WO2010000521A1

WO2010000521A1 - Driver assistance method and apparatus

Info

Publication number: WO2010000521A1
Application number: PCT/EP2009/055352
Authority: WO
Inventors: Werner Uhler; Heribert Uhl
Original assignee: Robert Bosch Gmbh
Priority date: 2008-07-02
Filing date: 2009-05-04
Publication date: 2010-01-07
Also published as: DE102008040077A1

Abstract

The invention relates to a driver assistance method for the indication and/or autonomous or semi-autonomous adjustment of a driving manoeuvre to avoid a collision or to reduce the effects of a collision in a motor vehicle (1) on the basis of at least one ascertained evasion trajectory to prevent an accident while the motor vehicle (1) is travelling, having the following steps: - a situation sensing step for sensing a current environment situation for the motor vehicle (1) using at least one object detection sensor (5a) in the motor vehicle (1) and/or data from at least one further vehicle system (6, 7); - a situation assessment step for ascertaining at least one evasion trajectory on the basis of the current environment situation of the motor vehicle (1) and a trajectory prediction for the motor vehicle (1) and for at least one detected object (3) in the environment (2) of the motor vehicle (1); and - an action step for indicating and/or autonomously or semi-autonomously adjusting the driving manoeuvre on the basis of one of the ascertained evasion trajectories.

Description

R. 322899

DRIVER ASSISTANCE PROCESS AND DEVICE

State of the art

The invention relates to a driver assistance method for indicating and / or autonomous or partially autonomous adjustment of a collision avoiding driving maneuver of a motor vehicle. The invention further relates to a computer program, a computer program product and a device for executing such a driver assistance method to perform.

Systems are known for braking a vehicle or motor vehicle in the case of a recognized imminent accident situation, mainly based on long- and medium-range environmental sensors, for example based on (long-range radar (LRR), lidar, mid-range radar (MRR ), Short-range radar (SRR), ultrasound, video or the like). The braking of the vehicle can take place with different strengths, in particular by reparameterization of the brake assistant and pre-filling of the brake system, early warning of the driver (ie braking by the driver) as well as autonomous partial braking. Emergency braking.

Especially at higher speeds accident avoidance by a pure braking intervention at today's ranges for a reliable situation detection is often not lent, whereas a dodge until just before the impact of driving physics is still possible. An advance of the warning times so far that a braking intervention for accident prevention is still possible, based on today's sensors due to then occurring too high Fehlwarnraten impracticable.

Furthermore, prototype systems are known that are based on the above-mentioned sensor systems. R. 322899

brake or evasive maneuvers autonomously or partially autonomously. However, the situation assessment refers to only one target object or obstacle and an already specified avoidance trajectory.

Systems that only incompletely record the environment situation and include it in the assessment are critical insofar as they can even exacerbate the dangerous situation, for example by controlling the vehicle into oncoming traffic.

DE 10 2004 056 120 A1 relates to a method for collision avoidance or collision reduction during a journey in which a motor vehicle approaches an obstacle, in particular a vehicle in front, wherein in a method at least the relative speed between the motor vehicle and the obstacle is determined in that a time remaining until the latest start of a collision-avoiding evasive maneuver is determined as an evasion time period and a collision-avoiding or collision-reducing action is carried out as a function of the determined evasive time period.

Advantages of the invention

The driver assistance method according to the invention for displaying and / or autonomous or semi-autonomous adjustment of a collision-avoiding driving maneuver of a motor vehicle based on at least one determined avoidance trajectory in order to avoid an accident while the motor vehicle is traveling has the following steps: a situation detection step for detecting a current one Surrounding situation of the motor vehicle by means of at least one object detection sensor of the motor vehicle and / or data of at least one further vehicle system; R. 322899

a situation judgment step for determining at least one avoidance trajectory based on the current environment situation of the motor vehicle and a trajectory prediction for the motor vehicle and for at least one detected object in the environment of the motor vehicle; and an action step for the display and / or autonomous or semi-autonomous adjustment of the driving maneuver based on one of the determined avoidance trajectories.

