Control device and method for controlling the operation of a motor vehicle

Abstract

The invention relates to a control device (20) for controlling the operation of a motor vehicle (10), wherein the control device (20) is designed to receive surroundings data relating to the surroundings of the motor vehicle (10), ascertain the course of the road on the basis of the surroundings data, receive exterior sensor data relating to another vehicle (60), ascertain the blinker state of the other vehicle (60) on the basis of the exterior sensor data, receive interior sensor data relating to a driver of the motor vehicle (10), ascertain the viewing direction of the driver on the basis of the interior sensor data, and generate, on the basis of the ascertained course of the road, the ascertained blinker state of the other vehicle (60), and the ascertained viewing direction of the driver, an output signal in order to initiate a previously determined measure.

Description

[0001] Control device and method for controlling the operation of a motor vehicle

[0002] The present disclosure relates to a control device for controlling the operation of a motor vehicle, a motor vehicle having the control device, and / or a method for controlling the operation of a motor vehicle. Additionally or alternatively, a computer program is provided that comprises instructions that, when executed by a computer, cause the computer to at least partially execute the method. Additionally or alternatively, a computer-readable medium is provided that comprises instructions that, when executed by a computer, cause the computer to at least partially execute the method.

[0003] Driver assistance systems are increasingly being installed in modern motor vehicles, especially automobiles.

[0004] Advanced Driver Assistance Systems (ADAS) are electronic, particularly mechatronic, devices in motor vehicles that support the driver in certain driving situations. These often focus on safety aspects, but also on increasing driving comfort.

[0005] There are driver assistance systems that are designed to automatically control the longitudinal and / or lateral guidance of a motor vehicle.

[0006] In the area of ​​a merging road, i.e. where the first lane merges into a second lane, road users in the second lane often face the question of whether to overtake road users in the first lane or be cooperative and let them merge. If a vehicle stops at the end of the first lane and does not wish to move into the second lane, the hazard warning lights can be activated to signal to other road users that the vehicle is stopped and does not wish to move into the second lane. In unfavorable situations, it can happen that, for example, the right indicator of the hazard warning lights of a vehicle stationary in the first lane is obscured from the driver's view by the A-pillar of a slow-moving or stationary vehicle in the second lane.This can give the driver of the vehicle in the second lane the false impression that the stationary vehicle in the first lane is trying to merge. This can lead to a deadlock situation, in which the driver of the vehicle in the second lane reduces their speed or even stops the vehicle to allow the vehicle in the first lane to merge.

[0007] Driver assistance systems that can determine whether certain driving situations can be recognized or not based on the driver's viewing angle are already available in the prior art. DE19734307 A1 describes a method and a device for monitoring and / or influencing the behavior of a driver-controlled motor vehicle. A viewing direction determination device determines the current viewing direction of the driver of the motor vehicle. The determined viewing direction is then compared with the current direction of travel of the motor vehicle. Depending on the comparison result, a warning signal and / or a control signal is generated. The control signal preferably makes a change in the steering angle more difficult.

[0008] Furthermore, driver assistance systems for lane change detection are already known.

[0009] However, such vehicles require complex sensors to detect the surroundings. Furthermore, current systems fail to issue a warning to alert the driver that a stationary vehicle in an adjacent lane is not planning to change lanes.

[0010] Against the background of this prior art, the object of the present disclosure is to provide a device and / or a method which are each suitable for enriching the prior art.

[0011] The problem is solved by the features of the independent claims. The independent claims and the dependent claims each contain optional developments of the disclosure. Accordingly, the problem is solved by a control device for controlling the operation of a motor vehicle. The control device is configured to receive environmental data relating to the environment of the motor vehicle, determine a road course based on the environmental data, receive external sensor data relating to another vehicle, determine a turn signal status of the other vehicle based on the external sensor data, receive internal sensor data relating to a driver of the motor vehicle, and determine a viewing angle of the driver based on the internal sensor data.The control device is further designed to generate an output signal for initiating a previously determined measure depending on the determined road course, the determined indicator status of the other vehicle and the determined viewing angle of the driver.

[0012] The control device or control unit can be part of the driver assistance system or represent it. The control device can be, for example, an electronic control unit (ECU). The electronic control unit can be an intelligent processor-controlled unit that can communicate with other modules, for example, via a central gateway (CGW) and, if necessary, can form the vehicle's on-board network via fieldbuses such as the CAN bus, LIN bus, MOST bus, FlexRay, and / or via the automotive Ethernet, e.g., together with telematics control units and / or environmental sensors.

