DE102012211509A1 - Method for preventing collision or preventing collision damage during collision of ego-vehicle and e.g. person approaching vehicle in e.g. traffic jam, involves executing action to prevent collision by outputting acoustical signal to object - Google Patents

Abstract

The method involves monitoring surrounding of an ego-vehicle, determining free spaces in the surrounding and determining approach of an object e.g. person, to the ego-vehicle and collision probability of the object with the ego-vehicle. Speed of the ego-vehicle is determined by a data processing device (6), where the approach of the object is determined by comparison of approach speed of the object with the speed of the ego-vehicle. An action for collision prevention or for preventing collision damages is executed by outputting acoustical and/or optical warning signal to the object. Independent claims are also included for the following: (1) a computer program for preventing collision or preventing collision damage during collision of ego-vehicle and object (2) a driver assistance system.

Description

State of the art

The invention relates to a method for collision avoidance or to reduce accident damage.

The invention also relates to a driver assistance system and a computer program.

There is a strong interest in avoiding accidents or contributing to the reduction of accidental damage caused by a vehicle being reset, such as by driving over a pedestrian or cyclist, or by a collision with a stationary object. Such situations can be found, for example, in a supermarket car park, when several vehicles are maneuvering backwards at the same time. Likewise, there is an interest in avoiding accidents or contributing to the reduction of accidental damage caused by vehicles approaching a vehicle from behind. Such situations can be found, for example, in vehicles that are waiting in front of a traffic light or in traffic jams.

DE 10 2009 052589 A1 shows a system for monitoring and signaling a traffic situation in the vicinity of a vehicle, which is set up to warn a located in the vicinity of the vehicle other road users by suitable means when a critical situation exists. An ultrasound system determines a critical situation when the own vehicle is, for example, in a semi-autonomous driving operation or in a shunting operation and additionally at least one other road user is present in the environment of the own vehicle. In the presence of such a critical situation, optical signaling devices, such as hazard warning lights of the vehicle, or acoustic signaling devices, such as the horn can be put into operation to warn the road user in the specific risk situation when reversing.

DE 10 2009 025 607 A1 shows a method and apparatus for avoiding a collision of a moving vehicle with an object approaching from behind, wherein an environment is monitored behind the vehicle and it is judged whether it can come to a rear-end collision by the approaching from the rear object. When a critical situation is identified, a reaction is automatically initiated to avoid the collision. DE 10 2009 025 607 A1 describes a situation at a jam end, in which a driver endeavors to bring his own vehicle to a halt as early as possible, as a result of which a vehicle traveling too fast can no longer brake in the remaining space. The measures for collision avoidance include a targeted release of the brake, so that as close as possible to the preceding vehicle can be driven up and an automatically initiated evasive movement in clearances to the side of the vehicle.

Disclosure of the invention

Advantages of the invention

According to a first aspect of the invention, a method is provided for collision avoidance or for reducing accident damage in the event of a collision between an ego vehicle and an object approaching the ego vehicle from the rear,
wherein a device of the ego vehicle monitors an environment of the ego vehicle and an approximation of the object to the ego vehicle and a collision probability of the object with the ego vehicle are determined in the vicinity of the ego vehicle,
wherein a speed of the ego vehicle is determined and the approach of the object is determined by comparing the approach speed of the object with the speed of the ego vehicle, and
wherein an action for collision avoidance or for the reduction of accident damage is carried out, which includes a delivery of an audible and / or visual warning signal to the object.

It is particularly advantageous that the acoustic and / or visual warning to the object means no significant interference with the traffic. Other road users are not frightened by an abrupt vehicle maneuver, such as braking or an evasive movement of the ego vehicle. An optical warning may include, for example, a simple or multiple flashing of the rear hazard warning lights or other rear-mounted lighting devices such as taillights, brake lights or rear fog light, the flashing can be performed both in-phase left and right and alternately left and right. An audible warning may include an operation of a horn and / or the triggering of a permanent or periodically recurring beep signal, wherein a transmitter of the beep signal can be arranged in particular in the vehicle exterior and can be used especially for outputting the warning signal or can be used for other purposes.

