples of such assistance systems with warning functions include, but are not limited to, forward collision warning and lane departure warning. Many of these assistance systems with warning functions use a combination of radar sensors and cameras to assess a situation. For example, the acute risk of a rear-end collision can be estimated by calculating a time to collision (TTC) based on the speed difference between the vehicles involved. If the TTC falls below a critical value, a preliminary warning can be issued, such as an illuminated symbol in an instrument cluster.If the TTC continues to decrease and there is an imminent risk of collision, an acute warning can be issued, for example, by flashing the advance warning symbol in combination with an acoustic warning signal. As a final step, the vehicle can initiate braking intervention independently if, for example, the driver is no longer able to avoid the accident through their own reaction.

[0005] In reality, however, it can happen that the driver overlooks the warnings, even though they are highly relevant. This can not only lead to dangerous traffic situations but also to avoidable braking interventions by the vehicle.

[0006] Disclosure of the invention

[0007] It is an object of the present disclosure to provide a warning system for a driver of a host vehicle, a vehicle with such a warning system, a warning method for a driver of a host vehicle, and a storage medium for executing the warning method, which enable a reliable warning of the driver in certain situations. In particular, it is an object of the present disclosure to improve road safety.

[0008] This object is achieved by the subject matter of the independent claims. Advantageous embodiments are specified in the subclaims. According to an independent aspect of the present disclosure, a warning system for a driver of a host vehicle is specified.The warning system comprises a monitoring module configured to monitor at least one warning criterion for issuing driver warnings, wherein the at least one warning criterion relates to at least one driving-relevant parameter and / or driver attention; and a control module configured to control first output means for displaying a driver warning or to initiate control of the first output means for displaying the driver warning when the monitoring module detects that the at least one warning criterion is met, wherein the first output means are provided externally on the ego vehicle and / or externally on a third-party vehicle and implement e-paper technology for displaying the driver warning.

[0009] According to the invention, the driver of the host vehicle is warned depending on the situation by an external display device that implements e-paper technology. In particular, in an acute danger situation or under circumstances that could lead to such an acute danger situation, a clearly visible warning is issued to the driver. For example, in a case where the driver overlooks a collision warning in the form of an illuminated symbol in an instrument cluster, a large-scale visual warning can be issued on the front hood of the host vehicle and / or at the rear of the vehicle in front using e-paper technology. As a result, a reliable warning can be issued to the driver in certain situations, thereby improving road safety.

[0010] The monitoring module and the control module can be implemented in a common software and / or hardware module. Alternatively, the monitoring module and the control module can each be implemented in separate software and / or hardware modules.

[0011] The term "e-paper technology," as used in the present disclosure, refers to a graphic representation of text, images, patterns, and colors by means of electrophoresis. Typically, the text, images, patterns, and colors can be displayed without the need for a maintenance voltage. However, the display can be changed at any time. "Electronic paper" and "e-ink" can be used synonymously with the term "e-paper." E-paper technology is particularly suitable for the inventive use because it enables large-area displays with low technological and energy expenditure.

[0012] In some embodiments, the host vehicle may include the monitoring module, the control module, and the first output means.

[0013] For example, the first output means may be provided on one or more body parts of the ego vehicle that are visible to a driver sitting in the ego vehicle.

[0014] Preferably, the first output means are provided on a front hood (often also referred to as the hood in vehicles with internal combustion engines) of the host vehicle. However, the present disclosure is not limited thereto, and the first output means may be provided at other locations on the host vehicle that are within the driver's field of vision, such as, for example, on a side mirror.

[0015] In other embodiments, the host vehicle may comprise the monitoring module and the control module, and the other vehicle may comprise the first output means. Preferably, the first output means are provided at a rear region of the other vehicle. However, the present disclosure is not limited thereto, and the first output means may be provided at other locations on the other vehicle that are within a field of vision of the driver of the host vehicle, such as on a side of the other vehicle, in particular on a vehicle door. The host vehicle and the other vehicle may communicate with each other via a communication connection (e.g., V2V or via a mobile network, such as an LTE or 5G network) to implement the functionalities according to the invention. In other embodiments, the other vehicle may comprise the monitoring module, the control module, and the first output means.Preferably, the first output means are provided at a rear region of the other vehicle. However, the present disclosure is not limited thereto, and the first output means may be provided at other locations on the other vehicle that are within the field of vision of the driver of the host vehicle, such as on a side of the other vehicle, in particular at a vehicle door.