[0013] It is conceivable that the control device controls functions relevant to the vehicle's driving behavior, such as the steering, engine control, power transmission, and / or the braking system. Furthermore, driver assistance systems such as a parking assistant, adaptive cruise control (ACC), lane keeping assistant, lane change assistant, traffic sign recognition, traffic light recognition, start-off assistant, night vision assistant, and / or intersection assistant can be controlled by the control device.

[0014] The environmental data can contain information about the road layout in the vicinity of the vehicle. The environmental data can, for example, include map data. The map data can, for example, be part of a navigation unit of the motor vehicle. The navigation unit can provide map data. The control device can be data-connected to the navigation unit. The control device can comprise the navigation unit. The map data can contain information about road networks and / or the road layout. For example, the control device can receive the environmental data via a signal emitted by the navigation unit.

[0015] The control device can be configured to receive position data relating to the motor vehicle. The position data relating to the motor vehicle can contain information about the current location of the motor vehicle. The position data relating to the motor vehicle can include or be configured as GPS data representing the current position of the motor vehicle.

[0016] The control device can be configured to determine, based on the map data and the position data relating to the motor vehicle, whether a first lane merges into a second lane in the vicinity of the motor vehicle, for example, in the further course of the road in one direction of travel. In other words, the control device can be configured to determine, based on the map data and the position data, whether the first lane ends and merges into the second lane in the vicinity of the motor vehicle, for example, in the further course of the road in the direction of travel.

[0017] The environmental data may include map data and position data.

[0018] The control device can be data-connected to a GPS receiver device for receiving the GPS data of the motor vehicle. Alternatively, the control device can have the GPS receiver device. The GPS receiver device can be configured to receive GPS data. The control device can be configured to receive the GPS data via a signal emitted by the GPS receiver device. The control device can be configured to receive the position data relating to the motor vehicle and to determine a position of the motor vehicle based on the position data. The position of the motor vehicle can be a GPS position of the motor vehicle. In other words, the position of the motor vehicle can be a position of the motor vehicle that can be displayed on the map data. The control device can thus determine whether the first lane merges into the second lane in the vicinity of the motor vehicle.

[0019] The surroundings of the motor vehicle can be an area with a radius of greater than or equal to 10 m or greater than or equal to 20 m or greater than or equal to 30 m or greater than or equal to 40 m or greater than or equal to 50 m or greater than or equal to 100 m or greater than or equal to 200 m or greater than or equal to 500 m around the motor vehicle, whereby the motor vehicle can form the center of the area.

[0020] The other vehicle can be another motor vehicle. The other vehicle can be in a lane, for example, the first lane or the second lane.

[0021] The external sensor data relating to the other vehicle may include information about the turn signal status of the other vehicle. The turn signal status may be a status of a turn signal system of the motor vehicle and / or the other vehicle.

[0022] The turn signal system can be in an off state. In the off state of the turn signal system, the turn signals of the turn signal system can be switched off. The turn signal system can be in a left turn signal state. In the left turn signal state, the left turn signal of the other vehicle and / or the motor vehicle can be switched on. The turn signal system can be in a right turn signal state. In the right turn signal state, the right turn signal of the other vehicle and / or the motor vehicle can be switched on. The turn signal system can be in a hazard warning state. In the hazard warning state, the hazard warning lights of the other vehicle and / or the motor vehicle can be switched on. The indicator state can be a state of the turn signal system that can be detected by the control device, for example as part of the light signal detection of the control device.The control device may be configured to determine whether the off state, the left turn state, the right turn state, or the hazard warning state is present based on the external sensor data.

[0023] The external sensor data may contain information about the road layout in the vehicle's surroundings. For example, the external sensor data may contain information about whether the first lane merges into the second lane.

[0024] The control device and / or the determination unit can be configured to determine the road course based on the environmental data and the external sensor data.

[0025] The control device can be data-connected to a detection device of the motor vehicle for detecting the external sensor data and / or the environmental data. For example, the control device can communicate with the detection device and receive the external sensor data and / or the environmental data. It is conceivable that the control device receives the external sensor data and / or the environmental data via a signal emitted by the detection device. The detection device can have an external camera or be designed as an external camera.