According to a preferred embodiment, at least one further action for collision avoidance or to reduce accident damage executed, which includes a delivery of an audible and / or visual warning signal to the driver of the ego vehicle.

This alerts the driver of the ego vehicle and places it in a situation where it can react to the danger itself. The acoustic signal may include a triggering of a permanent or periodically recurring beep signal, wherein a transmitter of the beep signal is preferably arranged in the vehicle interior, and / or a volume control of the car radio and / or a voice message, for example via radio boxes. An optical warning signal may include, for example, a display of a warning signal on a head-up display or on a head-down display. The overlay may include a highlight, such as a color highlighting or flashing of the detected object on a camera image and / or a color highlighted and / or flashing warning icon, such as an icon on a camera image. The haptic signal may include a vibration that may act repeatedly on the steering wheel in a matter of a few seconds and that is felt by the driver.

According to one embodiment of the invention, it is provided that free spaces in the vicinity of the ego vehicle are determined. A free space may be defined as a secure location reachable in a train, ie, the vehicle can be transferred from a current position into the free space without presetting and resetting, and no other vehicle, bicycle, person or other object can be located there located. A determined free space can be assigned an escape direction, which can be defined as the direction in which the vehicle must first move in order to be able to be transferred into the determined free space. If several free spaces are available, it may be provided to determine a preferred free space, ie. H. to select one of the several. In the case where, in front of the vehicle, both left, center and right are free, the clearance is preferably selected straight ahead. In the event that the driver assistance system determines that a deviation to the right and to the left, but not forward is possible to avoid any further collisions preferred the right free space is selected in which usually can be expected with less traffic flow. In addition, when determining the avoidance direction, information of a lane assistant and / or information from a digital road map is preferably used.

According to a preferred embodiment, at least one further action for collision avoidance or to reduce accident damage is carried out, which comprises an intervention in the longitudinal and / or transverse control of the ego vehicle. The further action may be delayed or simultaneously executed depending on the criticality of the situation. The longitudinal and / or transverse control of the ego vehicle may include a drive train and / or a braking device and / or a steering device of the ego vehicle.

According to a preferred embodiment, at least one further action for collision avoidance or to reduce accident damage is carried out, which comprises executing an evasive maneuver of the ego vehicle. The avoidance maneuver is preferably carried out if a free space has been determined. In one embodiment, the free space monitoring device takes into account an expected impact force and the expected speed of the ego vehicle during the determination of the free space. In the case of a very rapidly approaching vehicle, a very large space may be needed to bring the vehicle to a stop after the impact.

The evasive maneuver is a transfer of the first vehicle in the preferred free space. In this case, an intervention is made in the steering system of the vehicle, so that the tires are aligned in the direction of a determined free space. The intervention in the steering system is superimposed on an intervention in the drive train of the vehicle. The evasive movement is preferably carried out by releasing the brake, then an engagement of a gear and a subsequent acceleration shock with a targeted steering in the previously determined free space. In the event that clearance has been detected straight in front of the vehicle, the wheels will be aligned straight ahead and the avoidance maneuver will be particularly easy and quick due to an acceleration shock, i. executed a gas shock. This is particularly advantageous in vehicles with automatic transmissions and automated manual transmissions. For vehicles with a start-stop system, the engine is started beforehand. By moving forward, it can be achieved that the relative speed of the vehicles is reduced with each other, so that on impact a lesser impulse is transmitted from the following vehicle to the stationary or slow moving ego vehicle. In an evasive movement into a lateral free space is also achieved that the subsequent vehicle does not hit the stationary or slow-moving ego vehicle head-on, but slightly offset laterally, i. Ideally, it does not transmit its momentum completely, but carries off part of the speed after the impact in another direction.

According to a preferred embodiment, at least one further action for Collision avoidance or to reduce accident damage is performed, which includes an initiation or increase a braking of the ego vehicle. Preferably, the initiation or amplification of the braking is carried out if no free space has been determined.

