DE102018220419A1 - Device and method for warning a third vehicle - Google Patents

Abstract

The invention relates to a warning device (12) for warning a third vehicle (22, 22 ') of the behavior of another vehicle (20), comprising: a first input interface (36) for receiving traffic control data (38) with information on a traffic control , which applies in an environment (18) of one's own vehicle (10); a second input interface (40) for receiving environment sensor data (42) from an environment sensor (14) with information on a driving behavior of the other vehicle (20) when the other vehicle (20) is in the environment (18) of the own vehicle (10) located; an evaluation unit (44) for determining whether the other vehicle (20) violates the traffic rule based on the environment sensor data (42) and the traffic rule data (38); and an output interface (46) for transmitting a warning message (34) to the third vehicle (22, 22 ') if the other vehicle (20) breaks the traffic rule to warn the third vehicle (22, 22'). The present invention further relates to a receiving device (24) for processing a warning message (34), a system and a vehicle with a warning device (12) and / or with a receiving device (24) and corresponding methods.

Description

The present invention relates to a warning device and a system, a vehicle and a method for warning a third vehicle of a driving behavior of another vehicle. The present invention further relates to a receiving device and a method for processing a warning message.

Modern vehicles (cars, vans, trucks, motorcycles, etc.). comprise a variety of systems that provide the driver with information and control individual functions of the vehicle in a partially or fully automated manner. The surroundings of the vehicle and other road users are recorded via sensors. Based on the recorded data, a model of the vehicle environment can be generated and responses to changes in this vehicle environment. Due to the progressive development in the field of autonomous and semi-autonomous vehicles, the influence and scope of such driver assistance systems (Advanced Driver Assistance Systems, ADAS) are increasing. The development of ever more precise sensors makes it possible to record the surroundings and traffic and to control individual functions of the vehicle completely or partially without driver intervention. Driver assistance systems can help to increase safety in traffic and improve driving comfort.

In addition to the detection and detection of static objects in the surroundings of one's own vehicle using environment sensors, such as camera, radar, lidar, or ultrasound sensors, other road users and their behavior can also be detected. Based on this, a behavior of an autonomous or partially autonomous vehicle can be adapted to a current situation, for example.

The challenge here is to identify incorrect behavior by other road users and to take the effects into account in further processing. For example, one or more traffic rules cannot be observed by other road users. It is also possible that due to deviations in traffic routing, such as at construction sites, the traffic rules stored in navigation devices are out of date and therefore incorrect. Such scenarios become more and more important with the increasing automation of vehicles, since this leads to a mixture of manually controlled and autonomous vehicles.

In this context, DE 10 2017 115 309 A1 revealed an autonomous police vehicle.

One challenge here is that the sensors on board a vehicle can only detect objects in an area surrounding the vehicle. Failure to comply with a traffic rule and the associated danger can consequently only be detected in the vicinity of one's own vehicle, which makes it difficult to react to the increased risk of an accident due to the shortened time. Preventive measures, such as adapting your own driving behavior, are sometimes no longer possible in the short time.

Based on this, the object of the present invention is to provide an approach for warning other road users of possible dangerous situations and for initiating preventive measures. In particular, dangerous situations are also to be recognized outside of the surroundings of a vehicle, that is to say outside of the area that can be detected by sensors on the own vehicle.

• einer ersten Eingangsschnittstelle zum Empfangen von Verkehrsregeldaten mit Informationen zu einer Verkehrsregel, die in einer Umgebung eines eigenen Fahrzeugs gilt;
• einer zweiten Eingangsschnittstelle zum Empfangen von Umgebungssensordaten eines Umgebungssensors mit Informationen zu einem Fahrverhalten des anderen Fahrzeugs, wenn sich das andere Fahrzeug in der Umgebung des eigenen Fahrzeugs befindet;
• einer Auswerteeinheit zum Ermitteln, ob das andere Fahrzeug gegen die Verkehrsregel verstößt, basierend auf den Umgebungssensordaten und den Verkehrsregeldaten; und
• einer Ausgabeschnittstelle zum Übermitteln einer Warnmeldung an das dritte Fahrzeug, wenn das andere Fahrzeug die Verkehrsregel bricht, um das dritte Fahrzeug zu warnen.