By the driver assistance method according to the invention the driver is advantageously displayed in difficult critical situations (panic), as a primary accident can be avoided (escape route). In addition, the system can autonomously adjust the vehicle or motor vehicle to the escape route or supports the driver by partially autonomous interventions, wherein the driver can advantageously also override the interventions in an advantageous manner. Fundamental here is the extension of the situation recording and assessment to the consideration of other relevant road users (eg oncoming traffic), other driving areas (eg parallel lane), edge structures and alternative areas that are not provided as driving areas, such as street ditches, fields or similar. Accordingly, it is advantageous if the environment situation has detected objects and / or free areas in the environment of the motor vehicle.

The driver assistance method according to the invention opens up the lateral guidance as an additional degree of freedom for accident prevention. The relevant situation aspects are recorded and included in the criticality assessment. A situation adaptivity of the evasion trajectories proposed or regulated by the driver assistance method to the driver is advantageously provided.

Accordingly, an entire family of dodging functions in the event of an imminent accident situation is indicated, which the driver based on different forms of environment detection, different characteristics of the situation assessment, different R. 322899

Characteristics of networking with other motor vehicles or the infrastructure and different forms of vehicle intervention, assist in evading.

In one embodiment of the invention, an assessment of the criticality of the determined avoidance trajectories can be carried out, the favorable avoidance trajectory being selected for the driving maneuver.

An extension of the driver assistance method is to select the best possible trajectory for several possible avoidance trajectories due to a damage height / accident severity estimation and to recommend to the driver or regulate autonomously or partially autonomously.

A computer program with program code means or a computer program product with program code means which are stored on a computer-readable data carrier in order to carry out the driver assistance method according to the invention are specified in claim 7 and claim 8, respectively.

Claim 9 relates to a device, in particular driver assistance system of a motor vehicle, for carrying out the driver assistance method according to the invention with at least one object detection sensor for detecting objects or obstacles in an environment of the motor vehicle, and a control device which is connected to the at least one object detection sensor and at least one further vehicle system ,

The driver assistance system recognizes with a forward-looking sensor the current situation in front of the motor vehicle, which exhibits objects and their future trajectories, as well as possible driving spaces including escape routes outside the roadway (eg road trench) and warns the driver of a possible collision. R. 322899

If the driver assistance system knows a safe avoidance trajectory, it can display it to the driver. Alternatively or additionally, the system supports the driver by intervening in the drive train, the brake system and / or the steering system or autonomously triggers an overriding (possibly not overridable) steering and / or braking intervention to drive this evasion trajectory. It is therefore very advantageous if the driving maneuver has at least one brake engagement and / or at least one steering intervention. On the basis of the system reactions (in particular the avoidance trajectories) displayed to the driver, the driver can monitor the system behavior and, if necessary, override the intervening functions.

As a further vehicle systems of the motor vehicle come in particular a motor / driveline control device, a brake system, a steering system, a navigation system and / or a C2X communication system, d. H. a C2C (Car to Car) - or C2I (Car to Infrastructure) - or I2C (Infrastructure to Car) communication system into consideration.

Radar sensors, in particular long-range radar sensors, mid-range radar sensors, short-range radar sensors, lidar sensors, ultrasound sensors or video sensors (eg based on CCD or CMOS) are preferably used as object detection sensors - Imagern) or their combinations into consideration. The object detection sensors can be arranged on the front, rear or side of the motor vehicle.

In an advantageous embodiment of the invention, a human / machine interface for interaction with the driver may be provided.

The driver assistance method according to the invention for displaying and / or autonomous or semi-autonomous adjustment of a collision avoiding or driving collision of a motor vehicle based on a determined avoidance trajectory to avoid an accident while the motor vehicle is traveling is preferably as com R. 322899

computer program on a control device of the driver assistance system of the motor vehicle, implemented, with other solutions come of course in question. For this purpose, the computer program is stored in a memory element (eg ROM, EEPROM or the like) of the control device. The process is carried out by processing on a microprocessor of the control device. The computer program can be stored on a computer-readable data medium (floppy disk, CD, DVD, hard disk, USB memory stick, memory card or the like) or an Internet server as a computer program product and can be transferred from there into the memory element of the control device.

