Method and system for monitoring the rear area of a vehicle

Abstract

The invention relates to a method (3) for monitoring the rear area of a vehicle (2), in which method a processing device (10) of the vehicle (2) performs the following steps: determining (31) a degree of automation and / or a change in a degree of automation with which a longitudinal and / or lateral control of the vehicle (2) is carried out; and generating (33) a control signal for folding in a side mirror (12) of the vehicle (2), said side mirror being provided with a camera (121), depending on the determined degree of automation and / or on the determined change in the degree of automation. Folding in the side mirror (12) causes the camera (121) to be pivoted in such a way that a field of view (S2) of the camera (121) is oriented more towards an area behind the vehicle (2) than before the folding-in process.

Description

[0001] Method and system for monitoring the rear area of ​​a vehicle

[0002] The invention relates to a system and a computer-implemented method for improved rear-space monitoring of a vehicle. Furthermore, the invention relates to a computer program for executing such a method and a computer-readable storage medium on which such a computer program is stored.

[0003] Modern motor vehicles are often equipped with automated driving functions, some even reaching conditionally automated driving (so-called SAE Level 3). Level 3 operation, in particular, requires a situation-appropriate response to emergency vehicles. To clearly and promptly detect emergency vehicles, rear-facing cameras with color resolution (blue light detection) are required. In some cases, detection is also supported by the acoustic detection of a siren.

[0004] Since traffic in front of a vehicle is particularly relevant during Level 3 operation, high-resolution cameras are usually installed only facing forward, while side-view radars and cameras required for parking functions (parking cameras) are typically installed for monitoring the surroundings to the rear. While it is fundamentally possible to install a rear-facing, high-resolution camera for emergency vehicle detection, this is complex and expensive.

[0005] The problem with using parking cameras to detect emergency vehicles approaching from behind is that they typically only offer good resolution at close range (up to about 20 meters). Furthermore, parking cameras are typically either mounted low (rear camera) and / or oriented more to the side (mirror cameras), meaning they only have a small portion of the emergency lane, where emergency vehicles typically travel, in their field of view. Thus, parking cameras have inherent limitations regarding the timely detection of approaching emergency vehicles and may therefore not allow for timely shutdown.

[0006] Based on this, it is an object of the present invention to provide a method and a corresponding system for improved rear-space monitoring of a vehicle. This object is achieved by the subject matter of the independent patent claims.

[0007] Advantageous embodiments are specified in the dependent claims.

[0008] A first aspect of the invention relates to a method for rear area monitoring of a vehicle, in which a (data) processing device of a vehicle carries out the following steps:

[0009] In one step, a degree of automation and / or a change in a degree of automation with which longitudinal and / or lateral guidance of the vehicle is carried out is determined.

[0010] The determination may, for example, comprise the internal provision of information about the current level of automation and / or the change in the level of automation within the framework of a computer program executed by the processing device. It is also possible for the determination to comprise the receipt of such information by the processing device executing the method, wherein the information may, for example, be provided by another processing device, such as a separate control unit that controls an automated driving function of the vehicle.

[0011] The degree of automation of lateral and / or longitudinal guidance can be understood, for example, as assisted, partially automated, conditionally automated, highly automated, or fully automated driving. The five levels of automation listed above, in increasing order of automation, correspond to SAE Levels 1 to 5 of the SAE J3016 standard (SAE - Society of Automotive Engineering) as of April 30, 2021. With assisted driving (SAE Level 1), the system performs longitudinal or lateral guidance in specific driving situations, with the expectation that the driver will assume all remaining aspects of the dynamic driving tasks. With partially automated driving (SAE Level 2), the system assumes longitudinal and lateral guidance in specific driving situations, whereby the driver must continuously monitor the system, as with assisted driving.In conditionally automated driving (SAE Level 3), the system assumes longitudinal and lateral control in certain driving situations without the driver having to constantly monitor the system; however, the driver must be able to assume control of the vehicle within a certain period of time upon request from the system. In highly automated driving (SAE Level 4), the system assumes control of the vehicle in certain driving situations, even if the driver does not respond to a request for intervention, thus eliminating the driver as a fallback. In fully automated driving (SAE Level 5), the system can perform all aspects of the dynamic driving task under any road and environmental conditions that can also be mastered by a human driver.