To achieve this object, the present invention relates in a first aspect to a warning device for warning a third vehicle of a driving behavior of another vehicle, with:

• a first input interface for receiving traffic control data with information on a traffic rule that applies in the surroundings of a vehicle of one's own;
• a second input interface for receiving environment sensor data from an environment sensor with information on a driving behavior of the other vehicle when the other vehicle is in the environment of the own vehicle;
• an evaluation unit for determining whether the other vehicle violates the traffic rule based on the environment sensor data and the traffic rule data; and
• an output interface for communicating a warning message to the third vehicle if the other vehicle breaks the traffic rule in order to warn the third vehicle.

• einer Empfangsschnittstelle zum Empfangen der Warnmeldung von einer Warnvorrichtung wie zuvor beschrieben;
• einer Verarbeitungseinheit zum Ermitteln, ob ein Fahrverhalten eines dritten Fahrzeugs in Reaktion auf die Warnmeldung angepasst werden soll; und
• einer Sendeschnittstelle zum Übermitteln einer Warnung an einen Fahrzeugführer des dritten Fahrzeugs und/oder zum Übermittelten eines Steuerbefehls an eine Steuereinheit des dritten Fahrzeugs.

To achieve the object, the present invention relates in a second aspect to a receiving device for processing a warning message, with:

• a receiving interface for receiving the warning message from a warning device as previously described;
• a processing unit for determining whether a driving behavior of a third vehicle should be adapted in response to the warning message; and
• a transmission interface for transmitting a warning to a driver of the third vehicle and / or for transmitting a control command to a control unit of the third vehicle.

• einem Umgebungssensor zum Erfassen eines Fahrverhaltens eines anderen Fahrzeugs, wenn sich das andere Fahrzeug in einer Umgebung des eigenen Fahrzeugs befindet; und
• einer oben beschriebenen Warnvorrichtung und/oder einer oben beschriebenen Empfangsvorrichtung.

The above object is also achieved by a vehicle with:

• an environment sensor for detecting a driving behavior of another vehicle when the other vehicle is in an environment of the own vehicle; and
• a warning device described above and / or a receiving device described above.

In a further aspect, the present invention relates to a system for warning a third vehicle of driving behavior of another vehicle with an above-described warning device and an above-described receiving device.

Further aspects of the invention relate to corresponding methods and a computer program product with program code for performing the steps of the methods when the program code is executed on a computer, and a storage medium on which a computer program is stored which, when executed on a computer, a Performs the methods described herein.

A method may include a processor associated with an autonomous vehicle that receives an indication of a violation of one or more traffic rules by a first vehicle. The method may also include the processor that maneuvers the autonomous vehicle to track the first vehicle. The method may also include the processor, the one
or perform multiple actions related to the first vehicle remotely.

Preferred embodiments of the invention are described in the dependent claims. It goes without saying that the features mentioned above and those yet to be explained below can be used not only in the combination indicated in each case, but also in other combinations or on their own without departing from the scope of the present invention. In particular, the warning device, the receiving device, the system, the vehicle, the methods and the computer program product can be designed in accordance with the configurations described for the warning device and the receiving device in the dependent claims.

The warning device according to the invention allows a third vehicle to be warned of a danger that arises from the driving behavior of another vehicle before the other vehicle can be detected by the driver of the third vehicle or the sensor system of the third vehicle. This means that a longer period of time is available for initiating preventive measures. Furthermore, the vehicle driver can identify the other vehicle more quickly as a potential source of danger, since he does not first have to recognize / analyze the conspicuous / dangerous driving behavior of the other vehicle. In particular, the third vehicle to be warned can be a vehicle driving ahead of the own vehicle.