Advantageous embodiments and modifications of the invention will become apparent from the dependent claims. An exemplary embodiment of the invention is described in principle below with reference to the drawing.

Brief description of the drawing

FIG. 1 shows a simplified schematic illustration of a motor vehicle in which a driver assistance method according to the invention is implemented;

FIG. 2 shows a simplified signal flow diagram of the driver assistance method according to the invention; and

Figure 3 is a simplified schematic representation of a motor vehicle in which a further embodiment of the driver assistance method according to the invention is implemented in particular with a back and side protection.

Description of exemplary embodiments R. 322899

FIG. 1 shows a motor vehicle 1 on which the driver assistance method according to the invention for displaying and / or autonomous or partially autonomous adjustment of a collision avoiding or driving collision of the motor vehicle 1 based on an evaded avoidance trajectory to an accident while driving the motor vehicle 1 is implemented. In the case of an object or obstacle 3 approaching during the journey, in an occupied area 2b of an environment 2 relevant for the vehicle guidance (simplified dashed line), a driving maneuver of the motor vehicle 1 should be autonomously or partially autonomously performed or adjusted or proposed or . are displayed. A device designed as a driver assistance system 4 for carrying out the driver assistance method according to the invention supports the driver when avoiding the obstacle 3 and guides him autonomously or partially autonomously in the event of an impending collision to a safe trajectory that does not collide with any obstacle 3 surrounding the own motor vehicle 1. In such a driving maneuver, for example, free areas 2a of the surroundings 2 could be traveled.

The motor vehicle 1 or the driver assistance system 4 has in the front area as environment-detecting sensor or as object detection sensor designed as a long-range radar sensor 5 a radar sensor for metrological detection of the frontal traffic situation or the environment 2 in front of the motor vehicle 1. Instead of the long-range radar sensor 5 a may be provided in other embodiments, for example, a corresponding long-range Lidarsensor. The long-range radar sensor 5 a is connected to a control device 4 a of the driver assistance system 4. With the control device 4a, objects or obstacles 3 can be detected on the basis of the sensor signals of the long-range radar sensor 5a. Furthermore, an HMI (Human Machine Interface) control device 4b for a human / machine interface (not shown in detail) for the driver's interaction with the driver assistance system 4 is connected. In the present case, the control device 4a of the driver assistance system 4 has access to a brake system control device 6 of a brake system, not shown, of the motor vehicle 1 and to a navigation system control device R. 322899

7a of a navigation system 7 of the motor vehicle 1 shown in more detail in FIG.

The driver assistance method according to the invention for displaying and / or autonomous or partially autonomous adjustment of a collision avoiding driving maneuver of the motor vehicle 1 based on a determined avoidance trajectory to avoid an accident while driving the motor vehicle 1 is preferably as a computer program on the control device 4a of a driver assistance system 4 of the motor vehicle 1, realized, with other solutions are of course in question. For this purpose, the computer program is stored in a memory element, not shown, of the control device 4a. By processing on a likewise not shown microprocessor of the control device 4a, the method is executed. The computer program can be stored on a computer-readable data medium (floppy disk, CD, DVD, hard disk, USB memory stick, memory card or the like) or an Internet server as a computer program product and transferred from there into the memory element of the control device 4a.

The inventive driver assistance method comprises: a situation detection step for detecting a current environment situation of the motor vehicle 1 by means of the long-range radar sensor 5 a of the motor vehicle 1 and data of the navigation system 7 as another vehicle system; a situation judgment step for determining at least one avoidance trajectory based on the current environment situation of the motor vehicle 1 and a trajectory prediction for the motor vehicle 1 and for the detected object 3 in the environment 2 of the motor vehicle 1; and an action step for the display and / or autonomous or semi-autonomous adjustment of the driving maneuver based on one of the determined avoidance trajectories.

The surrounding situation has detected objects 3 and free areas 2a in environment 2 of the force R. 322899

vehicle 1 on.