[0016] In other embodiments, the other vehicle may comprise the monitoring module and the control module, and the host vehicle or another other vehicle may comprise the first output means. Preferably, the first output means are provided on a front hood of the host vehicle. However, the present disclosure is not limited thereto, and the first output means may be provided at other locations on the host vehicle that are within a driver's field of vision, such as, for example, on a side mirror. Similarly, the first output means may be provided at a rear area of ​​the other other vehicle. However, the present disclosure is not limited thereto, and the first output means may be provided at other locations on the other other vehicle that are within a driver's field of vision, such as, for example, on a side of the other other vehicle, in particular on a vehicle door.The vehicles can communicate with each other via a communication connection (e.g. V2V or via a mobile network, such as an LTE or 5G network) in order to implement the functionalities according to the invention.

[0017] The at least one warning criterion can relate to driver attention or can be driver attention. For example, the at least one warning criterion may not be met if the driver attention is sufficient, so that no driver warning is issued, and may be met if the driver attention is insufficient, so that a driver warning is issued.

[0018] Preferably, the monitoring module is configured to determine driver attention based on the driver's gaze behavior. In particular, the driver's gaze behavior can be used to determine whether or not the driver's focus is on driving the vehicle.

[0019] In some embodiments, the at least one warning criterion can be detected as met if the gaze behavior deviates from a reference gaze behavior by more than one threshold. Furthermore, the at least one warning criterion can be detected as not met if the gaze behavior corresponds to the reference gaze behavior. The reference gaze behavior can, for example, correspond to a look at a road in front of the vehicle and / or a look at a display, e.g. an instrument cluster. In some embodiments, the threshold can be a time-related threshold. If, for example, the driver does not look at the road and / or the display, e.g. of the instrument cluster, for more than a predetermined period of time, the at least one warning criterion can be detected as met, since insufficient driver attention can be assumed.

[0020] Preferably, the gaze behavior includes a direction of gaze of the driver.

[0021] In some embodiments, the warning system can be configured to detect the direction of gaze using eye tracking. The term "eye tracking" refers in particular to the detection of eye movements, which are detected, for example, by a camera of an interior sensor system. This allows insights into where a person is looking.

[0022] The direction of gaze can, for example, provide information about whether the driver is looking at the road ahead. If this is the case, it can be concluded that the driver's focus is on driving the vehicle and sufficient attention is present. In this case, the warning criterion of insufficient driver attention may not be met. However, if the driver is not looking at the road but at a mobile phone, for example, it can be concluded that the driver's focus is not on driving the vehicle and acceptable attention is not present. In this case, the warning criterion of insufficient driver attention may be met and a driver warning may be issued.

[0023] In another example, the direction of gaze can provide information about whether the driver is looking at a display, e.g. on an instrument cluster. If this is the case, it can be concluded that the driver sees a driver message (e.g. a distance warning) on ​​the display and that sufficient driver attention is given. In this case, the warning criterion of insufficient driver attention may not be met. However, if the driver does not look at the display, e.g. on the instrument cluster, it can be concluded that the driver does not perceive the driver message (e.g. the distance warning) on ​​the display and that sufficient driver attention is given. In this case, the warning criterion of insufficient driver attention may be met and a driver warning may be issued.

[0024] However, the present disclosure is not limited to the driver's gaze behavior or direction of gaze, and other warning criteria can be defined that are related to the driver's attention and can thus justify or trigger a warning in case of insufficient driver attention.

[0025] In addition to or as an alternative to driver attention, the at least one warning criterion can relate to at least one driving-relevant parameter or can be at least one driving-relevant parameter. For example, the at least one warning criterion can be met when a certain driving-relevant parameter is exceeded or undershot, so that the driver warning is issued, or it can be met when a certain driving-relevant parameter is exceeded or undershot, so that no driver warning is issued.

[0026] Preferably, the at least one driving-relevant parameter includes, or is, a distance of the host vehicle from a leading other vehicle. If the distance is equal to or less than a distance threshold, the warning criterion "distance too short" may be met, and the driver warning may be issued. However, if the distance is (equal to or) greater than the distance threshold, the warning criterion "distance too short" may not be met, and no driver warning may be issued.

[0027] Preferably, the at least one driving-relevant parameter includes, or is, a speed of the host vehicle. If the speed is equal to or greater than a speed threshold, the warning criterion "excessive speed" may be met, and the driver warning may be issued. However, if the speed is (equal to or) less than the speed threshold, the warning criterion "excessive speed" may not be met, and no driver warning may be issued.