[0026] The control device can be data-connected to the detection device by means of a cable.

[0027] The interior sensor data can contain information about the driver's line of sight. The driver's line of sight can, for example, be determined relative to a normal line of sight. The driver's normal line of sight can be the driver's line of sight in the direction of travel. It is conceivable that the driver's line of sight can be determined by an angular deviation from the normal line of sight. For example, if the driver is looking in the direction of normal sight, there can be an angular deviation from the normal line of sight of 0°. If the driver is looking into a right-hand exterior mirror of the motor vehicle, there can be an angular deviation from the normal direction of 40°.

[0028] The control device can be data-connected to a detection unit for detecting the driver's line of sight. For example, the detection unit can be configured to detect the driver's line of sight and store it in the interior sensor data. For example, the control device can communicate with the detection unit and receive the interior sensor data. It is conceivable that the control device receives the interior sensor data via a signal emitted by the detection unit.

[0029] The control device can be data-connected to the detection unit via a cable.

[0030] The detection unit can be a vehicle interior camera. The vehicle interior camera can be configured to detect the driver's line of sight. For example, the vehicle interior camera can be configured to detect whether the driver is looking in the direction of travel or in a direction deviating from the direction of travel. Furthermore, the vehicle interior camera can be configured to detect the driver's line of sight using eye tracking algorithms.

[0031] The vehicle interior camera can be part of a driver monitoring system (DMS).

[0032] The output signal can be an electrical signal. The control device can be configured to initiate the previously determined measure after generating the output signal. In other words, the previously determined measure can be a measure that can be executed and / or controlled by the control device. Alternatively or additionally, the previously determined measure can be executed by a control unit that has a data connection to the control device. The control unit can be part of the vehicle's electrical system. The previously determined measure can be or include the output of a warning signal to the driver. The control device can be configured to condition the warning signal to the driver, for example by controlling a loudspeaker and / or a vehicle display.

[0033] Additionally or alternatively, the previously determined measure may be or include the execution of an automated driving function. The control device may be configured to start and / or control the automated driving function and / or to execute it at least partially and / or at least temporarily.

[0034] The device described above offers a number of advantages. Among other things, it can alert the driver that a stationary vehicle in an adjacent lane does not intend to change lanes. This prevents slow, obstructive driving to allow the stationary vehicle to merge. Furthermore, the device described above can help the driver concentrate more on the traffic ahead, preventing them from averting their eyes for extended periods. Both of these effects can achieve safety-related benefits. Finally, the device described above does not require complex sensor technology, but rather uses the sensors standardly installed in modern motor vehicles.

[0035] The control device can have a determination unit for determining the road course and / or the turn signal status of the other vehicle and / or the driver's viewing direction. For example, the control device and / or the determination unit can determine the road course from the ambient data and / or the turn signal status of the other vehicle from the external sensor data and / or the driver's viewing direction from the internal sensor data.

[0036] For example, the control device and / or the determination unit can communicate with the GPS receiver device and receive the position data of the motor vehicle and determine the road course based on the position data and the environmental data. For example, the control device and / or the determination unit can communicate with the detection device and receive the external sensor data and determine the turn signal status of the other vehicle based on the external sensor data. It is conceivable that the control device and / or the determination unit receives the external sensor data via a signal emitted by the detection device.

[0037] For example, the control device and / or the determination unit can communicate with the detection unit and receive the interior sensor data and determine the driver's viewing direction based on the interior sensor data. It is conceivable that the control device and / or the determination unit receives the interior sensor data via a signal emitted by the detection unit.

[0038] The control device may include a memory unit for storing environmental data and / or map data. The map data may be written into the memory unit during the manufacture of the motor vehicle.

[0039] The control device may have a readout unit for reading the environmental data and / or the map data. For example, the control device and / or the readout unit may be configured to read the environmental data and / or the map data from the storage unit.

[0040] Possible further developments of the device described above are explained in detail below.

[0041] The control device can be configured to receive position data relating to the motor vehicle, determine a position of the motor vehicle based on the position data, determine a relative position of the further vehicle relative to the determined position of the motor vehicle based on the position data and the external sensor data, and evaluate whether, based on the determined line of sight of the driver and the determined relative position of the further vehicle, a field of vision of the driver is at least partially obscured such that an indicator of the further vehicle is obscured for the driver. The external sensor data can comprise information about a distance between the motor vehicle and the further vehicle. The external sensor data can comprise information about an angle between the motor vehicle and the further vehicle.