In the action step, on the one hand, an indication of a corresponding warning, in particular via the human / machine interface or, on the other hand, an active intervention of the driver assistance system 4 by means of a corrective by means of the braking system control device 6 via a targeted braking force increase or as shown in FIG a corresponding steering intervention via a steering system control device 10 of the motor vehicle 1, take place. The driving maneuver can thus have at least one brake engagement and / or at least one steering intervention.

In order to select the avoidance trajectory to be displayed or adjusted, in the present embodiment an assessment of the criticality of the determined avoidance trajectories is carried out in the situation assessment step, the favorable avoidance trajectory being selected for the driving maneuver.

FIG. 2 shows a simplified signal flow diagram of the driver assistance method or the driver assistance system 4 according to the invention. The data or signal flow is indicated accordingly by arrows. The control device 4a of the driver assistance system 4 has a situation detection module 40 for performing the situation detection step, a situation judgment module 41 for performing the situation judgment step, and an action module 42 for performing the action step.

The situation detection module 40 or a sensor data fusion 40a receives, as input signals, the signals of a vehicle sensor system 5 or the signals from object detection sensors 5a-5d (see FIG. 3). The signals from the object detection sensors 5a-5d are read in a first step a, after which features or locations of objects are determined in a second step b. Furthermore, the situation detection module 40 optionally receives (as indicated by dashed lines) as input signals the signals of a navigation system 7 or R. 322899

10

its navigation control device 7a and a C2X communication system 8. The sensor data fusion 40a accepts the data / signals of all object detection sensors 5, 5 a - 5 d and the systems 7, 8 and merges them. Overlapping areas are identified and reconciled, i. H. It is determined which locations of the one object detection sensor 5, 5a-5d correspond to the locations of the other object detection sensors 5, 5a-5d. Accordingly, a consistent image or image of at least part of the environment 2 of the motor vehicle 1 is created. The navigation controller 7a obtains position data via an antenna 7b or GPS 7c and data of an extended card 7d in a known manner. The C2X communication system 8 can be configured as a C2C (Car to Car) or C2I (Car to Infrastructure) communication system and receives signals from C2C (Car to Car) communication systems of other motor vehicles or from I2C (Infrastructure to Car ) Communication systems of infrastructures (not shown). Advantageously, the C2X communication system 8 receives data from the situation assessment module 41 in order to be able to send it to other vehicles in the environment.

In the situation assessment module 41, an estimation of the foreign trajectories, ie a trajectory prediction for the detected object 3 in the environment 2 of the motor vehicle 1 or for all objects relevant in the situation (oncoming traffic, peripheral buildings or the like) takes place in a step c. Thereafter, in an act d, an estimate of the property trajectories, ie a trajectory prediction for the own motor vehicle 1, is performed. In a step e, alternative alternatives are calculated or possible evasion vectors are identified. This is done by determining at least one evasion trajectory based on the current environment situation of the motor vehicle 1 and the previously estimated trajectory predictions. In a step f, a criticality estimate is performed, ie the criticality of the determined possible avoidance trajectories for the own motor vehicle 1 is assessed. An estimation of the possible amount of damage occurring can also be carried out. The trajectories also take into account interventions in longitudinal and R. 322899

11

Transverse guide (braking, steering). Subsequently, in a step g, the evasion trajectory to be displayed and / or regulated is selected for the driving maneuver. For this purpose, the most favorable avoidance trajectory (eg with the lowest amount of damage) can be used. This is transferred to the action module 42 for performing the action step via an actuator with an indication / adjustment of the avoidance trajectory.

In particular, the following measures can be taken:

1. Warning with a driving recommendation via an acoustic output medium of the human / machine interface (eg via loudspeaker, possibly also with directional information by means of a voice output), and / or via an optical output medium in the vicinity or on a windshield of the motor vehicle 1 (eg in an instrument cluster, a central display, a head-up display or LEDs above an instrument panel or an A-pillar of the motor vehicle 1, as information, for example, lane marking by coloring via the head-up display) , and / or via a haptic output medium (eg seat vibration, seat movement, accelerator pedal movement or accelerator pedal resistance, steering wheel movement or steering wheel resistance).