[0012] In addition, manual driving can also be considered a degree of automation within the meaning of this description.

[0013] A change in the degree of automation determined in the method step can in particular be a change from a lower degree of automation, such as manual, assisted or partially automated driving, to a higher degree of automation, such as conditionally automated driving according to SAE Level 3 or an even higher degree of automation.

[0014] In a further step, a control signal for folding in a side mirror of the vehicle equipped with a camera is then generated depending on the detected degree of automation and / or the detected change in the degree of automation. The camera (hereinafter also sometimes referred to as the “mirror camera”) is arranged on the side mirror in such a way that when the side mirror is folded in, it is pivoted so that the camera’s field of view is directed towards an area behind the vehicle. This means that after folding in, the camera is directed more towards an area (e.g. diagonally) behind the vehicle than before folding. However, the camera does not have to be directed exclusively towards the area behind the vehicle; it can also, for example, include areas to the side of the vehicle.In other words, when the side mirror is folded in, the camera's detection area is shifted further back, as seen from the vehicle.

[0015] The camera can be, for example, a parking camera that can be used as part of a parking assistance function or an automated parking function and / or a camera that can be used for a surround-view function, which camera is set up when the side mirror is not folded in (i.e. arranged and aligned accordingly on the side mirror) to primarily capture a close-up area next to the vehicle. In comparison, the field of view of the camera can be shifted further to the rear and into more distant (rear) areas when the side mirror is folded out. The invention is based on the idea that the rear area monitoring of a vehicle can be improved as part of an automated driving function by folding in at least one side mirror and thereby aligning the field of view of a camera arranged on the side mirror (mirror camera) significantly more to the rear.This should be done depending on the level of automation, preferably only at a level of automation (such as SAE Level 3 or higher) which no longer requires the driver to actively monitor the traffic, so that the side mirrors are not needed.

[0016] Since parking functions, which the mirror cameras require in their normal orientation (with the mirror folded out), are not active at the same time as Level 3 functions, which are currently intended primarily for highways, there is no conflict between the two aforementioned use cases of the mirror cameras (on the one hand, rear-space monitoring with the side mirror folded in, and on the other hand, parking assistance with the side mirror folded out). With the improved rearward orientation of the mirror cameras, a typical use case in traffic jam situations, in which an emergency vehicle approaches the vehicle from behind through the emergency lane, can be significantly improved. This makes it possible, for example, to deactivate the Level 3 function earlier and transfer responsibility to the driver in response to the emergency vehicle.

[0017] The invention can be used in particular in all vehicles equipped for automated driving according to SAE Level 3 (or higher). One advantage here is that these vehicles usually already have electrically adjustable exterior mirrors, so only an interface for folding the mirrors would need to be created by a control system of the automated driving function. The invention can be used particularly advantageously in vehicles with sensor setups that do not have high-resolution cameras facing the rear, but only mirror-mounted parking cameras.

[0018] In one possible embodiment of the method according to the invention, a prerequisite for generating the control signal for folding the side mirror is that a predetermined minimum level of automation or a level of automation higher than the predetermined minimum level of automation is detected. Alternatively, a prerequisite for generating the control signal for folding the side mirror can be that a change from a lower level of automation compared to a predetermined minimum level of automation to the predetermined minimum level of automation or to a level of automation higher than the predetermined minimum level of automation is detected.

[0019] The minimum level of automation for these variants can be SAE Level 3.

[0020] According to one embodiment, the above-mentioned alternative prerequisites with regard to the detected degree of automation or the detected change in the degree of automation can also be linked with a logical “or” so that the control signal is generated if at least one of the two prerequisites is met.

[0021] It is also within the scope of the invention that, in addition to the aforementioned requirements, additional requirements for generating the control signal for folding the side mirror can be present. In other words, the aforementioned requirements may be sufficient requirements for folding the side mirror, but they do not have to be.

[0022] For example, in one possible embodiment, a prerequisite for generating the control signal for folding the side mirror is that it is recognized that a traffic situation exists in which the probability that an emergency vehicle will appear in the vicinity of the vehicle in the near future is increased.

[0023] The statement that this probability is increased can be understood in particular to mean that the probability of an emergency vehicle appearing is higher than in normal or average traffic situations. For example, this can be determined by detecting the presence of predetermined emergency vehicle-relevant scenarios, which are explained below.