[0042] The control device and / or the determination unit can be configured to determine the relative position of the further vehicle relative to the motor vehicle by the distance between the motor vehicle and the further vehicle and by the angle between the motor vehicle and the further vehicle.

[0043] The distance between the motor vehicle and the other vehicle can be a normal distance. The distance can be measured from a first reference point of the motor vehicle to a second reference point of the other vehicle. For example, the distance can be measured from the windshield of the motor vehicle to the rear of the other vehicle. The distance measured in this way can have a distance direction.

[0044] The angle between the motor vehicle and the other vehicle can be an angle relative to the direction of travel of the motor vehicle. In other words, the angle between the motor vehicle and the other vehicle can be the angle formed by a straight line in the distance direction with the direction of travel of the motor vehicle.

[0045] The driver's field of vision includes the area of ​​the surroundings visible to the driver through the windshield and other side windows of the motor vehicle. The driver's field of vision may be partially obscured by components of the motor vehicle, such as the A-pillar. A partially obscured field of vision may obscure or render invisible to the driver of the motor vehicle objects located in the obscured parts of the field of vision, such as the indicator of another vehicle.

[0046] The indicator can be part of the indicator light system of the other vehicle.

[0047] The turn signal can be the left turn signal and / or the right turn signal. A turn signal of another vehicle that is obscured from the driver of the motor vehicle may not be visible to the driver of the motor vehicle.

[0048] The control device can be designed to determine the relative position of the further vehicle based on the position data of the motor vehicle and the external sensor data.

[0049] The control device can be designed to determine, based on the determined line of sight of the driver and the determined relative position of the other vehicle, whether the indicator, for example the right indicator, is located in an area of ​​the field of vision that is hidden from the driver.

[0050] The control device can be designed to evaluate, based on the determined road course, whether a first lane merges into a second lane.

[0051] The first lane may be located to the right of the second lane. Alternatively, the first lane may be located to the left of the second lane.

[0052] The control device can be designed to evaluate, based on the determined road course, whether a first lane ends and merges into a second lane.

[0053] The control device can be designed to evaluate whether a hazard warning light of the other vehicle is switched on based on the determined indicator state of the other vehicle.

[0054] The control device can have an evaluation unit for evaluating the determined road course and / or the determined indicator status of the other vehicle and / or the determined viewing direction of the driver.

[0055] The evaluation unit can be configured to evaluate, based on the determined road course, whether a first lane merges into a second lane and / or to evaluate, based on the determined turn signal status of the other vehicle, whether a hazard warning light of the other vehicle is switched on. The evaluation unit can be configured to evaluate, based on the determined viewing direction of the driver and the determined relative position of the other vehicle, whether a field of vision of the driver is at least partially obscured such that a turn signal of the other vehicle is obscured for the driver.

[0056] The control device and / or the evaluation unit can be designed to store an evaluation result from the evaluation, for example in the memory unit of the control device.

[0057] The control device can be designed to generate the output signal for initiating the previously determined measure depending on the evaluation result.

[0058] The evaluation result may include information on whether the driver's field of vision is obscured to such an extent that the indicator of the other vehicle is obscured from the driver, the first lane merges into the second lane, and the hazard warning lights of the other vehicle are switched on.

[0059] The control device can be designed to generate the output signal for initiating the previously determined measure when the driver's field of vision is obscured such that the indicator of the other vehicle is obscured from the driver, the first lane merges into the second lane, and the hazard warning lights of the other vehicle are switched on.

[0060] The control device can be configured to generate the output signal for initiating the predetermined measure if the evaluation result includes information that the driver's field of vision is obscured to such an extent that the turn signal of the other vehicle is obscured from the driver, the first lane merges into the second lane, and the hazard warning lights of the other vehicle are switched on. The predetermined measure can include issuing a warning signal to the driver and / or executing an automated driving function.

[0061] The warning signal may be an acoustic and / or visual warning signal to the driver of the motor vehicle.

[0062] The control device can be configured to emit the warning signal, for example, via a loudspeaker and / or a vehicle display. The warning signal can contain an indication that the other vehicle does not wish to merge, so that the driver of the motor vehicle does not have to stop.