The embodiment provides a solution to the problem occurring, for example, in front of a traffic light or at a traffic jam end, in which a rapidly approaching vehicle encounters the slowly rolling or already stationary ego vehicle. In comparison with a vehicle that is struck by an approaching vehicle with no or only slightly applied brakes, amplifying the brake means that the ego vehicle is not on an object in front of the ego vehicle, such as a vehicle, a two-wheeler, or a person is pushed. The reinforcement is provided because in general, the driver is only so strong on the brake that the vehicle does not roll away. Whether there is an object in front of the ego vehicle is checked by the free space monitoring.

According to a preferred embodiment, the collision probability is determined if an approach of the object to the ego vehicle and a deceleration of the approach are detected, which lies below a defined threshold. The defined threshold may for example be between 10 m / s ² and 2 m / s ² , preferably between 10 m / s ² and 5 m / s ² .

The given collision probability may relate in particular to the circumstance that the recognized endangered object is located in a travel tube or in a danger zone of the vehicle or threatens to enter it. The relative velocity of the second vehicle to the ego vehicle and the magnitude of the relative velocity deceleration may provide a TTC ("time to collision"), i. a time to the impending collision are determined. If the TTC is less than 3 s, more preferably less than 2 s or less than 1 s, an imminent or unavoidable collision can be assumed. In other words, the given collision probability can also relate to the circumstance that a time assigned to the recognized endangered object has fallen below a defined value, in particular 3 s, 2 s or 1 s, until the collision.

The TTC can be periodically calculated at short time intervals of between 0.1 s and 1 s, and the action can be triggered when the TTC falls below a specified critical value, for example 3 seconds, 2 seconds or 1 second. A value can then be considered critical if an alternative possibility of the following vehicle is no longer possible, whereby the criticality of the TTC can depend on the relative speed of the approaching vehicle with respect to the stationary or slowly moving ego vehicle. For example, a TTC that is less than 10 seconds but greater than 5 seconds or greater than 4 seconds or greater than 3 seconds may be considered uncritical.

The method is used, for example, in the context of a back over avoidance, i. a system used to avoid overrunning road users in reverse. In a reverse gear in reverse gear, the optical and / or acoustic warning signals to the endangered object are particularly preferably emitted only in the rear region of the vehicle. This is advantageous in that the signal differs from a normal signal of the hazard warning lights and a signal of the car alarm, in which both in the front area and in the rear of the vehicle and possibly in the side area of the vehicle lighting devices, especially the indicators flashing so that the warning signal will even more attract the attention of the road user. For this purpose, in the rear-end vehicle area, a transmitter of a beep signal may be provided specifically for the purpose of warning the road users.

The method is used, for example, as part of a parking assistance device. Proposed is a functional extension of the park pilot with the speed information of the own vehicle. By this additional information, the control unit can detect whether the approach speed coincides when reversing an obstacle with its own speed. If that is the case, it is a fixed obstacle. If the approach speed, which can be determined from the ultrasonic signal, is higher than the own driving speed, it is an object, for example a person, a shopping cart or a foreign vehicle, which moves towards the ego vehicle. This proposal mitigates the risky situation encountered in downshifting multiple vehicles, e.g. on a supermarket parking lot, occurs.

According to the invention, a computer program is also proposed according to which one of the methods described herein is performed when the computer program is executed on a programmable computer device. The computer program can be, for example, a module for implementing a driver assistance system or a subsystem thereof in a vehicle or an application for driver assistance functions that operate on a vehicle Smartphone is executable. The computer program may be stored on a machine-readable storage medium, such as on a permanent or rewritable storage medium or in association with a computer device or on a removable CD-ROM, DVD or USB stick. Additionally or alternatively, the computer program may be provided on a computing device, such as a server for downloading, e.g. Via a data network such as the Internet or a communication connection such as a telephone line or a wireless connection.