[0028] Preferably, the at least one driving-relevant parameter includes, or is, a lateral guidance of the host vehicle. If the lateral guidance deviates from a reference by more than one threshold, the "lateral guidance" warning criterion may be met and the driver warning may be issued. However, if the lateral guidance essentially corresponds to the reference, the "lateral guidance" warning criterion may not be met and no driver warning may be issued.

[0029] Lateral guidance can, for example, affect lane keeping. If the lateral guidance is such that the vehicle leaves the lane or threatens to leave, the "lane departure" warning criterion may be met, and a driver warning may be issued. However, if the lateral guidance essentially corresponds to a lane path, the "lane departure" warning criterion may not be met, and no driver warning may be issued.

[0030] Preferably, the control module is configured to control the first output means for displaying the driver warning or to initiate the control of the first output means for displaying the driver warning (e.g. only) when the warning system detects that the driver is ignoring or not perceiving at least one driver instruction issued by a second output means provided in the ego vehicle. Thus, the driver warning can be issued using e-paper technology only if the driver overlooks an instruction, such as a visual warning. The better visibility of the driver warning compared to the driver instruction, e.g. on the instrument cluster, can prevent the vehicle from having to intervene automatically, for example by braking.

[0031] For example, the acute danger of a rear-end collision can be estimated by calculating a time-to-collision (TTC) based on the speed difference between the vehicles involved. If the TTC falls below a critical value, a preliminary warning can be issued via the second output means, such as an illuminated symbol in an instrument cluster. If the TTC continues to decrease and there is an imminent risk of collision, the driver warning can be issued via the first output means. As a final step, the vehicle can independently initiate braking intervention if, for example, the driver is no longer able to avoid the accident through their own reaction.

[0032] The second output means can comprise at least one display device and / or at least one loudspeaker. The at least one display device can comprise a display, in particular an LCD display, a plasma display, or an OLED display. Additionally or alternatively, the at least one display device can comprise a projection device configured to display information directly in the driver's field of vision, in particular to project it onto a windshield. In some embodiments, the at least one display device can be a central information output device of an infotainment system, such as a head unit or a pillar-to-pillar display. The second output means are preferably permanently installed in the interior of the vehicle.

[0033] Preferably, the control module is configured to control the first output means for displaying the driver warning or to cause the control of the first output means for displaying the driver warning such that the driver warning is displayed in an area corresponding to (or close to) a current viewing direction of the driver. For example, the driver warning can be displayed at a specific location on the host vehicle, such as a front hood or a side mirror, depending on where the driver is looking. In another example, the driver warning can be displayed at a specific location on a third-party vehicle, such as a rear area or a side of the third-party vehicle, depending on where the driver is looking.

[0034] According to a further independent aspect of the present disclosure, a vehicle, in particular a motor vehicle, is specified. The vehicle comprises at least part of the warning system for a driver of an ego vehicle according to the embodiments of the present disclosure.

[0035] In some embodiments, the vehicle is the host vehicle. In one example, the host vehicle may include the monitoring module, the control module, the first output means, and the optional second output means. In another example, the host vehicle may include the monitoring module and the control module, as well as optionally the second output means, and the first output means may be provided externally on a third-party vehicle. The vehicles may communicate with each other via a communication link (e.g., V2V or via a mobile network, such as an LTE or SG network) to implement the functionalities according to the invention.

[0036] In further embodiments, the vehicle is a third-party vehicle in the environment of the host vehicle. In one example, the third-party vehicle may include the monitoring module, the control module, and the first output means. In another example, the third-party vehicle may include the monitoring module and the control module, and the first output means may be provided externally on the host vehicle or another third-party vehicle. The vehicles may communicate with each other via a communication connection (e.g., V2V or via a mobile network, such as an LTE or 5G network) to implement the functionalities according to the invention.

[0037] The term "vehicle" encompasses cars, trucks, buses, mobile homes, motorcycles, etc., which are used to transport people, goods, etc. In particular, the term "motor vehicles" encompasses passenger transport. According to a further independent aspect of the present disclosure, a warning method for a driver of an ego vehicle is specified. The warning method comprises monitoring at least one warning criterion for issuing driver warnings, wherein the at least one warning criterion relates to at least one driving-relevant parameter and / or driver attention; and controlling first output means for displaying a driver warning when the at least one warning criterion is met. The first output means are provided externally on the ego vehicle and / or externally on a third-party vehicle and implement e-paper technology for displaying the driver warning.

