Vehicle qualification method by means of which, while a target vehicle is traveling, one or more moving objects located in the surroundings of the target vehicle can be qualified as potential pursuers

Abstract

The invention relates to a vehicle qualification method by means of which one or more moving objects (2; 3) located in the surroundings (7) of a target vehicle (1) can be qualified as potential pursuers while the target vehicle (1) is traveling.

Description

[0001] Patent application Applicant: peiker Holding GmbH Status: 08.08.2024 Our reference: P 1820 / DR - 1 -

[0002] Vehicle qualification procedure by which, during the journey of a target vehicle, one or more moving objects in the vicinity of the target vehicle can be qualified as potential pursuers.

[0003] The invention relates to a vehicle qualification method by which, during the journey of a target vehicle, one or more moving objects located in the vicinity of the target vehicle can be qualified as potential pursuers.

[0004] State of the art

[0005] DE 10 2012 107392 B3 describes a comprehensive security system for a motor vehicle, whereby hazards around the vehicle are detected by monitoring the surroundings. A video recording unit is intended to capture the known signature of at least one target vehicle and be able to track this vehicle; a navigation unit provides "position markers" for this purpose; a central control unit generates a "situation parameter," and a security monitoring unit deduces from this whether a threat exists and sends a warning message. A "tracking detection unit" is part of the security monitoring unit; if the image capture unit continuously reports the presence of a target vehicle with a known signature within a certain driving distance, tracking by this target vehicle is assumed.In DE10 2012 107 392 B3, vehicles with a known signature are monitored and a warning message is generated if they are constantly being followed by this "target vehicle".

[0006] EP 3 787 950 B1 claims a method and device for detecting vehicles following behind; a method for detecting a vehicle immediately following a vehicle ahead in a given track section. A track section monitoring device is intended to generate a "clearance signal" as soon as the track section becomes clear of vehicles after previously being occupied. According to EP 3 787 950 B1, a collision in a fixed track section is avoided by continuously monitoring the track section for vehicles.

[0007] A threat warning system for autonomous vehicles is described in US Patent 10,580,296 B2, which determines the route of a vehicle and the routes of other vehicles (Patent Application Applicant: peiker Holding GmbH, Status: August 8, 2024, Our Reference: P 1820 / DR - 2 -). The vehicle route is determined using vehicle route data, which includes a vehicle location and a vehicle destination. The routes of other vehicles are determined using their route data, which includes the locations and destinations of the other vehicles. Based on a comparison of all vehicle route data, routes that could lead to a collision are identified. This requires that the vehicles communicate directly with each other or via a communication network.

[0008] German patent application DE 10 2018 213 268 A1, entitled "Method for use in a vehicle," describes a method for determining whether a second vehicle is following a first vehicle. The method comprises: capturing image data from the first vehicle, from one or more vehicles in the vicinity of the first vehicle, over a period of time; analyzing the captured image data to identify one or more vehicles; and determining whether the second vehicle is following the first vehicle, depending on whether the second vehicle appears more than once under the one or more identified vehicles. Optionally, determining whether the second vehicle is following the first vehicle includes determining whether a relevant predefined threshold condition is met. A predefined threshold condition may depend on the environment in which the first vehicle is operating.In certain embodiments, the environment can depend on one or more of the following criteria: traffic volume, road types, road conditions, average driving speed, road location, and road classification. The control device can be configured to select the predefined threshold condition depending on a situational state of the first vehicle. This selection must be made by the driver of the first vehicle: for example, the driver can decide to change the image acquisition rate when driving on a highway. The method described in the main claim of DE 10 2018 213 268 A1, which serves to evaluate the frequency of occurrence of an apparently pursuing vehicle, is not capable of reliably and with a high degree of probability detecting and reporting a pursuer.The simple observation that a second vehicle appears several times while monitoring the surroundings is insufficient to reliably identify a follower. When, for safety reasons during the transport of valuable cargo and / or passengers, it becomes necessary to determine whether a vehicle is being followed, every false alarm or inadequate detection must be avoided. Patent application. Applicant: peiker Holding GmbH. Date: August 8, 2024. Our reference: P 1820 / DR - 3 -.