• – Eine Umgebungserfassungseinrichtung,
• – Ein Modul zur Erkennung von Objekten in der erfassten Umgebung,
• – Ein Modul zur Ermittlung einer Geschwindigkeit des Ego-Fahrzeugs,
• – Ein Modul zur Ermittlung einer Kollisionswahrscheinlichkeit eines erkannten Objekts mit dem Ego-Fahrzeug,
• – Ein Modul zur Ausführung einer Aktion zur Kollisionsvermeidung oder zur Verminderung von Unfallschäden, die eine Abgabe eines akustischen und/oder optischen Warnsignals an das erkannte Objekt umfasst.

Furthermore, a driver assistance system is provided for carrying out one of the methods described herein, comprising the following components:

• An environment detection device,
• A module for detecting objects in the detected environment,
• A module for determining a speed of the ego vehicle,
• A module for determining a collision probability of a detected object with the ego vehicle,
• - A module for performing an action for collision avoidance or to reduce accident damage, which includes a delivery of an audible and / or visual warning signal to the detected object.

The environment detection device may be designed as a camera system, an ultrasound system, laser system or lidar system or comprise a combination of the systems.

The driver assistance system may include a fusion component, which combines data from the environment detection device and further processed, which may be transmitted to a display or a collision monitoring system, for example. The information about the vehicle environment obtained by the environment detection device may thus, e.g. be output as a 3D image of the environment from a top view or from the driver's perspective to the driver, for example, the detected object can be made particularly noticeable.

The module for carrying out the action for collision avoidance or for reducing accident damage is preferably coupled to optical, acoustic and / or haptic warning signal transmitters and / or to a drive train of the vehicle, which can be controlled by the module to execute the action.

The driver assistance system preferably includes a free space monitoring module. The free space monitoring module preferably has access to data of a device for detecting the surroundings, for example a camera system, ultrasound system, laser system or lidar system or a combination of the systems. If, for example, a free space monitoring module is already used in a parking assistant, then corresponding calculation modules can be reused, which reduces the implementation costs.

According to some embodiments, the driver assistance system includes or has access to a module for processing GPS data. The driver assistance system also includes or has access to a track information processing module, i. a lane assistance module. The data of the lane information and the GPS data may be used by the free space monitoring module to determine free spaces in the environment.

The module for determining the risk of collision from data of the environment detection device may be a module, which may also be used, for example, by a backover avoidance system, i. a system for avoiding collisions during reset, is used. If a back-up avoidance module exists, corresponding calculation modules can be reused for a driver assistance according to the invention, which reduces the implementation costs.

Brief description of the drawings

Further advantages of the invention will be apparent from the following description of the figures.

Show it

1 an apparatus for carrying out the method according to the invention,

2 a situation at a jam end in plan view with a stationary vehicle and an approaching fast-moving vehicle,

3 a plan view of a situation with a vehicle and another vehicle.

Embodiments of the invention

1 shows a schematic representation of functional components of a driver assistance system 3 according to the present invention. The driver assistance system 3 is configured to perform one of the described methods for collision avoidance or for the reduction of accidental damage in the event of a collision between an ego vehicle and a second vehicle approaching the ego vehicle from behind.

The driver assistance system 3 includes sensors of an environment detection device 1 , For example, a camera system, an ultrasound system, laser system and / or Lidar system, and other sensors, in particular a vehicle data sensor 2 , The signals of the environment detection device 1 and the vehicle data sensor 2 be in an input circuit 4 receive. The input circuit 4 is with a bus system 5 for data exchange with a data processing device 6 connected. The data processing device 6 is with another 7 or the same 5 Bus system with an output circuit 8th connected.

The data processing device 6 includes a module 10 for detecting objects in the detected environment of the vehicle, which in particular the data of the sensor system 1 processed. The module 10 For the detection of objects, in the case of an optical sensor system, it is known to use, for example, image information such as optical contrasts or vector flows derived from image sequences, for example an optical flow, and / or 3D information obtained from stereoscopic cameras.