In contrast to previous approaches, attention can be drawn to a danger that is beyond the range of the sensors on board. A targeted warning of individual road users is nevertheless possible, so that there is no dulling for warnings, as with radio broadcast warnings, which usually only actively affect a few road users.

In an advantageous embodiment, the output interface is designed to transmit a warning message with a control command to initiate a reaction of the third vehicle to the other vehicle. This enables a reaction to a dangerous situation to be carried out more quickly, since only one control command has to be processed and no further information has to be evaluated in order to analyze / assess a possible dangerous situation. For example, the response may include reducing the level of autonomous driving, reducing speed, changing lanes, driving to the side of the road and stopping, and / or, in the case of a fully autonomous vehicle, handing control over to the driver.

According to a further advantageous embodiment, the first input interface is designed to receive traffic control data from a traffic control sensor on one's own vehicle. Additionally or alternatively, the environment sensor data include the traffic control data and the evaluation unit is designed to recognize the traffic rule based on the environment sensor data. In this way, the traffic rule can be recognized on the basis of the current traffic situation or based on currently acquired sensor data. The Warning device can be more reliable and less prone to errors. The traffic situation can be assessed on the basis of current conditions.

According to a further preferred embodiment, the input interface is designed to receive the traffic control data from a traffic control database. In this way, the system can be implemented in a technically simpler and cheaper manner, since a complex analysis and recognition of the traffic rules can be dispensed with.

According to a further preferred embodiment, the first input interface is designed to receive the traffic control data with information about a permissible maximum speed and / or a no-overtaking condition, in particular in the area of a construction site. This can be used to warn in areas with increased hazard potential.

According to a further preferred embodiment, the output interface is designed to transmit the warning message with information relating to a position, direction of travel and / or speed of the other vehicle and / or one's own vehicle. As a result, the time of the hazard can be better predicted and the warning can be more accurate. For example, it is conceivable to generate a kind of countdown until the other vehicle is reached. Furthermore, the information transmitted can be taken into account when selecting the preventive measures and the most promising preventive measure or measures can be taken.

In a further advantageous embodiment, the input interfaces and / or the output interface are designed for communicating via a mobile communication unit and / or via a short-range communication unit. In particular, a vehicle-to-vehicle communication module can be used as a short-range communication unit. On the one hand, the input and / or output interface can communicate via mobile communication (for example GSM, 3G, LTE etc.) and use an existing mobile communication structure. On the other hand, it is also possible that a completely infrastructure-independent short-distance communication is used. Such short-range communication can be used, for example, to communicate with vehicles or authorities in a communication radius around one's own vehicle.

In an advantageous embodiment, the transmission interface of the receiving device for transmitting the control command is a change in the level of autonomous driving of one's own vehicle, preferably to a lower level, a lane change, stopping, evasive action and / or increasing the safety distance of one's own vehicle prompted, trained. In this way, the preventive measure can be initiated directly. An analysis of the traffic situation takes place before the warning message is received. Road safety is increased. It goes without saying that the processing unit can first check the control command for executability and, if necessary, initiate other and / or additional measures.

In a further advantageous embodiment, the reception interface and / or the transmission interface are designed to communicate via a mobile communication unit and / or via a short-range communication unit. The reception interface and / or the transmission interface can be designed analogously to the input interfaces and / or output interface of the warning device.

An environment or an environment of a vehicle comprises in particular an area in the environment of the vehicle sensor that is visible from an environment sensor attached to the vehicle. An environment sensor can also comprise a plurality of sensors which, for example, enable a 360 ° all-round view and can therefore record a complete environment image. Traffic control data can include, in particular, information on predetermined maximum or minimum values of individual parameters (for example speed, distance, etc.) or also binary information on permitted / forbidden actions (for example, no overtaking, no parking, etc.). A warning message can in particular be transmitted wirelessly. A reaction of a vehicle can in particular correspond to an adaptation of a driving behavior of the vehicle. The environmental sensor and the traffic control sensor can be designed, for example, as a radar, lidar, camera and / or ultrasonic sensor. In particular, a camera sensor can be used in order to be able to determine a traffic rule or a driving behavior of the other vehicle based on algorithms of the image processing.