[0024] According to one embodiment, the traffic situation is detected at least partially based on information received from a backend, which may comprise one or more servers arranged outside the vehicle. This information may be provided, for example, as real-time traffic information, such as so-called RTTI (Real Time Traffic Information), by a central service. Such information may relate in particular to RTTI events such as accidents or traffic jams. In general, detecting the traffic situation may comprise detecting one or more indicators of a traffic accident. In other words, one or more signs may be detected that there is an accident site in the vicinity of the vehicle and / or on a planned route of the vehicle.It is also conceivable that an indicator is detected that an accident site exists to which an emergency vehicle would likely take a route that would lead the emergency vehicle close to the vehicle. For example, it may be detected that a likely route of an emergency vehicle partially overlaps with a planned route of the vehicle.

[0025] Alternatively or additionally, detecting the traffic situation may include detecting one or more indicators of a traffic jam or slow traffic, particularly in connection with a traffic accident. A traffic jam or slow traffic may be a sign of a nearby traffic accident, which in turn may indicate an increased likelihood of an emergency vehicle appearing. Alternatively or additionally to the real-time traffic information mentioned above, a traffic jam or slow traffic may be detected based on vehicle odometry (e.g., an average speed over a certain period of time falling below a predetermined threshold) and / or based on the vehicle's environmental sensors (e.g., scene recognition using a camera).

[0026] It is also within the scope of the invention that the detection of the traffic situation includes the detection of an emergency lane that is forming or has already formed in the vicinity of the vehicle. The emergency lane can be detected, for example, based on scene recognition using a camera on the vehicle. For example, based on a particularly pronounced (i.e., particularly wide) emergency lane behind and / or in front of the vehicle, it can be detected that the probability of an emergency vehicle appearing imminently in the vicinity of the vehicle is increased.

[0027] Furthermore, an emergency lane situation can be detected by the activation of the vehicle's emergency lane assistant, which is detected by the processing device. The term "activation" can refer both to the activation process, which may even be performed by the processing device itself, and to the already activated state.

[0028] It is also possible that two or more of the aforementioned criteria for detecting the traffic situation, which relate to the presence of a traffic accident, a traffic jam or slow-moving traffic or an emergency lane, are logically combined with each other to form a fused criterion for detecting a traffic situation with an increased

[0029] Probability of an emergency vehicle appearing.

[0030] Alternatively or in combination with one or more of the aforementioned criteria, other environmental conditions can also be used as criteria to indicate the presence of a traffic situation relevant to an emergency vehicle, such as poor visibility, particularly due to darkness (e.g., night) or fog, or the presence of a tunnel situation (i.e., determining that the vehicle is currently in a tunnel). This is based on the idea that in poor visibility and / or in tunnels, there is generally an increased probability of a traffic accident and, accordingly, the appearance of an emergency vehicle.

[0031] It is fundamentally within the scope of the method according to the invention that several side mirrors (in particular two side mirrors, one each on the left and right side of the vehicle) can be controlled to fold in. According to one embodiment, however, it can also be provided that the control signal is specifically generated to fold in only one side mirror located on the side of the vehicle facing a detected emergency lane.

[0032] According to one embodiment, the method comprises, as a further step, controlling an automated driving function (e.g., according to SAE Level 3 or higher) of the vehicle as a function of environmental information, wherein the environmental information is recorded by the mirror camera in a detection area (in particular behind the vehicle or diagonally behind the vehicle) which only came into the field of view of the camera when the side mirror was folded in. The recorded environmental information can, in particular, enable the detection of an emergency vehicle in the detection area, and the automated driving function can be controlled as a function of the detection of an emergency vehicle. In response to a detected emergency vehicle, the control of the automated driving function by the system can, for example, include triggering a takeover request directed to the driver and, if appropriate, subsequently downgrading the level of automation.

[0033] For example, the vehicle can be configured to execute an automated driving function according to SAE Level 3 or higher, whereby the automated driving function can be executed taking into account the detected emergency vehicle. In general, the vehicle can be configured to automatically execute a situation-appropriate response to the detected emergency vehicle. In this context, for example, an automatic control of a combined longitudinal and lateral guidance system to form an emergency lane in response to the detected emergency vehicle is conceivable.