The data processing device 6 also includes a module 11 for determining a speed of the ego vehicle, which contains the data of the vehicle data sensor system 2 and / or data of the environment detection device 1 processed. From the data of the vehicle data sensor 2 which are, for example, odometry data, and / or from the data of the environment detection device 1 can determine a vehicle speed of the vehicle.

The data processing device 6 also includes a module 12 for determining a collision probability with a detected object, which data of the sensor system 1 and / or data of the module 10 for recognizing objects and / or data of the module 11 can process to determine the speed of the ego vehicle. The module 12 to determine the probability of collision processes these and, for example, further data of the vehicle data sensor 2 about a tire level of the vehicle, ie, for example, a steering angle, wherein from the tire level and the vehicle speed, a driving tube of the vehicle can be determined, ie a future overrun by the vehicle in a defined time section.

A collision probability is given when an approach of a recognized object to the ego vehicle and a deceleration of the approach are determined, which is below a defined threshold, for example below 10 m / s, 5 m / s or 2 m / s. The approach and the deceleration of the object relative to the ego vehicle are determined from a difference between the determined vehicle speed of the ego vehicle and the determined relative speed of the approaching object.

The relative speed of the approaching object can be determined, for example, by evaluating the data of the environment detection device 1 done, for example, by an evaluation of camera images, a scaling change or, for example, by determining the Doppler shift of reflected laser, radar or ultrasonic signals.

A collision probability can be given when a detected object is in the calculated travel path of the vehicle. In addition, insofar as this is already possible from the received signals, a movement of the detected object is extrapolated and a potential trajectory of the detected object is determined. In addition, a collision probability can be given if, on the basis of the potential trajectory of the detected object, it can be predicted that it will be located in the calculated travel path of the vehicle in the future. From the module 12 For determining the collision probability, a TTC, time to collision, ie a time until an imminent collision of the vehicle with a detected object is calculated for the detected object. If the calculated TTC is below a predetermined value, which may be, for example, 3 s, 2 s, or 1 s, then a collision probability of the vehicle with the detected object is assumed to be given.

Furthermore, a free space monitoring module 13 provided, which data from the environment detection device 1 can receive. The free space monitoring module 13 For example, it may be coupled to a lane-assistance module that processes information about the surroundings of the vehicle. Furthermore, the free space monitoring module 13 Receive data of a digital map of a navigation system, such as information about the location and orientation of the vehicle. The information about the type of road available from the digital map, in particular as to whether a highway, a freeway, a single-lane road or a multi-lane road is used, can be accessed by the free-space monitoring module 13 also be taken into account.

Furthermore, there is a module 14 to perform an action for collision avoidance or to reduce accident damage provided, which data from the module 12 to determine the probability of collision and of the Space monitoring module 13 can receive. The module 14 to execute the action controls via the output circuit 8th a braking device 15 on, as well as a motor coupling 16 , a steering device 17 in the vehicle arranged signal generator 18 , located outside the vehicle signalers 19 and / or a component 20 of the drive train and thus actively intervenes in the longitudinal and / or transverse control. Which measure the module 14 to perform the action depends on the situations caused by the collision monitoring module 12 and the free space monitoring module 13 be described, ie of the module 14 Data passed to execute the action, which classifies in situations. In a non-critical TTC, an audible and / or visual warning signal is emitted to the object and possibly another acoustic, optical or haptic signal to the driver. In a critical TTC with an imminent impact, the module performs 14 to perform the action in addition to an intervention in the longitudinal and / or transverse control of the ego vehicle by.

2 shows a typical, present at a jam end on a highway situation in plan view. A first ego vehicle at a traffic jam 30 , which with a according 1 illustrated driver assistance system 3 equipped to carry out the method according to the invention is located at a jam end as the last vehicle in a middle lane 31 , The highway is here exemplified three lanes and the middle lane 31 lies between a left lane 32 and a right lane 33 , which continue on the right side by a side strip 34 is limited. Another vehicle 35 approaches the ego vehicle from behind with great speed 30 , where a relative speed of the vehicles 30 . 35 through an arrow 54 is shown. In the situation shown, a crash, ie a rear-end collision is imminent. The relative speed of the approaching vehicle 35 is too big than that the vehicle 35 in front of the ego vehicle 30 could come to a halt.