[0009] In WO 2012 / 156962 A2, entitled "Counter Surveillance System," a system is described that uses vehicle-mounted cameras to detect surveillance of a protected vehicle. These cameras are mounted at the front and rear of the protected vehicle and are connected to image processing software that a) identifies the license plates of surrounding vehicles, which are then checked against various friendly and foe databases, and b) records the movements of surrounding vehicles to attempt to identify following vehicles that (for example) remain at a certain distance from the protected vehicle for extended periods or meet other criteria. The aim here is to detect a threat or pursuit by identifying the license plates of vehicles surrounding the protected vehicle.The license plate numbers, essential for detecting a pursuit, are stored in a "friend-or-foe" database. Such a method is unsuitable for determining whether valuable cargo is being pursued by other vehicles while in transit.

[0010] The invention is based on the objective of developing a vehicle qualification method by which individual objects from a multitude of objects can be reliably identified as potential pursuers of a target vehicle.

[0011] In the vehicle qualification method according to the invention, by which one or more moving objects in the vicinity of the target vehicle can be qualified as potential pursuers during the journey of a target vehicle, the target vehicle comprises sensors, wherein the sensors detect the vicinity of the target vehicle and wherein the sensors continuously detect driving situation parameters such as speed and / or steering angle and / or elapsed time since the last observation of a journey path of the target vehicle, wherein the target vehicle comprises a data processing device to which the data generated by the sensors are transmitted, wherein in successive observation intervals all objects in the vicinity are additionally detected by the sensors and the data processing device by means of a detection algorithm, if necessary.can be recognized, described by detection parameters and stored with their detection parameters in the data processing device, whereby for each recognized object in each observation interval as a further patent application Applicant: peiker Holding GmbH Status: 08.08.2024 Our reference: P 1820 / DR - 4 -.

[0012] Each detection parameter is stored as an individual weighting factor, whereby the individual weighting factor, which can also be zero, is provided by a weighting algorithm based on the driving situation parameters recorded in the respective observation interval, whereby a sum of the weighting factors stored for each detected object is continuously calculated, and whereby each detected object, for which the sum of the stored weighting factors exceeds a limit value, is qualified by the data processing device as a potential pursuer, stored and signaled.Such a procedure enables an individual assessment of each object, whereby an individual assessment of the relevance of each driving situation for tracking is ensured by a weighting factor, so that a random multiple detection of a single object or several objects does not automatically lead to an overestimation of this object or these objects.

[0013] It may be possible to conduct observation intervals directly consecutively. This allows for a maximum amount of data to be provided to the detection algorithm, enabling the storage of as many detection parameters as possible for each object and thus optimizing object recognition.

[0014] Alternatively, it may be possible to process the recorded driving situation parameters in the data processing unit through a trigger algorithm, which, depending on the result of a comparison of the current driving situation parameters with parameter-specific limit values ​​and / or parameter-specific limit ranges, starts the next observation interval in which a detection of the objects in the vicinity of the target vehicle is carried out using an image of the environment, whereby it is specifically provided that an observation interval is started again after a maximum pause time has elapsed.By using a trigger algorithm for executing an observation interval, the amount of data to be processed can be reduced, yet a reliable qualification of objects as potential pursuers can still be achieved, since only driving situations with little relevance for an evaluation are excluded from the analysis.

[0015] It may also be provided that the weighting algorithm only assigns weighting factors greater than "0" if the trigger is triggered. Patent application Applicant: peiker Holding GmbH Status: 08.08.2024 Our reference: P 1820 / DR - 5 -

[0016] The algorithm identifies a driving situation relevant for observation. This allows the computational effort for determining, assigning, and storing weighting factors to be saved without significant disadvantage.