• 1 eine schematische Darstellung einer Situation im Straßenverkehr mit einem eigenen Fahrzeug mit einer erfindungsgemäßen Warnvorrichtung und einem dritten Fahrzeug mit einer erfindungsgemäßen Empfangsvorrichtung;
• 2 eine schematische Darstellung einer Warnvorrichtung gemäß einem ersten Aspekt der Erfindung;
• 3 eine schematische Darstellung einer Empfangsvorrichtung gemäß einem zweiten Aspekt der Erfindung;
• 4 eine schematische Darstellung der Arbeitsweise der Warnvorrichtung;
• 5 eine schematische Darstellung einer Situation im Straßenverkehr;
• 6 eine schematische Darstellung eines erfindungsgemäßen Verfahrens; und
• 7 eine schematische Darstellung eines erfindungsgemäßen Verfahrens.

The invention is described and explained in more detail below on the basis of a few selected exemplary embodiments in conjunction with the accompanying drawings. Show it:

• 1 a schematic representation of a situation in road traffic with your own vehicle with a warning device according to the invention and a third vehicle with a receiving device according to the invention;
• 2nd a schematic representation of a warning device according to a first aspect of the invention;
• 3rd a schematic representation of a receiving device according to a second aspect of the invention;
• 4th a schematic representation of the operation of the warning device;
• 5 a schematic representation of a situation in road traffic;
• 6 a schematic representation of a method according to the invention; and
• 7 a schematic representation of a method according to the invention.

1 shows a schematic representation of a situation in road traffic with your own vehicle 10th with a warning device 12 according to a first aspect of the invention. The figure is to be understood as a schematic top view from a bird's eye view. On your own vehicle 10th there is an environmental sensor 14 and a traffic control sensor 16 . An environment 18th of the vehicle 10th is represented by a circle. In the direction of travel in front of your own vehicle 10th there is another vehicle 20th as well as a third vehicle at a greater distance 22 . The third vehicle 22 has a receiving device 24th according to the second aspect of the present invention.

In the example shown, the other vehicle is driving 20th at too high a speed. Your own vehicle 10th detects the other vehicle 20th through the environmental sensor 14 . The traffic control sensor also detects 16 Traffic control data, in this case a permissible maximum speed, represented by a traffic sign 32 . The warning device 12 receives the traffic rule information from the traffic rule sensor 16 and information about the driving behavior of the other vehicle 20th from the environmental sensor 14 and determines if the other vehicle 20th violates the traffic rule based on the environmental sensor data and the traffic rule data. In the example shown, the warning device detects 12 that the other vehicle 20th drives at excessive speed. The warning device 12 sends a warning message 34 to the third vehicle 22 , represented by an arrow. The receiving device 24th in the third vehicle 22 receives the warning message 34 and can according to the warning message 34 a driver of the third vehicle 22 warn and / or if the third vehicle 22 in an at least partially autonomous driving mode, initiate preventive measures to avoid the danger posed by the other vehicle traveling at excessive speed 20th going out to decrease.

Such preventive measures can be, for example, driving on the right edge of the road, a precautionary increase in the safety distance or also an increase in one's own speed when the third vehicle 22 drives at a speed significantly lower than the permitted maximum speed.

2nd shows a schematic representation of a warning device 12 according to the present invention. The warning device 12 has an input interface 36 for receiving traffic regulation data 38 on, represented by an arrow. The warning device 12 also has a second input interface 40 for receiving environmental sensor data 42 on. An evaluation unit 44 is trained to determine whether the other vehicle 20th violates traffic rules based on environmental sensor data 42 and the traffic control data 38 . If a violation of the traffic rule is detected, i.e. an increased danger is determined, an exit interface transmits 46 the warning message 34 .