[0038] The host vehicle driver warning procedure may implement the aspects of the host vehicle driver warning system described in this document.

[0039] According to a further independent aspect of the present disclosure, a software (SW) program is provided. The SW program can be configured to run on one or more processors and thereby execute the warning method described in this document for a driver of an ego vehicle.

[0040] According to a further independent aspect of the present disclosure, a storage medium is provided. The storage medium may comprise a software program configured to be executed on one or more processors and thereby to execute the warning method described in this document for a driver of an ego vehicle.

[0041] According to a further independent aspect of the present disclosure, software with program code is specified. The software is configured to carry out the warning method for a driver of a host vehicle when the software runs on one or more software-controlled devices. According to a further independent aspect of the present disclosure, a warning system for a driver of a host vehicle is specified. The warning system comprises one or more processors; and at least one memory connected to the one or more processors and containing instructions executable by the one or more processors to carry out the warning method described in this document for a driver of a host vehicle.

[0042] A processor or processor module is a programmable computing unit, i.e. a machine or an electronic circuit that controls other elements according to given instructions and thereby drives an algorithm (process).

[0043] Short description of the drawings

[0044] Embodiments of the disclosure are illustrated in the figures and are described in more detail below. They show:

[0045] Figure 1 schematically shows a warning system for a driver of an ego vehicle according to embodiments of the present disclosure,

[0046] Figure 2 schematically shows an ego vehicle with e-paper technology and a third-party vehicle according to embodiments of the present disclosure,

[0047] Figure 3 schematically shows an ego vehicle and a third-party vehicle with e-paper technology according to embodiments of the present disclosure,

[0048] Figure 4 schematically shows an ego vehicle, a first third-party vehicle and a second third-party vehicle with e-paper technology according to embodiments of the present disclosure, and

[0049] Figure 5 shows a flowchart of a warning method for a driver of an ego vehicle according to embodiments of the present disclosure. Embodiments of the disclosure

[0050] In the following, unless otherwise stated, the same reference symbols are used for identical and equivalent elements.

[0051] Figure 1 schematically shows a warning system 100 for a driver of an ego vehicle 10 according to embodiments of the present disclosure.

[0052] The warning system 100 comprises a monitoring module 110 configured to monitor at least one warning criterion for issuing driver warnings, wherein the at least one warning criterion relates to at least one driving-relevant parameter and / or driver attention; and a control module 120 configured to control first output means 130 for displaying a driver warning or to initiate control of the first output means 130 for displaying the driver warning when the monitoring module 110 detects that the at least one warning criterion is met, wherein the first output means 130 are provided externally on the ego vehicle 10 and / or externally on a third-party vehicle and implement e-paper technology for displaying the driver warning.

[0053] The at least one warning criterion can relate to driver attention or be driver alertness. For example, the at least one warning criterion can be unmet when driver attention is sufficient, so that no driver warning is issued, and can be met when driver attention is insufficient, so that a driver warning is issued. In some embodiments, the monitoring module 110 can be configured to determine driver attention based on the driver's gaze behavior. In particular, it can be determined based on the driver's gaze behavior whether or not the driver's focus is on driving the vehicle. In addition to or as an alternative to driver attention, the at least one warning criterion can relate to at least one driving-relevant parameter or can be at least one driving-relevant parameter.For example, the at least one warning criterion can be met when a certain driving-relevant parameter is exceeded or undershot, so that the driver warning is issued, or it can not be met when a certain driving-relevant parameter is exceeded or undershot, so that no driver warning is issued.

[0054] In one example, the at least one driving-relevant parameter includes a distance of the ego vehicle 10 from a leading other vehicle. If the distance is equal to or less than a distance threshold, the warning criterion "distance too short" may be met, and the driver warning may be issued. However, if the distance is (equal to or) greater than the distance threshold, the warning criterion "distance too short" may not be met, and no driver warning may be issued.

[0055] In another example, the at least one driving-relevant parameter includes a speed of the host vehicle 10. If the speed is equal to or greater than a speed threshold, the warning criterion "excessive speed" may be met, and the driver warning may be issued. However, if the speed is (equal to or) less than the speed threshold, the warning criterion "excessive speed" may not be met, and no driver warning may be issued.