[0034] In addition to or alternatively to the examples mentioned above, one or more of the following measures are possible as situation-appropriate reactions of the vehicle to a detected emergency vehicle: displaying an informative pop-up with a request to the driver to pay increased attention; transmitting information regarding the detected emergency vehicle to a backend, from which following vehicles can benefit through an earlier warning.

[0035] A second aspect of the invention is a (data) processing device for a vehicle, which has at least one processor and is configured (in particular programmed) to carry out the method according to the first aspect of the invention using the at least one processor. According to some embodiments, the processing device can also be a spatially distributed processing device (for example, across several spaced-apart processors or microcontrollers).

[0036] For example, the processing device can be a control unit or part of a control unit of the vehicle. In particular, it can be a control unit for controlling an automated driving function that enables automated driving of the vehicle at the determined level of automation or at the level of automation to which a change is detected.

[0037] A third aspect of the invention is a system for monitoring the rear area of ​​a vehicle.

[0038] The system includes a side mirror of the vehicle that can be folded in using an automatic adjustment mechanism.

[0039] The system further comprises a camera arranged on the side mirror (mirror camera). In the context of the present description, the statement that a camera is arranged on a side mirror is also intended to include embodiments in which the camera is integrated directly into the side mirror (such as in a housing of the side mirror). As already mentioned above in connection with the method according to the invention, the mirror camera can, for example, be a parking camera that can be used as part of a parking assistance function or an automated parking function and / or a camera that can be used for a surround view function, which camera is set up to primarily capture a close area next to the vehicle (i.e. a close area to the side) when the side mirror is folded out.

[0040] The system further comprises a processing device according to the second aspect of the invention, wherein the processing device is configured to control the automatic adjustment mechanism depending on the determination of the degree of automation and / or the change in the degree of automation for folding the side mirror. As described above in connection with the method according to the invention, the field of view of the mirror camera can be shifted further back and into more distant, rearward areas when the mirror is folded in, compared to the situation when the mirror is unfolded.

[0041] A fourth aspect of the invention is a vehicle equipped with a system according to the third aspect of the invention. The vehicle can be a motor vehicle. The term "motor vehicle" is understood to mean, in particular, a land vehicle that is propelled by mechanical power without being tied to railway tracks. A motor vehicle in this sense can be designed, for example, as a passenger car, motorcycle, or tractor.

[0042] A fifth aspect of the invention is a computer program comprising instructions that, when executed by a processing device, such as a processing device according to the second aspect of the invention, cause the processing device to execute a method according to the first aspect of the invention. A processing device according to the second aspect of the invention can thus be configured (in particular programmed) to execute a computer program according to the fifth aspect of the invention. The computer program can also be divided into several separate subprograms, each of which can be executed by different, possibly spatially separated, processing devices (such as several separate processors).

[0043] A sixth aspect of the invention is a computer-readable storage medium comprising instructions that, when executed by a processing device, cause the processing device to execute a method according to the first aspect of the invention. In other words, a computer program according to the fifth aspect of the invention can be stored on the computer-readable storage medium. The invention will now be explained in more detail using exemplary embodiments and with reference to the accompanying drawings.

[0044] Fig. 1 illustrates an example and schematically a vehicle with a system for improved rear area monitoring.

[0045] Fig. 2A illustrates, by way of example and schematically, a side mirror comprising a camera in a folded-out position.

[0046] Fig. 2B illustrates, by way of example, the side mirror from Fig. 2A in a folded position.

[0047] Fig. 3 illustrates exemplary and schematic steps of a method for improved rear area monitoring.

[0048] Fig. 1 shows a vehicle 2 with a side mirror 12 that folds automatically by means of an automatic adjustment mechanism, which is part of a system 1 for improved rear-space monitoring. In the side view of the vehicle 2, only a single side mirror 12 is visible, namely the left side mirror of the vehicle 2. However, it is understood that the description below can alternatively or additionally also relate to a second (right) side mirror. In other words, the described system 1 can also comprise several, in particular two, side mirrors.

[0049] The system 1 also comprises a (data) processing device 10 which is signal-connected to the automatic adjustment device of the side mirror 12 (not shown separately) in order to control the automatic adjustment device for adjusting (i.e. in particular for folding in or out) the side mirror 12.