Rear-mounted sensors 36 of the ego vehicle 30 becomes the approaching vehicle 35 detected. The detection range of the sensors 36 is through a cone 46 shown. The module 12 for determining a collision probability of the ego vehicle 30 calculates a TTC, ie a time to collision, from received image data and / or data from a rearward ultrasound system and / or data from a radar system and / or lidar system located at the rear.

Furthermore, on the ego vehicle 30 front sensors 37 as well as two side sensors 38 . 39 provided what data about the lateral and front environment of the vehicle 30 determine. The detection range of the front sensors 37 is through a cone 40 shown, the detection ranges of the side sensors 38 . 39 are through two more cones 41 . 42 shown. The ones from the front sensors 37 and the side sensors 38 . 39 recorded data are transmitted to a signal processing module, which extracts information about the objects arranged in the environment, in particular lane information and information about other vehicles. Through the front sensors 37 be in the in 2 exemplified situation in the middle lane 31 at least one in front of the ego vehicle 30 located vehicle 43 and possibly, if the perspective allows, another vehicle 44 recorded as well as another vehicle in front of it 45 in the left lane 32 and another vehicle 47 in the right vehicle lane 33 , In the coverage area 41 of the left side sensor 38 there is no vehicle. In the coverage area 42 the right side sensor 39 there is also no vehicle. The data of the sensors 37 . 38 . 39 be suitably summarized, so that sufficient certainty about the location and speed of the detected vehicles 44 . 45 . 47 consists. In the free space monitoring module 13 are determined from the extracted data and using further information above free spaces. Two free spaces, which through the free space monitoring module 13 are determined are in dashed lines with the reference numerals 48 and 52 shown. A first free space 48 with a first transfer route 49 is in the left lane 32 in front of the ego vehicle 30 and a second space 52 with a second associated transfer path 51 is in the right lane 33 in front of the ego vehicle 30 , The free space monitoring module 13 creates a preference list of the determined free spaces 48 . 52 and hands over to the control module 14 a preferred free space. In the case shown, for example, the free space 52 in the right lane 33 be, since starting from the free space on the shoulder 34 easy to reach.

If from the module 12 a collision probability was determined to determine the probability of collision, a warning signal to the second vehicle 35 via a rear-mounted signal generator 55 of the ego vehicle 30 issued. After a short delay, for example between 0.1 and 5 seconds, in particular between 0.5 and 2 seconds, if the risk of collision persists, a transfer of the ego vehicle can take place 30 on the preferred free space 52 done by controlling the longitudinal and lateral guidance of the ego vehicle. The movement is always from the driver of the ego vehicle 30 Overrideable and interruptible, giving him full control over his vehicle at all times 30 reserves. In addition, it may be provided to the driver of the ego vehicle 30 over in the ego vehicle 30 arranged signal generator 53 to warn about the impending collision.

3 shows in plan view a situation with an ego vehicle 60 and a road user 65 , The ego vehicle 60 is in one by an arrow 64 indicated operating state in a reverse drive to the road user 65 to. The vehicle 60 is with a driver assistance system according to the invention, which in relation to 1 described, equipped.

The road user 65 For example, by means of a reversing camera 61 captured and from a module 10 Detected for detecting objects in the vicinity of the vehicle. The road user 65 can additionally by means of another system 62 , For example, an ultrasound system 62 , a near field radar or a lidar system, are detected and detected.