[0017] Furthermore, it may be possible to signal an object as a potential pursuer via an in-vehicle audiovisual system and / or an in-vehicle communication system, which automatically sends a message to a control center. This allows for an early and appropriate response to the detection of potential pursuers.

[0018] It may also be possible to collect additional detection parameters for each object classified as a potential pursuer using a detailed detection algorithm. These additional parameters, such as a recognized license plate number, can be used for planning protective measures. By only collecting these additional parameters when an object has been classified as a potential pursuer, the computational effort required for such measures is kept low.

[0019] Furthermore, it may be possible to process indicators assigned to the respective recorded parameters, such as speed, as weighting factors or as influencing factors for the respective weighting factors. This allows the method to be easily adapted to new insights into the behavior of pursuers by adjusting the indicators.

[0020] Finally, it may be possible to equip the sensor system with a GNSS sensor and a camera, with the GNSS sensor capturing at least some of the driving situation parameters. This ensures a simple sensor design, allowing for redundant configurations without high costs.

[0021] In this method, a probability or probabilities for tracking a target vehicle, preferably a transport vehicle, is calculated using vehicle-integrated sensors and vehicle-integrated data processing equipment via a vehicle qualification procedure, which is designed as a computer-implemented procedure. (Patent application Applicant: peiker Holding GmbH Status: 08.08.2024 Our reference: P 1820 / DR - 6 - )

[0022] Tracking is increasingly considered likely when, from a group of objects located in the vicinity of the target vehicle, preferably next to or behind the target vehicle, one object is recognized, which, for example, is repeatedly detected in close proximity to the target vehicle despite changes in direction or speed.

[0023] Especially when transporting valuable goods, it can be important to determine whether the target vehicle is being followed by one or more objects in order to prevent a potential robbery of the target vehicle.

[0024] There are several indicators that suggest a target vehicle is being followed by an object. These indicators can include: the same object being detected behind the target vehicle for an extended period, especially as the route or traffic conditions change; the distance between the target vehicle and the same object remaining constant even as the target vehicle speeds up or slows down; the same object appearing to turn when the target vehicle turns and appearing to change lanes when the target vehicle changes lanes; and the same object appearing to attempt to hide behind the target vehicle by driving in its blind spot.

[0025] For this purpose, the target vehicle's own sensor system may include at least one sensor suitable for detecting the aforementioned signs. This sensor may, in particular, be a camera that repeatedly creates an image of the environment around the target vehicle. In the target vehicle's own data processing unit, a unique description is generated for each moving object in the target vehicle's vicinity using a detection algorithm. This generation is based on suitable detection parameters as described in the patent application (Applicant: peiker Holding GmbH, Status: August 8, 2024, Our Reference: P 1820 / DR - 7). Such detection parameters may include, for example: the object's outline, color, vehicle type, license plate number, number of occupants identifiable in the object, and / or the object's distance from the target vehicle.

[0026] It may be possible to repeatedly generate images of the target vehicle's surroundings during its journey, create a unique description of each object based on the captured parameters using the detection algorithm, and compare these descriptions with those of previously generated images. This allows the system to determine whether objects repeatedly appear in the target vehicle's vicinity whose descriptions are identical or so similar that they can be assumed to be the same objects.

[0027] The vehicle's own data processing system can continuously improve the object descriptions during image analysis. For example, additional capture parameters can be recorded. In particular, license plate numbers can be recognized and stored, and preferably also compared with databases.

[0028] The vehicle's own data processing system can, at any time, output a probability for each detected object that it is following the target vehicle or moving along its route. This can be done according to predefined categories and / or by percentages and / or by summing weighting factors stored as detection parameters, so that appropriate countermeasures can be initiated if a threshold is exceeded. Suitable countermeasures could include, for example, sending a message or an emergency call, skipping a planned delivery stop, or seeking a safe area.