[0063] The automated driving function can comprise automated movement of the motor vehicle in the direction of travel. The automated driving function can be controlled by the control device. In other words, the control device can be configured to control the automated driving function, for example, the automated movement of the motor vehicle in the direction of travel.

[0064] The control device can be configured to drive the motor vehicle in the direction of travel by executing the automated driving function until the driver's field of vision is clear enough for the turn signal of the other vehicle to be visible to the driver. A control device configured in this way has the advantage that the driver recognizes that the other vehicle does not intend to merge, so the driver does not have to stop the motor vehicle and / or can accelerate again.

[0065] The above description can be summarized in other words and in a possible more concrete embodiment of the disclosure as described below, whereby the following description is not to be interpreted as limiting the disclosure.

[0066] According to a specific embodiment, the control device can be designed to detect the hazard warning lights of a stationary vehicle in order to warn the driver that this stationary vehicle at the end of the lane does not intend to change lanes.

[0067] To avoid a dead-lock situation, the control device can be designed to perform the following three steps:

[0068] 1. Check the situation for merging lanes using GPS data and / or map data and / or external cameras

[0069] 2. Detection of the indicator status of the other vehicle based on external cameras

[0070] 3. Detection of the driver's line of sight relative to the other vehicle via eye tracking and matching with the relative position of the other vehicle, so that it can be detected whether the A-pillar obscures one of the other vehicle's indicators, optionally the right or left.

[0071] If all three of the above-described conditions are met, an output signal can be generated that initiates a measure to alert the driver to the hazard warning lights. This could, for example, be a voice output from the vehicle's control system. Additionally, or alternatively, it could be a display in the vehicle, such as a surrounding area display with a clear indication of the flashing lights of another vehicle. Additionally, or alternatively, an automated driving function could intervene, moving far enough forward to change the viewing angle to the hazard warning lights so that their stop can be detected and the driver can continue driving.

[0072] Furthermore, a motor vehicle with the control unit or control device described above is provided.

[0073] The motor vehicle may be a passenger car, in particular an automobile, or a commercial vehicle, such as a truck.

[0074] The motor vehicle may be automated. The motor vehicle may be configured to at least partially and / or at least temporarily assume longitudinal and / or lateral guidance during automated driving of the motor vehicle by means of the control device.

[0075] Automated driving can be implemented in such a way that the motor vehicle's movement is (largely) autonomous. Automated driving can be controlled at least partially and / or temporarily by the control device.

[0076] It is conceivable that the motor vehicle intervenes in the lateral guidance of the motor vehicle through a driver assistance system actively, e.g. by adjusting an actual steering wheel position, and optionally passively, e.g. by displaying a turn-off instruction.

[0077] The motor vehicle may be a motor vehicle with autonomy level 0, i.e. the driver assumes the dynamic driving task, even if supporting systems (e.g. ABS or ESP) are present.

[0078] The motor vehicle may be a Level 1 autonomy motor vehicle, i.e. it may have certain driver assistance systems that support the driver in operating the vehicle, such as adaptive cruise control (ACC).

[0079] The motor vehicle may be a motor vehicle of autonomy level 2, i.e. be so partially automated that functions such as automatic parking, lane keeping or lateral guidance, general longitudinal guidance, acceleration and / or braking are taken over by driver assistance systems.

[0080] The motor vehicle can be a Level 3 autonomy vehicle, meaning it is so conditionally automated that the driver does not need to continuously monitor the vehicle system. The vehicle performs functions such as activating the turn signal, changing lanes, and / or keeping in lane independently. The driver can attend to other activities but will be prompted by the system to take over driving if necessary within a pre-warning period.

[0081] The motor vehicle can be a Level 4 autonomy vehicle, meaning it can be so highly automated that the vehicle's control system permanently assumes control of the vehicle. If the system can no longer handle the driving tasks, the driver can be requested to take over.

[0082] The motor vehicle can be a Level 5 autonomy vehicle, meaning it is so fully automated that the driver is not required to perform the driving task. No human intervention is required other than setting the destination and starting the system. The motor vehicle can operate without a steering wheel or pedals.

[0083] What has been described above with reference to the control device also applies analogously to the motor vehicle and vice versa.