Furthermore, a driving tube 69 shown, which from a tire position of the ego vehicle 60 and a current speed of the vehicle 60 can be determined. The driving tube 69 has a length 70 which depends on the speed of the vehicle 60 and a predefined time, for example 1 to 3 s, and a width that is approximately one vehicle width 71 equivalent. Alternatively or in addition to this, by means of one of the systems for detecting the surroundings, a potential roadway of the vehicle, for example a driveway, can be detected, resulting in a danger zone for the road user 65 can be determined. As the road user 65 in the driving tube 69 is in the illustrated case, a collision probability is given. Even when staying in a hazardous area, there is a probability of collision. Immediately after detection of the road user 65 an action is carried out to avoid collision or to reduce accident damage. This is the road user 65 in front of the reversing ego vehicle 60 warned, for example by connecting rear side mounted bulbs 66 , a rear-mounted beep signal transmitter 67 and / or by pressing a horn 68 , In addition, the driver of the ego vehicle can also 60 in front of the road user 65 be warned by an audible and / or visual and / or haptic warning signal. If the risk of collision persists, automatic braking of the vehicle may occur 60 be initiated to avert the danger.

The invention is not limited to the embodiments described herein and the aspects highlighted therein. Rather, within the scope given by the claims a variety of modifications are possible, which are within the scope of expert action.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102009052589 A1 [0004]
• DE 102009025607 A1 [0005]

Claims (10)

Method for collision avoidance or for reducing accident damage in a collision of an ego vehicle ( 30 . 60 ) and one of the ego vehicle ( 30 . 60 ) approaching from behind ( 35 . 65 ), wherein a device of the ego vehicle ( 30 . 60 ) an environment of the ego vehicle ( 30 . 60 ) and in the vicinity of the ego vehicle ( 30 . 60 ) an approximation of the object ( 35 . 65 ) to the ego vehicle and a possible collision probability of the object ( 35 . 65 ) with the ego vehicle ( 30 . 60 ), whereby a speed of the ego vehicle ( 30 . 60 ) and the approach of the object ( 35 . 65 ) by comparing the approach speed of the object ( 35 . 65 ) with the speed of the ego vehicle ( 30 . 60 ) is carried out, wherein an action for collision avoidance or for the reduction of accident damage is performed, which is a delivery of an acoustic and / or visual warning signal to the object ( 35 . 65 ). A method according to claim 1, characterized in that at least one further action for collision avoidance or to reduce accident damage is performed, which a delivery of an audible and / or visual warning signal to the driver of the ego vehicle ( 30 . 60 ). Method according to claim 1 or 2, characterized in that free spaces ( 48 . 52 ) in the vicinity of the ego vehicle ( 30 . 60 ) be determined. Method according to one of the preceding claims, characterized in that at least one further action for collision avoidance or for the reduction of accident damage is carried out, which is an execution of an evasive maneuver of the ego vehicle ( 30 . 60 ). Method according to one of the preceding claims, characterized in that at least one further action for collision avoidance or to reduce accident damage is carried out, which is an initiation or amplification of a braking of the ego vehicle ( 30 . 60 ). Method according to one of the preceding claims, characterized in that the collision probability is determined if an approach of the object ( 35 . 65 ) to the ego vehicle ( 30 . 60 ) and a delay of the approach, which is below a defined threshold.  A computer program for performing any of the methods of any one of claims 1 to 6 when the computer program is executed on a programmable computing device. Driver assistance system ( 3 ) for carrying out one of the methods according to any one of claims 1 to 6, comprising the following components: - an environmental detection device ( 1 ), - A module ( 10 ) for recognizing objects ( 35 . 65 ) in the detected environment, - A module ( 11 ) for determining a speed of the ego vehicle ( 30 . 60 ), - A module ( 12 ) for determining a collision probability of a detected object ( 35 . 65 ) with the ego vehicle ( 30 . 60 ), - A module ( 14 ) for carrying out an action for collision avoidance or to reduce accident damage, which involves the emission of an acoustic and / or visual warning signal to the detected object ( 35 . 65 ). Driver assistance system according to claim 8, wherein the environment detection device ( 1 ) is an ultrasound system, a radar system, a lidar system or a camera system. Driver assistance system according to claim 8 or 9, comprising a free space monitoring module ( 13 ).

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