[0029] The vehicle's own sensor system can also include a GNSS sensor, which is used to determine driving situation parameters such as the target vehicle's position, direction of travel, speed, and acceleration. Based on one or more of these driving situation parameters, a trigger algorithm then initiates the generation of an image or the observation of the target vehicle's surroundings. Patent application Applicant: peiker Holding GmbH Status: August 8, 2024 Our reference: P 1820 / DR - 8 -

[0030] The generation of images or the observation of the environment can occur, for example, at a regular interval, such as once per second. Additionally or alternatively, the generation of images can also be speed-dependent, for example, depending on the driving situation parameter "speed of the target vehicle," so that at higher speeds, e.g., speeds above 30 km / h, more images are generated and evaluated per unit of time.

[0031] The generation of images or the observation of the environment can, for example, depend on a multitude of vehicle parameters, whereby it can be ensured in particular that a minimum number of observations are made per unit of time and that an observation is always made when this is specified by limit values ​​and / or limit ranges defined for the driving situation parameters and stored in the data processing device.

[0032] The data processing unit uses the detection algorithm – as described – to locate objects in the respective image, recognize objects, calculate descriptions of the objects in the form of acquisition parameters, and, if necessary, qualify objects as pursuers. Using a weighting algorithm that generates a weighting factor, the data processing unit also weights the objects with regard to their qualification as potential pursuers and stores this weighting as an additional acquisition parameter for the image of the respective object.

[0033] As soon as an initial match is detected between two objects identified in different images, the weighting is stored for the most recent image using a weighting factor. This weighting can then be used as the basis for calculating the probability of tracking. The probability is calculated, for example, from the sum of the weighting factors stored as detection parameters for all images of one of the objects. The sum of the weighting factors stored for an object is also called the total weighting number. The individual weighting factors can be stored for each corresponding image, and the total weighting number can then be calculated as the sum of the individual weighting factors for the same object.Alternatively, a current overall weighting number can always be stored for each individual image of an object, which results from the sum of the current weighting factor and the previously assigned weighting factors. Patent application Applicant: peiker Holding GmbH Status: 08.08.2024 Our reference: P 1820 / DR - 9 - .

[0034] In principle, the overall weighting factor depends on the situation resulting from the corresponding images. For example, a simultaneous turn of the target vehicle and the object in question off the highway leads to a lower weighting factor than a simultaneous turn of the target vehicle and the object in question onto a side street in an urban area. For example, restrictions for trucks, such as speed limits and / or no-overtaking zones, can lead to a higher weighting factor for a pursuit if the target vehicle is a truck and if the observed object is a car or motorcycle, for which the restrictions do not apply.

[0035] Only through continuous weighting using weighting factors is it possible to calculate the probability of tracking with high accuracy and reliability, since the total weighting number for the same object then represents the entire course of the potential tracking.

[0036] It may also be possible to activate a fine detection algorithm in the data processing unit once a certain total weighting score is reached, which is specialized, for example, in the recognition of vehicle license plates in order to further refine the description of the pursuing vehicle.

[0037] It may be provided that the driving situation parameters are recorded and stored by the sensors and the data processing unit at a frequency of preferably at least one hertz:

[0038] Longitude, namely the longitude of the target vehicle's position; latitude, namely the latitude of the target vehicle's position; direction, namely the target vehicle's orientation clockwise against north; distance, namely the actual distance traveled since the last recording of the driving situation; speed, namely the target vehicle's current speed;

[0039] Position error, namely estimation (upper bound) for the error in the position specification: longitude / latitude.

[0040] Based on all or a subset of the parameters listed below, the patent application can be used to

[0041] Applicant: peiker Holding GmbH Date: August 8, 2024 Our reference: P 1820 / DR

[0042] - 10 -

[0043] A trigger algorithm is used to decide on an observation.

[0044] Parameter "dist-max_X" - an observation is triggered after this travel distance is exceeded. - Parameter "winkel-abwie" - if the difference between the current travel angle and the angle of the last observation exceeds this value, an observation is triggered as soon as "dist-min" is exceeded.