[0084] Furthermore, a method for controlling the operation of a motor vehicle is provided, the method comprising: receiving environmental data relating to the surroundings of the motor vehicle, determining a road course based on the environmental data, receiving external sensor data relating to another vehicle, determining a turn signal status of the other vehicle based on the external sensor data, receiving internal sensor data relating to a driver of the motor vehicle, and determining a viewing direction of the driver based on the internal sensor data. The method further comprises generating an output signal for initiating a predetermined measure depending on the determined road course, the determined turn signal status of the other vehicle, and the determined viewing direction of the driver.

[0085] The control method may be a computer-implemented method, ie one, several or all steps of the method may be carried out at least partially by a computer or a data processing device, optionally the control device.

[0086] What has been described above with reference to the control device and the motor vehicle also applies analogously to the method and vice versa.

[0087] The method may further comprise: receiving position data relating to the motor vehicle. Y1

[0088] The method may further comprise: determining the road course based on the

[0089] Map data and / or position data and / or outdoor sensor data.

[0090] The method may further comprise: collecting the external sensor data and / or the environmental data.

[0091] The method may further comprise: reading the environmental data and / or the map data, for example from the storage unit.

[0092] The method may further comprise: evaluating the determined road course and / or the determined indicator status of the other vehicle and / or the determined viewing direction of the driver.

[0093] The method may further comprise: storing the comparison result from the comparison of the driver's degree of distraction with the threshold value of the degree of distraction and / or with the threshold values ​​of the degree of distraction, for example in the memory unit of the control device.

[0094] Furthermore, a computer program is provided, comprising instructions which, when the program is executed by a computer, cause the computer to at least partially carry out or implement the method described above.

[0095] A program code of the computer program may be in any code, in particular in a code suitable for motor vehicle controls.

[0096] What has been described above with reference to the control device, the motor vehicle and the method also applies analogously to the computer program and vice versa.

[0097] Furthermore, a computer-readable medium, in particular a computer-readable storage medium, is provided. The computer-readable medium comprises instructions which, when executed by a computer, cause the computer to at least partially carry out or perform the method described above. This means that a computer-readable medium can be provided which comprises a computer program as defined above. The computer-readable medium can be any digital data storage device, such as a USB stick, a hard disk, a CD-ROM, an SD card, or an SSD card (or SSD drive / SSD hard disk).

[0098] The computer program does not necessarily have to be stored on such a computer-readable storage medium in order to be made available to the motor vehicle, but can also be obtained via the Internet or otherwise externally.

[0099] What has been described above with reference to the method, the control device, the computer program and the motor vehicle also applies analogously to the computer-readable medium and vice versa.

[0100] An optional embodiment is described below with reference to Figures 1, 2 and 3.

[0101] Fig. 1 schematically shows a motor vehicle with a control device for controlling an operation of a motor vehicle according to the optional embodiment,

[0102] Fig. 2 schematically shows a flow diagram of a method for controlling an operation of the motor vehicle according to the optional embodiment, and

[0103] Fig. 3 shows a schematic plan view of the motor vehicle with the control device in a driving situation in which the method is applied.

[0104] The same reference symbols in the figures denote the same (component) parts or units.

[0105] The motor vehicle 10, shown only schematically in Figure 1, has a control device 20, a detection unit 30 arranged in a motor vehicle interior 11 of the motor vehicle 10, a detection device 40 arranged on the motor vehicle 10, and a GPS receiver device 50 arranged in the motor vehicle 10. The control device 20 is data-connected to the detection unit 30, the detection device 40, and the GPS receiver device 50.

[0106] The control device 20 has a determination unit 21 for determining a road course and / or a turn signal status of another vehicle 60 (see Figure 3) and / or a viewing direction of the driver of the motor vehicle 10, a storage unit 22 for storing environmental data and / or map data, a navigation unit 23 for providing environmental data and / or map data and an evaluation unit 24 for evaluating the determined road course and / or the determined turn signal status of the other vehicle 60 and / or the determined viewing direction of the driver.

[0107] Figure 3 shows, by way of example, a top view of the motor vehicle 10 in a driving situation in which the method described below with reference to Figure 2 is applied, wherein the control device 20 is designed to carry out the method.

[0108] The method illustrated as a flowchart in Figure 2 comprises fourteen method steps. In a first method step S1, the control device 20 receives position data relating to the motor vehicle 10 via a signal emanating from the GPS receiver device 50 to the determination unit 21 of the control device 20. The position data comprises GPS data representing the current position of the motor vehicle 10.