In 3rd is a receiving device 24th according to the present invention. The receiving device 24th has a receive interface 48 to receive the warning signal 34 on. The receiving device 24th also has a processing unit 50 on to determine whether a driving behavior of the third vehicle 22 in response to the warning message 34 to be adjusted. The receiving device further comprises 24th a send interface 52 to send a warning 54 to a driver and / or to transmit a control command 55 to a control unit of the third vehicle 22 .

In the situation exemplified in 1 is shown, thus shows the own vehicle 10th a warning device 12 that in detail in 2nd is shown on. The third vehicle 22 has a receiving device 24th as detailed in 3rd is shown on. The other vehicle 20th has no warning device in this example 12 or receiving device 24th on.

However, it would also be conceivable that the other vehicle 20th at least one receiving device 24th has, here the driver of the other vehicle 20th through the warning signal 34 to the excessive speed of his vehicle 20th can be made aware. For the sake of clarity, however, this situation is not in 1 shown.

In 4th is shown in a schematic side view, like the warning device according to the invention 12 is working. On your own vehicle 10th are the traffic control sensor in the direction of travel 16 as well as the environmental sensor 14 arranged. Furthermore, the own vehicle points 10th in this Example an antenna 56 on to the warning message 34 to be able to transmit. In the vicinity of your own vehicle 10th a traffic rule applies, represented by the traffic sign 32 . In a sensor field of view of the environmental sensor 14 , represented by two dashed lines, is the other vehicle 20th . The traffic rule is through the traffic rule sensor 16 recorded, as also shown by dashed lines. The warning device 12 recognizes on the basis of the traffic control data of the traffic control sensor 16 and based on the environment sensor data of the environment sensor 14 whether the other vehicle 20th violates the traffic rules. If there is a violation, a warning signal is issued 34 by means of the antenna 56 transmitted.

It goes without saying that the warning device also differs from the example shown here 12 , the environmental sensor 14 , the traffic control sensor 16 and the antenna 56 can be designed as an integral unit. Furthermore, it is also conceivable that the warning device 12 and the receiving device 24th can be designed as an integral unit, in this case the first input interface 36 and / or the second input interface 40 the receiving interface 48 include. Furthermore, the output interface 46 the send interface 52 include. It is also conceivable that a single interface receives both traffic control data and environment sensor data. The warning device 12 and / or the receiving device 24th can be designed as an integral unit, for example to form a kind of retrofit kit. Furthermore, the warning device 12 and / or the receiving device 24th implemented in the form of an app on a smartphone. It is possible that the traffic control data and the environmental sensor data are recorded by the same sensor, so that the traffic control sensor corresponds to the environmental sensor. It is also possible for the traffic control data to be received from a traffic control database. This traffic control database can be, for example, a cloud database, in which case communication can then take place, for example, via mobile radio, or can also be integrated as a mobile database in the vehicle.

In 5 another potential dangerous situation in road traffic is shown. On your own vehicle 10th there is a warning device 12 , an environmental sensor 14 , a traffic control sensor 16 and an antenna 56 . In an environment of the vehicle 10th there is another vehicle 20th . It also applies to the surroundings of your own vehicle 10th a traffic rule represented by a traffic sign 32 . In this example, the traffic rule is a no-overtaking zone. A third vehicle 22 and another third vehicle 22 ' , hereinafter referred to as the fourth vehicle 22 ' are shown. The driving directions of the vehicles 10th , 20th , 22 and 22 ' are illustrated by arrows in front of the vehicles. The third vehicle 22 has a receiving device 24th on. The fourth vehicle 22 ' also has a receiving device 24th on. In the present example, the other vehicle violates 20th against the traffic rule, namely the ban on overtaking. The other vehicle 20th is by means of the environmental sensor 14 of your own vehicle 10th detected. Also from the traffic control sensor 16 Traffic control data collected. In the warning device 12 the traffic rule, i.e. the no-overtaking zone, is recognized and the other vehicle is determined 20th violates the traffic rules. There is an increased risk of an accident. The warning device 12 then transmits via the antenna 56 a warning message 34 to the third vehicle 22 as well as the fourth vehicle 22 ' .