[0045] Parameter "dist-min_X" - minimum distance between two observations. Parameter "stabil-winkel" - stabil-winkel, together with stabil-weg, determines whether a vehicle is in an "unstable" state, i.e., whether a strong stall is currently occurring.

[0046] A change in angle (e.g., by turning) is present.

[0047] The parameter "stable-distance" – stable-distance, together with stable-angle, determines whether a vehicle is in an "unstable" state. The table below specifies limit values ​​or ranges for the parameters mentioned above, with parameter-specific indicators assigned to each limit value or range. Patent application Applicant: peiker Holding GmbH Status: 08.08.2024 Our reference: P 1820 / DR - 11 -

[0048] The trigger algorithm can, for example, contain all or some of the following conditions linked by OR or AND, so that an observation of the environment can be triggered, for example, when one of these conditions is met.

[0049] Warning criterion A: The length of the distance traveled since the last observation - depending on the speed (speed indicator X) - exceeds the distance criterion "dist-max";

[0050] Warning criterion B: The difference in a direction of travel along the route travelled since the last observation is greater than the angle criterion by "angle-deviation", where the distance travelled "dist-min" must be exceeded;

[0051] Warning criterion C: If, during the last leg of the journey, the difference between two directions of travel was not greater than the "stable angle", the vehicle condition is stable;

[0052] Warning criterion D: An observation is carried out when the state changes from "stable to unstable" by exceeding the stable angle by 10 degrees; in this case, the distance traveled dist-min must be exceeded depending on the speed.

[0053] It may be provided that the speed-dependent and parameter-dependent indicators in the table printed above are used as weighting factors or for calculating the weighting factor.

[0054] An observation according to the aforementioned warning criterion A at a speed < 50 km / h (X=1.5) can, for example, be weighted with a factor of 1.5. If, for example, a change of direction occurs at this speed in the form of a turn, then the weighting factor increases to 2. If this turn occurs at v > 10 km / h, the weighting factor for this observation increases to 3. Patent application Applicant: peiker Holding GmbH Status: 08.08.2024 Our reference: P 1820 / DR - 12 -

[0055] Further details of the invention are described in the drawing with reference to a schematically illustrated embodiment.

[0056] This shows:

[0057] Figure 1: a first observation interval in a schematic view, wherein a first and a second object are located in the vicinity of a target vehicle;

[0058] Figure 2: a second observation interval in a schematic view, where only the first object is still in the vicinity of the target vehicle;

[0059] Figure 3: an enlarged representation of the one shown in Figures 1 and 2

[0060] Data processing unit of the target vehicle.

[0061] Figures 1 and 2 illustrate a vehicle qualification method V according to the invention by means of schematic views of a target vehicle 1 and two objects 2, 3. The target vehicle is designed as a transport vehicle 4. The first object 2 is designed as a passenger car 5 and the second object is designed as a two-wheeler 6. In Figure 1, both objects 2, 3 are located in an environment 7 of the target vehicle 1. In Figure 2, only the first object 2 is located in the environment 7 of the target vehicle 1.

[0062] The target vehicle 1 includes sensors 8, which detect the environment 7 of the target vehicle 1. These sensors 8 continuously detect driving situation parameters 9 of a journey 10 of the target vehicle 1. These include, for example, the speed of the target vehicle 1 and / or the steering angle of the target vehicle 1 and / or the acceleration or deceleration of the target vehicle 1.

[0063] The target vehicle 1 includes a data processing unit 11, to which the data 12 generated by the sensors 8, namely the driving situation parameters 9, are transmitted. The sensors 8 and the data processing unit 11 of the target vehicle 1 are enlarged and shown in further detail in Figure 3.

[0064] In successive observation intervals I, II (see Figures 1 and 2), the objects 2, 3 located in the vicinity 7 of the target vehicle 1 are additionally detected from an image 13a generated by the camera 13 by the sensor system 8, which for this purpose also includes a camera 13, and the data processing unit 11 by means of a detection system. Patent application Applicant: peiker Holding GmbH Status: 08.08.2024 Our reference: P 1820 / DR - 13 -

[0065] Algorithm DA detects, possibly recognizes, describes by acquisition parameters 14, and stores these acquisition parameters 14 in a memory 15 of the data processing unit 11. The data 12 generated by the sensor 8 also includes the images 13 output by the camera 13.