[0050] The processing device 10 can, for example, be a control unit of a system for conditionally automated driving (SAE Level 3) of the vehicle 3. In this case, the processing device 10 can be connected in terms of signals to an environmental sensor system of the vehicle 3. Such an environmental sensor system can, for example, comprise, in a manner known per se, one or more radar sensors, one or more ultrasonic sensors, and / or one or more cameras. Furthermore, the processing device 10 can be connected to a longitudinal and / or lateral guidance actuator system of the vehicle 3 in order to control them as part of automated driving functions. A camera 121 is arranged on the side mirror 12 in a lower region of a lateral section of the mirror housing. Figs. 2A-B each show the side mirror 12 with the camera 121 in a close-up view.

[0051] The camera 121 can be, for example, a parking camera or a surround-view camera, which is arranged and aligned on the side mirror 12 such that, in the extended normal state of the side mirror shown in Fig. 2A, it primarily captures a close-up area next to the vehicle. Fig. 2A shows a section of a corresponding first field of view S1 of the camera 121, which encompasses the close-up area (the first field of view S1 must also be imagined as extending further downward from the displayed image area).

[0052] As already mentioned, the image capture of the near area within the first field of view S1 can be used, for example, for a parking assistance and / or surround-view function. While driving, the near-area capture can also contribute to lane marking detection and / or lane width detection as part of an automated driving function.

[0053] Furthermore, the close-range detection, which is possible when the side mirror 12 is extended, can be used to a limited extent for emergency vehicle detection. However, since an emergency vehicle approaching from behind only enters the first field of view S1 when it is already almost driving next to vehicle 2, the camera 121 only detects the emergency vehicle very late.

[0054] However, rear-space monitoring, particularly with regard to emergency vehicles approaching vehicle 2 from behind, can be significantly improved by folding in the side mirror 12. The camera 121 is pivoted so that it receives a second field of view S2 that is directed more towards the rear. A section of the second field of view S2 in the folded-in position of the side mirror 12 is schematically illustrated in Fig. 2B. The second field of view S2, which is directed further to the rear and into the distance than the first field of view S2, enables, for example, earlier detection of an other vehicle approaching from behind in an adjacent lane, such as an emergency vehicle driving through an emergency lane.

[0055] Since at higher levels of automation, e.g. SAE Level 3 or higher, active monitoring of traffic by the driver is no longer required and accordingly the basic function of the side mirror 12 in its extended normal position is obsolete, at least one side mirror 12 (e.g. a side mirror on the side of the vehicle facing an emergency lane) can be folded in automatically when transitioning from a low level of automation to SAE Level 3 or to an even higher level of automation. This can enable earlier and more reliable detection of emergency vehicles. This can be particularly advantageous for SAE Level 3 functions (or even higher levels of automation) because they place high demands on the ability to automatically detect emergency vehicles.

[0056] In order to provide the above-described function of system 1, processing device 10 is configured to control the automatic adjustment of side mirror 12 depending on a detected degree of automation and / or a detected change in the degree of automation for folding the side mirror 12. In particular, processing device 10 is programmed to execute the following method steps 31-34 according to Fig. 3:

[0057] In a method step 31, a degree of automation and / or a change in a degree of automation with which a longitudinal and / or transverse guidance of the vehicle 2 is currently carried out is determined.

[0058] In a further method step 33, the processing device 10 generates at least one control signal for folding in the side mirror 12 as a function of the determined degree of automation and / or the determined change in the degree of automation.

[0059] The detected level of automation may, in particular, be an automation level corresponding to SAE Level 3 (or higher). A detected change in the level of automation may, in particular, be a change from a lower level of automation (e.g., SAE Level 2 or lower) to a higher level of automation (e.g., SAE Level 3 or higher).

[0060] In this case, the processing device 10 can check, as a prerequisite for generating 33 the control signal for folding the side mirror 12, whether a predetermined minimum level of automation or a level of automation higher than the predetermined minimum level of automation is detected. The processing can evaluate the detection that the level of automation corresponds at least to the predetermined minimum level of automation as a necessary and / or sufficient prerequisite for generating 33 the control signal for folding the side mirror 12.

[0061] Alternatively or additionally, a necessary and / or sufficient prerequisite for generating the control signal for folding the side mirror 12 may be that a change from a lower level of automation compared to a predetermined minimum level of automation to the predetermined minimum level of automation or to a level of automation higher than the predetermined minimum level of automation is detected. As mentioned, the minimum level of automation can in particular be SAE Level 3.