The third vehicle 22 receives the warning message 34 via an antenna 56 . In the present case, a warning can then be sent to the driver of the third vehicle 22 be issued. Furthermore, the receiving device 24th a control command to a control unit 58 of the third vehicle 22 issue and thereby initiate an emergency braking maneuver if the third vehicle 22 has the necessary actuators. It is also conceivable that the third vehicle 22 also dodges to the right to the other vehicle 20th to dodge.

The fourth vehicle 22 ' receives the warning message 34 via an antenna 56 , the receiving device 24th a warning to the driver of the fourth vehicle 22 ' can spend. Furthermore, the receiving device 24 ' a control command to a control unit 58 of the fourth vehicle 22 spend such that the fourth vehicle 22 ' the speed increases to make room for the other vehicle 20th to accomplish. It is also conceivable that the fourth vehicle 22 ' to the right edge of the lane to the approaching other vehicle 20th to create enough space to drive past.

In 6 a method according to the invention for warning a third vehicle is shown schematically. The method includes steps of receiving S1 traffic control data, reception S2 of environmental sensor data, the determination S3 whether the other vehicle violates the traffic rule and the transmission S4 a warning message to a third vehicle to warn the third vehicle.

In 7 a method for processing a warning message is shown. The process includes steps of reception S10 a warning message, the investigation S11 whether a driving behavior of a third vehicle should be adapted, and the Submit S12 a warning to a vehicle driver and / or a control command to a control unit.

The methods according to the invention can be implemented, for example, as software for a driver assistance system or as a smartphone app.

The invention has been described and explained comprehensively with reference to the drawings and the description. The description and explanation are to be understood as examples and not restrictive. The invention is not limited to the disclosed embodiments. Other embodiments or variations will occur to those skilled in the art using the present invention, as well as upon a detailed analysis of the drawings, the disclosure, and the following claims.

In the claims, the words "comprise" and "with" do not exclude the presence of further elements or steps. The undefined article "a" or "an" does not exclude the existence of a plurality. A single element or a single unit can perform the functions of several of the units mentioned in the claims. An element, a unit, an interface, a device and a system can be partially or completely implemented in hardware and / or in software. The mere mention of some measures in several different dependent claims is not to be understood to mean that a combination of these measures cannot also be used advantageously. A computer program can be stored / distributed on a non-volatile data carrier, for example on an optical memory or on a semiconductor drive (SSD). A computer program can be distributed together with hardware and / or as part of hardware, for example by means of the Internet or by means of wired or wireless communication systems. Reference signs in the claims are not to be understood as restrictive.

Reference symbol list

10th

Own vehicle

12

Warning device

14

Environmental sensor

16

Traffic control sensor

18th

Surroundings

20th

other vehicle

22

third vehicle

24th

Receiving device

26

Receiving interface

28

Processing unit

30th

Transmission interface

32

Traffic sign

34

Warning signal

36

first input interface

38

Traffic regulation data

40

second input interface

42

Environmental sensor data

44

Evaluation unit

46

Output interface

48

Receiving interface

50

Processing unit

52

Transmission interface

54

Warning signal to vehicle drivers

55

Control command

56

antenna

58

Control unit

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included 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.

Patent literature cited

• DE 102017115309 A1 [0005]

Claims (15)