[0066] For each of the two objects 2, 3 detected in the environment 7 within the observation interval I (see Figure 1), an individual weighting factor 17-2 or 17-3 is stored in memory 15 as a further detection parameter 16.

[0067] The individual weighting factor 17-2, 17-3 for observation interval I is provided by a weighting algorithm WA based on the driving situation parameters 9 recorded in observation interval I.

[0068] Such weighting factors are stored in each observation interval for the respective detected objects. Thus, in observation interval II, schematically depicted in Figure 2, a further weighting factor 18-2 is stored for the first object 2, which was again determined by the weighting algorithm WA from the driving situation parameters 9 recorded for the second observation interval II.

[0069] Since the first object 2 - as shown in Figure 2 - was recognized in the second observation interval II, which lies after the first observation interval I, a sum of the weighting factors 17-2 and 18-2 stored for the first object 2 is formed in a processor P11 of the data processing unit 11 after recognition.

[0070] If the sum of the weighting factors 17-2 and 18-2 stored for the first object 2 exceeds a limit value 19 stored in the memory 15 of the data processing unit 11, the first object 2 is qualified, stored, and signaled by the data processing unit 11 as a potential pursuer PV. Signaling occurs, for example, on a visualization device 20 of the target vehicle 1 in a map display showing the surroundings of the target vehicle 1 and the position of the first object 2 qualified as a potential pursuer PV. Patent application Applicant: peiker Holding GmbH Status: 08.08.2024 Our reference: P 1820 / DR - 14 -

[0071] According to one initial approach, it can be planned that observation intervals I and II and all further observation intervals follow each other directly in time, thus continuously generating and evaluating images of the environment.

[0072] According to a second variant, it can be provided that the recorded driving situation parameters 9 in the data processing unit 11 go through a trigger algorithm TA, by which the next observation interval is always started, in which a detection of the objects in the vicinity of the target vehicle is then carried out again on the basis of an image of the environment.

[0073] This start is dependent on the result of a comparison of the current driving situation parameters 9 with parameter-specific limit values ​​21 and / or limit ranges 22. It is intended that each subsequent observation interval will start, regardless of the recorded driving situation parameters 9, at the latest after a maximum pause time has elapsed.

[0074] It may be intended that the weighting algorithm WA only assigns weighting factors 16 that are greater than "0" if the trigger algorithm TA detects a driving situation relevant for observation.

[0075] The sensor system 8 includes, in addition to the camera 11, a GNSS sensor 23, whereby at least some of the driving situation parameters 9 are recorded by the GNSS sensor 23.

[0076] Patent application Applicant: peiker Holding GmbH Status: 08.08.2024 Our reference: P 1820 / DR - 15 -

[0077] Reference to character list:

[0078] 1 Target vehicle

[0079] 2 first object

[0080] 3 second object

[0081] 4 Transport vehicles

[0082] 5 cars

[0083] 6 Two-wheeler

[0084] 7. Environment of the target vehicle 1

[0085] 8 sensors out of 1

[0086] 9 driving situation parameters

[0087] 10. Route of the target vehicle

[0088] 11 Data processing facility of 1

[0089] 12 data points generated by sensors 8

[0090] 13 Camera 13

[0091] 13a Image produced by camera 13

[0092] 14 acquisition parameters generated by DA

[0093] 15 of 11 storage locations

[0094] 16 additional recording parameters

[0095] 17-2 individual weighting factor for 2 in the first observation interval

[0096] 17-3 individual weighting factor for 3 in the first observation interval

[0097] 18-2 further weighting factor for 2 in the second observation interval

[0098] 19 Limit value

[0099] 20 Visualization device of the target vehicle 1

[0100] 21 parameter-specific limit value

[0101] 22 parameter-specific limit range

[0102] 23 GNSS sensors out of 8

[0103] I first observation interval

[0104] II second observation interval

[0105] DA detection algorithm patent application

[0106] Applicant: peiker Holding GmbH Date: August 8, 2024 Our reference: P 1820 / DR - 16 -