[0062] According to some embodiments, further requirements than those mentioned above must be met in order for the processing device 10 to generate a control signal for folding the side mirror 12.

[0063] For example, as an optional method step 32 (illustrated with dashed lines in Fig. 3), it can be provided that it is recognized that an emergency vehicle-relevant traffic situation exists in which the probability that an emergency vehicle will appear in the vicinity of the vehicle in the near future is increased. This can be interpreted as an additional prerequisite for generating 33 the control signal for folding in the side mirror 12, i.e., it can be provided that the control signal is only generated if (in addition to the above-mentioned prerequisite(s) regarding the degree of automation) the existence of such an emergency vehicle-relevant traffic situation has been recognized.

[0064] In this case, a traffic situation relevant to an emergency vehicle can be identified, for example, based on one or more indicators of a traffic accident. In other words, one or more signs can be detected that indicate an accident site near vehicle 2 and / or on a planned route of vehicle 2.

[0065] For example, the detection of a traffic situation relevant to an emergency vehicle can include the detection of one or more indicators for the presence of a traffic jam or slow traffic. A traffic jam or slow traffic can be signs of a traffic accident, which in turn can indicate an increased probability of an emergency vehicle appearing. A traffic situation relevant to an emergency vehicle can be detected at least partially based on real-time traffic information received by the processing device 10 from a backend. Such information can relate in particular to RTTI events such as accidents or traffic jams. Alternatively or in addition to real-time traffic information, a traffic jam or slow traffic can be detected based on vehicle odometry (e.g., average speed over a certain period of time) and / or based on environmental sensors of the vehicle 2 (e.g.,Scene recognition using a camera).

[0066] It is also possible for an emergency vehicle-relevant traffic situation to be detected based on an emergency lane that is forming or has already formed in the vicinity of vehicle 2. The emergency lane can be detected, for example, based on scene recognition using a camera of vehicle 2. For example, based on a particularly pronounced (i.e., particularly wide) emergency lane behind and / or in front of vehicle 2, it can be detected that the probability of an emergency vehicle appearing imminently in the vicinity of vehicle 2 is increased.

[0067] In this context, it is also conceivable that an emergency lane situation is detected by an activation of an emergency lane assistant determined by the processing device 10, wherein the emergency lane assistant is set up to carry out automated vehicle guidance in such a way that the vehicle 2 contributes to the formation of an emergency lane.

[0068] When a rescue lane situation is detected, according to one embodiment variant, a control signal can also be specifically generated 33 for folding in (if necessary only) a side mirror 12 which is located on the side of the vehicle 2 which faces the (expected or already fully or partially formed) rescue lane.

[0069] It is also possible for two or more of the aforementioned criteria for detecting the traffic situation, which relate to the presence of a traffic accident, a traffic jam or slow-moving traffic or an emergency lane, to be combined to form a fused criterion for detecting a traffic situation with an increased probability of an emergency vehicle appearing. Further criteria can also be used as indicators for the presence of an emergency vehicle-relevant traffic situation, such as poor visibility, particularly due to darkness or fog, or the presence of a tunnel situation (i.e., determining that vehicle 2 is currently in a tunnel). If the necessary prerequisites are met and a control signal is generated, the control signal is output to the automatic adjustment system of side mirror 12, whereupon the system folds in side mirror 12.As a result, the camera 121 arranged on the side mirror 12 is pivoted in such a way that its field of view is directed toward an area behind the vehicle (more so than before folding). The shifting of the field of view of the camera 121 by folding in the side mirror 121 is illustrated schematically and by way of example in Figs. 2A-B by the sections of the first field of view S1 and the second field of view S2 shown.

[0070] In a further optional method step 34 (illustrated with dashed lines in Fig. 3), the processing device 10 generates control signals for controlling an automated (e.g. SAE Level 3) driving function of the vehicle 2. The generation 34 of these control signals takes place as a function of environmental information which is recorded by the camera 12 in a detection area behind the vehicle 2 or diagonally behind the vehicle 2, which only came into the second field of view S2 of the camera 121 when the side mirror 12 was folded in.