Warning device (12) for warning a third vehicle (22, 22 ') about the driving behavior of another vehicle (20), comprising: a first input interface (36) for receiving traffic control data (38) with information relating to a traffic rule that applies in an environment (18) of one's own vehicle (10); a second input interface (40) for receiving environment sensor data (42) from an environment sensor (14) with information on a driving behavior of the other vehicle (20) when the other vehicle (20) is in the environment (18) of the own vehicle (10) located; an evaluation unit (44) for determining whether the other vehicle (20) violates the traffic rule based on the environment sensor data (42) and the traffic rule data (38); and an output interface (46) for transmitting a warning message (34) to the third vehicle (22, 22 ') if the other vehicle (20) breaks the traffic rule in order to warn the third vehicle (22, 22'). Warning device (12) after Claim 1 The output interface (46) is designed to transmit a warning message (34) with a control command to initiate a reaction of the third vehicle (22, 22 ') to the other vehicle (20). Warning device (12) according to one of the preceding claims, wherein the first input interface (36) is designed to receive the traffic control data (38) from a traffic control sensor (16) on the own vehicle (10), and / or the environment sensor data (42) comprise the traffic control data (38) and the evaluation unit (44) is designed to recognize the traffic rule based on the environment sensor data (42). Warning device (12) according to one of the preceding claims, wherein the first input interface (36) is designed to receive the traffic control data (38) from a traffic control database. Warning device (12) according to one of the preceding claims, wherein the first input interface (36) is designed to receive the traffic control data (38) with information about a permissible maximum speed and / or a no-overtaking condition, in particular in the area of a construction site. Warning device (12) according to one of the preceding claims, wherein the output interface (46) for transmitting the warning message (34) with information about a position, direction and / or speed of the other vehicle (20) and / or the own vehicle (10) is. Warning device (12) according to one of the preceding claims, wherein the input interfaces (36; 40) and / or the output interface (46) are designed for communicating via a mobile communication unit and / or via a short-range communication unit. Receiving device (24) for processing a warning message (34), with: a receiving interface (26) for receiving the warning message (34) from a warning device (12) according to one of the preceding claims; a processing unit (28) for determining whether a driving behavior of a third vehicle (22, 22 ') should be adapted in response to the warning message (34); and a transmission interface (30) for transmitting a warning to a driver of the third vehicle (22, 22 ') and / or for transmitting a control command to a control unit of the third vehicle (22, 22'). Receiving device (24) after Claim 8 , wherein the transmission interface (30) for transmitting the control command, which is a change in the level of autonomous driving of the third vehicle (22, 22 '), preferably to a lower level, a lane change, a stop, an avoidance and / or an increase in the Safety distance of the third vehicle (22, 22 '). Receiving device according to one of the Claims 8 or 9 , wherein the receiving interface (26) and / or the transmitting interface (30) are designed to communicate via a mobile communication unit and / or via a short-range communication unit. System for warning a third vehicle (22, 22 ') about driving behavior of another vehicle (20), with a warning device (12) according to one of the Claims 1 to 7 and a receiving device (24) according to one of the Claims 8 to 10th . Own vehicle, comprising: an environment sensor (14) for detecting a driving behavior of another vehicle (20) when the other vehicle (20) is in an environment (18) of the own vehicle (10); and a warning device (12) according to one of the Claims 1 to 7 and / or with a receiving device (24) according to one of the Claims 8 to 10th . Method for warning a third vehicle (22, 22 ') of a driving behavior of another vehicle (20), comprising the steps of: receiving traffic control data (38) with information about a traffic control that occurs in an environment (18) of a vehicle (10 ) applies; Receiving environment sensor data (42) from an environment sensor (14) on the own vehicle (10) with information on a driving behavior of the other vehicle (20) in the environment (18) of the own vehicle (10); Determining whether the other vehicle (20) violates the traffic rule based on the environmental sensor data (42) and the traffic rule data (38); and transmitting a warning message (34) to the third vehicle (22, 22 ') if the other vehicle (20) breaks the traffic rule to warn the third vehicle (22, 22'). A method for processing a warning message (34), comprising the steps of: receiving the warning message (34) from a warning device (12) according to one of the Claims 1 to 7 ; Determining whether a driving behavior of a third vehicle (22, 22 ') should be adapted in response to the warning message (34); and transmitting a warning to a driver of the third vehicle (22, 22 ') and / or for transmitting a control command to a control unit of the third vehicle (22, 22'). Computer program product with program code for performing the steps of the method according to one of the Claims 13 or 14 if the program code is executed on a computer.

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