[0109] In a second method step S2, the detection device 40 detects external sensor data relating to the additional vehicle 60. The external sensor data includes information about a turn signal status of a turn signal device 61 of the additional vehicle 60 and about a distance and an angle between the motor vehicle 10 and the additional vehicle 60. For this purpose, the detection device 40 has a plurality of external cameras. In a third method step S3, the detection unit 30 arranged in the motor vehicle interior 11 detects the line of sight of the driver of the motor vehicle 10 and stores the detected line of sight of the driver in the interior sensor data.

[0110] In a fourth method step S4, the control device 20 receives environmental data relating to an environment of the motor vehicle 10, which are provided by the navigation unit 23 and stored in the memory unit 22, by means of a signal emanating from the navigation unit 23 to the determination unit 21 of the control device 20. The environmental data comprise map data.

[0111] In a fifth method step S5, the control device 20 uses the determination unit 21 to determine the course of a road 70 (see Figure 3) based on the environmental data and the position data relating to the motor vehicle 10. To this end, the determination unit 21 determines, based on the received map data and the received position data relating to the motor vehicle 10, whether in the environment of the motor vehicle 10, i.e., in the further course of travel in the direction of travel (symbolized by the arrow in Figure 3) of the motor vehicle 10, as shown in Figure 3, a first lane 71 ends and merges into a second lane 72. The motor vehicle 10 is located in the second lane 72, which is arranged to the left of the first lane 71 in the direction of travel, on which the further vehicle 60 is located.

[0112] In a sixth method step S6, the control device 20 receives the external sensor data via a signal emanating from the detection device 40 to the determination device 21 of the control device 20.

[0113] In a seventh method step S7, the determination unit 21 determines the turn signal state of the additional vehicle 60 based on the external sensor data. To do so, the determination unit 21 determines, based on the received external sensor data, whether the off state, the left turn signal state, the right turn signal state, or the hazard warning state is present. In the hazard warning state, the hazard warning lights of the additional vehicle 60 are switched on. In the driving situation illustrated in Figure 3, the hazard warning lights of the additional vehicle 60 are switched on. In other words, the hazard warning lights of the additional vehicle 60 are switched on. In an eighth method step S8, the control device 20 receives the internal sensor data detected by the detection unit 30 via a signal originating from the detection unit 30 to the determination unit 21 of the control device 20.

[0114] In a ninth method step S9, the determination unit 21 determines the driver's viewing direction based on the received interior sensor data. To do so, the determination unit 21 determines the driver's viewing direction relative to a normal viewing direction. The driver's normal viewing direction is the driver's viewing direction in the direction of travel.

[0115] In a tenth method step S10, the determination unit 21 determines a relative position of the further vehicle 60 relative to the motor vehicle 10 based on the external sensor data. To this end, the determination unit 21 determines the distance and the angle between the motor vehicle 10 and the further vehicle 60.

[0116] In an eleventh method step S11, the control device 20 uses the evaluation unit 24 to evaluate whether, based on the determined line of sight of the driver and the determined relative position of the further vehicle 60, a field of vision of the driver is at least partially obscured, such that one of the indicators of the indicator system 61 of the further vehicle 60 is obscured from the driver. In Figure 3, the area 80 corresponds to the part of the driver's field of vision that is obscured by the A-pillar of the motor vehicle 10 such that the right indicator of the indicator system 61 is not visible to the driver of the motor vehicle 10 in the driving situation shown.

[0117] In a twelfth method step 12, the control device 20 uses the evaluation unit 24 to determine whether, based on the determined road course, the first lane 71 merges into the second lane 72. In the driving situation illustrated in Figure 3, the first lane 71 merges into the second lane 72.

[0118] In a thirteenth method step S13, the control device 20 uses the evaluation unit 24 to determine whether, based on the determined indicator state of the indicator system 61 of the further vehicle 60, a hazard warning light of the further vehicle 60 is switched on. This is the case in the driving situation illustrated in Figure 3.