[0107] P11 Processor of the Data Processing Unit 11

[0108] PV potential pursuer

[0109] TA Trigger Algorithm

[0110] WA Weighting Algorithm

Claims

Patent application Applicant: peiker Holding GmbH Status: 08.08.2024 Our reference: P 1820 / DR - 17 - Claims:

1. Vehicle qualification procedure by which, during the journey of a target vehicle (1), one or more moving objects (2; 3) located in the vicinity (7) of the target vehicle (1) can be qualified as potential pursuers (PV), wherein the target vehicle (1) comprises a sensor system (8), wherein the sensor system (8) detects the vicinity (7) of the target vehicle (1) and wherein the sensor system (8) continuously detects driving situation parameters (9) of a journey (10) of the target vehicle (1), wherein the target vehicle (1) comprises a data processing device (11) to which the data generated by the sensor system (8) are transmitted, wherein in successive observation intervals (I; II) the sensor system (8) and the data processing device (11) additionally detect all objects (2; 3) located in the vicinity by means of a detection algorithm (DA), if necessary.are recognized, described by acquisition parameters (14) and stored with their acquisition parameters (14) in the data processing unit (11), wherein for each recognized object (2; 3) in each observation interval (I; II) an individual weighting factor (17-2; 17-3; 18-2) is stored as a further acquisition parameter (16), wherein the individual weighting factor (17-2; 17-3; 18-2) is provided by a weighting algorithm (WA) on the basis of the driving situation parameters (9) acquired in the respective observation interval (I; II), wherein for each recognized object (2) a sum of the weighting factors (17-2, 18-2) stored for it is continuously calculated, wherein each recognized object (2) for which the sum of the stored weighting factors (17-2, 18-2) exceeds a limit value (19) is removed from the The data processing unit (11) is qualified as a potential tracker (PV), stored and signaled.

2. Method according to claim 1, characterized in that the observation intervals (I; II) follow each other directly in time.

3. Method according to claim 1, characterized in that the detected Driving situation parameters (9) in the data processing unit (11) undergo a trigger algorithm (TA) which, depending on a result Patent application Applicant: peiker Holding GmbH Status: 08.08.2024 Our reference: P 1820 / DR - 18 - of a comparison of the current driving situation parameters (9) with parameter-specific limit values ​​(21 ) and / or parameter-specific limit ranges (22) the next observation interval is started, in which a detection of the objects (2; 3) located in the environment (7) of the target vehicle (1 ) is carried out on the basis of an image (13a) of the environment (7), wherein it is provided in particular that an observation interval (I; II) is started again at the latest after an expiry of a maximum pause time.

4. Method according to at least one of the preceding claims, characterized in that the weighting algorithm (WA) only assigns weighting factors greater than "0" if the trigger algorithm (TA) detects a driving situation relevant for observation.

5. Method according to at least one of the preceding claims, characterized in that the signaling of an object (2) as a potential pursuer (PV) is carried out to an in-vehicle audiovisual device and / or to an in-vehicle communication device, through which a message is automatically sent to a control center.

6. Method according to at least one of the preceding claims, characterized in that additional detection parameters are acquired for each object (2) qualified as a potential tracker (PV) by means of a fine detection algorithm.

7. Method according to at least one of the preceding claims, characterized in that indicators which are assigned to the respective recorded parameters are processed as weighting factors or as influencing factors for the respective weighting factors.

8. Method according to at least one of the preceding claims, characterized in that the sensor system (7) comprises a GNSS sensor (23) and a camera (13), wherein at least a part of the driving situation parameters (9) is detected by the GNSS sensor (23).

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