[0056] In yet another example, the at least one driving-relevant parameter includes a lateral guidance of the host vehicle 10. If the lateral guidance deviates from a reference by more than one threshold, the "lateral guidance" warning criterion may be met and the driver warning may be issued. However, if the lateral guidance essentially corresponds to the reference, the "lateral guidance" warning criterion may not be met and no driver warning may be issued.

[0057] Lateral guidance can, for example, relate to lane keeping. If the lateral guidance is such that the host vehicle 10 leaves the lane or threatens to leave it, the "lane departure" warning criterion may be met and a driver warning may be issued. However, if the lateral guidance essentially corresponds to a lane path, the "lane departure" warning criterion may not be met and no driver warning may be issued.

[0058] In some embodiments, the control module 120 is configured to only control the first output means 130 for displaying the driver warning or to only initiate the control of the first output means 130 for displaying the driver warning if the warning system 100 detects that the driver is ignoring or not perceiving at least one driver instruction output by second output means 140 provided in the ego vehicle 10. Thus, the driver warning can only be issued using e-paper technology if the driver overlooks a driver instruction, such as a visual warning. The better visibility of the driver warning compared to the driver instruction, e.g. on the instrument cluster, can prevent the vehicle from having to intervene automatically, for example by braking.

[0059] In some embodiments, the control module 120 is further configured to control the first output means 130 for displaying the driver warning, or to cause the control of the first output means 130 for displaying the driver warning, such that the driver warning is displayed in an area corresponding to (or close to) a current viewing direction of the driver. For example, the driver warning can be displayed at a specific location on the host vehicle 10, such as a hood or a side mirror, depending on where the driver is looking.

[0060] Figure 2 schematically shows an ego vehicle 10 with e-paper technology and a third-party vehicle 20 according to embodiments of the present disclosure.

[0061] In the example of Figure 2, the ego vehicle 10 comprises the first output means 130 with e-paper technology for outputting driver warnings FW, for example in the form of a red color or area, e.g., on the front hood. The ego vehicle 10 is following another vehicle 20 at a distance d. In some embodiments, the warning system can calculate a time to collision (time-to-collision, TTC) based on a speed difference between the two vehicles. In addition, the warning system can detect the driver's gaze, e.g., via an interior camera. Based on this data, it can now be determined whether the distance d has been critically undercut and whether the driver has noticed the resulting visual advance warning (e.g., illuminated symbol in the instrument cluster).

[0062] If the warning system determines that the driver has not noticed the advance warning, thus creating a safety criticality due to the insufficient distance d, a driver warning FW can be displayed in the surrounding area using e-paper technology. In the example shown in Figure 2, the driver warning FW is issued by the ego vehicle 10. The driver perceives this clearly visible warning and can brake in time.

[0063] Figure 3 schematically shows an ego vehicle 10 and a third-party vehicle 20 with e-paper technology according to embodiments of the present disclosure. The embodiment of Figure 3 is similar to the embodiment shown in Figure 2, so for a description of identical and similar aspects, reference is made to the description of Figure 2.

[0064] In the example of Figure 3, the third-party vehicle 20 driving in front of the ego vehicle 10 comprises the first output means 130 with the e-paper technology for outputting driver warnings FW, for example in the form of a red color or area, e.g. in a rear area of ​​the third-party vehicle 20.

[0065] The ego vehicle 10 and the third-party vehicle 20 can communicate with each other via a communication connection (e.g., V2V or via a mobile network, such as an LTE or SG network) to implement the functionalities according to the invention. Figure 4 schematically shows an ego vehicle 10, a first third-party vehicle 20, and a second third-party vehicle 30 with e-paper technology according to embodiments of the present disclosure.

[0066] The embodiment of Figure 4 is similar to the embodiments shown in Figures 2 and 3, so that for a description of identical and similar aspects reference is made to the description of Figures 2 and 3.

[0067] In the example of Figure 4, the third-party vehicle 30 driving next to the ego vehicle 10 comprises the first output means 130 with the e-paper technology for outputting driver warnings FW, for example in the form of a red color or area, e.g. on one side of the third-party vehicle 30.

[0068] The ego vehicle 10 and the third-party vehicle 30 can communicate with each other via a communication connection (e.g. V2V or via a mobile network, such as an LTE or SG network) in order to implement the functionalities according to the invention.

[0069] Figure 5 shows a flowchart of a warning method 500 for a driver of a host vehicle according to embodiments of the present disclosure. The warning method 500 can be implemented by appropriate software executable by one or more processors (e.g., a CPU).