[0119] In a fourteenth method step S14, the control device 20 generates an output signal for initiating a previously determined measure depending on the determined road course, the determined turn signal status of the additional vehicle 60, and the determined viewing direction of the driver. To this end, the control device 20 generates the output signal for initiating the previously determined measure when the driver's field of vision is at least partially obscured (see area 80 in Figure 3), so that the turn signal of the additional vehicle 60 is obscured for the driver of the motor vehicle 10, the first lane 71 merges into the second lane 72, and the hazard warning lights of the additional vehicle 60 are switched on. In the driving situation illustrated in Figure 3, the driver's field of vision is obscured such that the right turn signal of the additional vehicle 60 is obscured for the driver of the motor vehicle 10.Furthermore, the first lane 71 merges into the second lane 72 and the hazard warning lights of the further vehicle 60 are switched on, so that the control device 20 generates the output signal for initiating the previously determined measure in the driving situation shown in Figure 3.

[0120] List of reference symbols

[0121] 10 motor vehicle

[0122] 11 Motor vehicle interior

[0123] 20 Control device

[0124] 21 Investigation Unit

[0125] 22 storage unit

[0126] 23 Navigation unit

[0127] 24 Evaluation unit

[0128] 30 detection unit

[0129] 40 Recording device

[0130] 50 GPS receiver device

[0131] 60 additional vehicles

[0132] 61 Indicator system of the other vehicle

[0133] 70 Street

[0134] 71 first lane

[0135] 72 second lane

[0136] 80 obscured area of ​​the driver's field of vision

[0137] S1 - S14 Procedural steps of the procedure

Claims

Patent claims 1 . Control device (20) for controlling an operation of a motor vehicle (10), wherein the control device (20) is designed to: - to receive environmental data relating to an environment of the motor vehicle (10), - to determine a road route based on the surrounding data, - to receive external sensor data concerning another vehicle (60), - to determine a turn signal status of the further vehicle (60) based on the external sensor data, - to receive interior sensor data relating to a driver of the motor vehicle (10), and - to determine a viewing direction of the driver based on the interior sensor data, characterized in that the control device (20) is designed to: - to generate an output signal for initiating a previously determined measure depending on the determined course of the road, the determined indicator status of the other vehicle (60) and the determined viewing direction of the driver.

2. Control device (20) according to claim 1, characterized in that the control device (20) is designed to: - to determine a relative position of the further vehicle (60) relative to the motor vehicle (10) based on the external sensor data, - to evaluate whether, based on the determined line of sight of the driver and the determined relative position of the further vehicle (60), a field of vision of the driver is at least partially obscured such that an indicator of the further vehicle (60) is obscured for the driver.

3. Control device (20) according to claim 1 or claim 2, characterized in that the control device (20) is designed to to evaluate, based on the determined road course, whether a first lane (71) merges into a second lane (72).

4. Control device (20) according to one of the preceding claims, characterized in that the control device (20) is designed to evaluate, based on the determined indicator state of the further vehicle (60), whether a hazard warning light of the further vehicle (60) is switched on.

5. Control device (20) according to a combination of claims 1 to 4, characterized in that the control device (20) is designed to generate the output signal for initiating the previously determined measure when: - the driver's field of vision is at least partially obscured so that the indicator of the other vehicle (60) is obscured for the driver, - the first lane (71) merges into the second lane (72), and - the hazard warning lights of the other vehicle (60) are switched on.

6. Control device (20) according to one of the preceding claims, characterized in that the previously determined measure comprises issuing a warning signal to the driver and / or executing an automated driving function.

7. Motor vehicle (10), characterized in that the motor vehicle (10) comprises the control device (20) according to one of claims 1 to 6.

8. A method for controlling operation of a motor vehicle (10), the method comprising: - receiving (S4) environmental data relating to an environment of the motor vehicle (10), - Determining (S5) a road route based on the environmental data, - receiving (S6) external sensor data concerning another vehicle (60), - determining (S7) a turn signal status of the further vehicle (60) based on the external sensor data, - receiving (S8) interior sensor data relating to a driver of the motor vehicle (10), and - Determining (S9) a viewing direction of the driver based on the interior sensor data, characterized in that the method comprises: - generating (S14) an output signal for initiating a previously determined measure depending on the determined road course, the determined indicator status of the further vehicle (60) and the determined viewing direction of the driver.

9. A computer program, characterized in that the computer program comprises instructions which, when the program is executed by a computer, cause the computer to carry out the method according to claim 8.

10. A computer-readable medium, characterized in that the computer-readable medium comprises instructions which, when executed by a computer, cause the computer to carry out the method according to claim 8.

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