[0071] In particular, an emergency vehicle can be detected in the detection area, and the automated driving function can be controlled depending on the detection of an emergency vehicle. In response to a detected emergency vehicle, the control of the automated driving function by system 1 can include, for example, triggering a takeover request directed to the driver and, if necessary, subsequently downgrading the automated driving function to a lower level of automation.

[0072] In general, vehicle 2 can be configured to execute a situation-appropriate response to a detected emergency vehicle. For example, a longitudinal and / or lateral guidance actuator of vehicle 2 can be controlled in such a way that it subsequently implements adapted vehicle guidance, which, for example, takes into account the appearance of an emergency vehicle. In this context, it is also conceivable, for example, that an emergency lane assistant is automatically activated in response to the detection of an emergency vehicle.

Claims

Patent claims 1. Method (3) for rear area monitoring of a vehicle (2), in which a processing device (10) of the vehicle (2) carries out the following steps: Determining (31) a degree of automation and / or a change in a degree of automation with which a longitudinal and / or transverse guidance of the vehicle (2) is carried out; Generating (33) a control signal for folding in a side mirror (12) of the vehicle (2) provided with a camera (121) as a function of the detected degree of automation and / or the detected change in the degree of automation, wherein the camera (121) is pivoted by the folding in of the side mirror (12) such that a field of view (S2) of the camera (121) is aligned to an area behind the vehicle (2) more than before the folding in.

2. Method (3) according to claim 1, wherein a prerequisite for generating (33) the control signal for folding in the side mirror (12) is that a predetermined minimum level of automation or a level of automation that is higher than the minimum level of automation is detected (31) or wherein a prerequisite for generating (33) the control signal for folding in the side mirror (12) is that a change from a level of automation that is lower than a predetermined minimum level of automation to the predetermined minimum level of automation or to a level of automation that is higher than the minimum level of automation is detected (31).

3. The method (3) according to claim 2, wherein the predetermined minimum level of automation is conditionally automated driving or a higher level of automation.

4. Method (3) according to one of the preceding claims, further comprising, as a prerequisite for generating (33) the control signal for folding in the side mirror (12), detecting (32) that a traffic situation exists in which the probability that an emergency vehicle will appear in the vicinity of the vehicle in the near future is increased.

5. The method (3) according to claim 4, wherein the detection (32) of the traffic situation comprises the detection of one or more indicators of a traffic accident and / or the detection of one or more indicators of the presence of a traffic jam or slow-moving traffic.

6. Method (3) according to claim 4 or 5, wherein the detection (32) of the traffic situation comprises the detection of an emergency lane in the surroundings of the vehicle (2) and / or the activation of an emergency lane assistant of the vehicle (2) to form an emergency lane.

7. Method (3) according to claim 6, wherein the control signal for folding in only one side mirror (12) of a plurality of side mirrors of the vehicle (2) is generated (33), wherein the side mirror (12) to be folded in is located on a side of the vehicle (2) facing the emergency lane.

8. Method (3) according to one of the preceding claims, further comprising controlling (34) an automated driving function of the vehicle (2) as a function of environmental information which is recorded by means of the camera (12) in a detection area which only came into the field of view of the camera (121) as a result of the folding in of the side mirror (12).

9. Method (3) according to claim 8, wherein the automated driving function is controlled (34) in dependence on the detection of an emergency vehicle in the detection area.

10. Processing device (10) for a vehicle (2), wherein the processing device (10) has at least one processor and is configured to carry out a method (3) according to one of the preceding claims by means of the processor.

11. System (1) for rear-view monitoring of a vehicle (2), comprising a side mirror (12) of the vehicle (2) that can be folded in by means of an automatic adjustment mechanism; a camera (121) arranged on the side mirror (12); and a processing device (10) according to claim 10, wherein the processing device (10) is configured to automatically adjust the adjustment mechanism in dependence on the determination (31) of the degree of automation and / or the Change of the degree of automation for folding the side mirror (12).

12. System (1) according to claim 11, wherein the camera (121) is arranged on the side mirror (12) in such a way that, when the side mirror (12) is not folded in, it is set up to capture a close area next to the vehicle and, in comparison, the field of view (S2) of the camera (121) is shifted further to the rear and into the distance when the side mirror (12) is folded out.

13. Computer program, comprising instructions which, when executing the Computer program by a processing device (10) causing it to carry out a method (3) according to one of claims 1 to 9.

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