[0070] The warning method comprises, in block 510, monitoring at least one warning criterion for issuing driver warnings, wherein the at least one warning criterion relates to at least one driving-relevant parameter and / or driver attention; and, in block 520, controlling first output means for displaying a driver warning if the at least one warning criterion is met, wherein the first output means are provided externally on the ego vehicle and / or externally on a third-party vehicle and implement e-paper technology for displaying the driver warning. According to the invention, depending on the situation, the driver of the ego vehicle is warned by an external display device that implements e-paper technology. In particular, in an acute danger situation or under circumstances that could lead to such an acute danger situation, a clearly visible warning is issued to the driver.For example, in a case where the driver fails to notice a collision warning in the form of an illuminated symbol in the instrument cluster, a large-scale visual warning can be displayed on the hood of the host vehicle and / or at the rear of the leading vehicle using e-paper technology. As a result, a reliable warning can be provided to the driver in certain situations, thereby improving road safety.

[0071] Although the invention has been illustrated and explained in detail by means of preferred embodiments, the invention is not limited by the disclosed examples, and other variations may be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exist. It is also clear that the embodiments mentioned by way of example are truly only examples and should not be construed as limiting the scope, possible applications, or configuration of the invention in any way.Rather, the preceding description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete terms, whereby the person skilled in the art, with knowledge of the disclosed invention concept, can make various changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without departing from the scope of protection defined by the claims and their legal equivalents, such as further explanations in the description.

Claims

Patent claims 1. A warning system (100) for a driver of an ego vehicle (10), comprising: a monitoring module (HO) configured to monitor at least one warning criterion for issuing driver warnings (FW), wherein the at least one warning criterion relates to at least one driving-relevant parameter and / or driver attention; and a control module (120) configured to control first output means (130) for displaying a driver warning (FW) or to initiate control of the first output means (130) for displaying the driver warning (FW) when the monitoring module (110) detects that the at least one warning criterion is met, wherein the first output means (130) are provided externally on the ego vehicle (10) and implement e-paper technology for displaying the driver warning (FW).

2. Warning system (100) according to claim 1, wherein the monitoring module (110) is configured to determine the driver's attention based on a gaze behavior of the driver, wherein the at least one warning criterion is recognized as fulfilled if the gaze behavior deviates more than a threshold from a reference gaze behavior, and wherein the at least one warning criterion is recognized as not fulfilled if the gaze behavior corresponds to the reference gaze behavior.

3. Warning system (100) according to claim 1 or 2, wherein the at least one driving-relevant parameter relates to a distance (d) of the ego vehicle (10) to a preceding other vehicle (20) and / or a speed of the ego vehicle (10) and / or a lateral guidance of the ego vehicle (10).

4. Warning system (100) according to one of claims 1 to 3, wherein the control module (120) is configured to control the first output means (130) for displaying the driver warning (FW) or to cause the control of the first output means (130) for displaying the driver warning (FW) when the warning system (100) detects that the driver at least one driver instruction is ignored or not perceived, which is issued by a second output means (140) provided in the ego vehicle (10).

5. Warning system (100) according to one of claims 1 to 4, wherein the control module (120) is configured to control the first output means (130) for displaying the driver warning (FW) or to cause the control of the first output means (130) for displaying the driver warning (FW) such that the driver warning (FW) is displayed in an area corresponding to a current viewing direction of the driver.

6. Warning system (100) according to one of claims 1 to 5, wherein the first output means (130) are provided on one or more body parts of the ego vehicle (10) that are visible to a driver sitting in the ego vehicle (10).

7. Warning system (100) according to one of claims 1 to 6, wherein the first output means (130) are provided on a front hood of the ego vehicle (10).

8. Warning system (100) according to one of claims 1 to 7, wherein the first output means (130) are provided on a side mirror of the ego vehicle (10).

9. Warning method (500) for a driver of an ego vehicle (10), comprising: Monitoring (510) at least one warning criterion for issuing driver warnings (FW), wherein the at least one warning criterion relates to at least one driving-relevant parameter and / or driver attention; and Controlling (520) first output means (130) for displaying a driver warning (FW) when the at least one warning criterion is met, wherein the first output means (130) are provided externally on the ego vehicle (10) and implement e-paper technology for displaying the driver warning (FW).

10. A storage medium comprising a software program configured to be executed on one or more processors and thereby to carry out the warning method (500) according to claim 9.

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