2. Optionally an active intervention in the brake system of the motor vehicle 1 with the following possible variants: - reparameterization of a brake assistant of the brake system;

- driver warning by a brake pressure;

- construction of a partial delay;

- establishment of a full delay; and or

Direction of travel influenced by an intervention of an optional ESP system of the motor vehicle 1.

3. Optionally an active intervention by the steering system of the motor vehicle 1 with the following possible variants: R. 322899

12

- Moment overlay, which may be overridden by the driver if necessary;

- angle overlay - z. B. by an active steering system (not overridden steering, possibly overridden by other intervention); and or

Integration of an optional rear axle steering of the motor vehicle 1.

4. Optionally active chassis intervention, eg. B. by adjustable damper, in particular for supporting the motor vehicle 1 when driving the avoidance trajectories.

FIG. 3 shows a further embodiment with a back and side protection of a motor vehicle 1, on which the driver assistance method according to the invention is implemented. In this case, the control device 4a is additionally connected to a motor / drivetrain control device 9 and a control device 10 of the steering system, not shown, which additionally allows steering intervention for adjusting the driving maneuver by the action module 42. When steering system is preferably an active steering system with an angle and / or torque superimposition into consideration.

As object detection sensors for the situation detection step are additionally a mid-range lidar sensor 5b in the front area, in particular for object classification and free area detection, and a mid-range lidar sensor 5c in the rear area for restoring the motor vehicle 1, ie for detecting the traffic situation behind the motor vehicle 1, intended. These can also be embodied as mid-range radar sensors or as mid-range video sensors (CCD sensors or the like) in further exemplary embodiments. For frontal object classification, the optional C2X communication system 8 can be used in addition to the object detection sensors 5a, 5b. For side protection short-range radar sensors 5d are provided. These can also be embodied as short-range lidar sensors, short-range video sensors or short-range ultrasound sensors in further exemplary embodiments. Of course, other sensor types can be used. With the appropriate changes are both multiple sensors than R. 322899

13

It is also possible to use combinations of different sensors. Ambient sensors or vehicle sensors 5, 5a-5d can be used to localize their own motor vehicle 1 with high precision in relation to the surroundings or the surroundings 2. Procurement of data on the local driving areas, local buildings and non-driving areas as well as trafficability in emergencies can be carried out via the expanded map 7d of the navigation system 7 or via the I2C communication system 8 or the powerful environment sensor system or vehicle sensors 5, 5a-5d become. A sensor data fusion merges the corresponding sensor data.

The situation detection can thus take place as follows:

1. There is only a frontal situation detection, d. H. the driver himself has to take care of the lateral and reverse protection.

2. In addition, side protection can be provided by the short-range sensors 5d (eg, as in the case of side-scan systems or Blind Spot Detection systems), d. H. the driver only has to do the reverse protection himself.

3. In addition, a return fuse by the mid-range sensor 5c take place, for. B. according to a lane change assistant.

Advantageously, the driver assistance system 4 may comprise the following steps: measurement or procurement, e.g. Via a C2C communication system 8, data of objects 3 in the situation;

- Estimation of future trajectories of objects 3;

Estimation of future movement of own motor vehicle 1;

- detection of the criticality of the situation; Acquisition of data on possible alternative spaces also outside the driving areas (eg from a navigation system 7 with extended map and / or via the C2I communication system 8 and / or via an environment sensor system 5, 5a-5d with a more efficient open area detection; R. 322899

14

- calculation of possible avoidance trajectories taking into account the alternative spaces;

- estimation of criticality or expected damage for the various alternative alternatives; - Selection of the cheapest alternate alternative; and

- Warning of the driver with a display of the selected alternative alternative and / or with active assistance of the driver when driving on this alternative alternative.

The situation assessment may perform the trajectory estimation or the criticality assessment with an object class estimation based solely on the autonomous environment sensor system 5, 5a-5d, or additionally with the involvement of the C2X communication system 8.

The action section or vehicle intervention can:

- a permanent driving recommendation (display of possible driving areas or alternative rooms); - a driver warning with a driving recommendation,

a limited braking intervention, wherein braking and steering intervention can be overridden (with at least frontal situation detection),

- A full braking intervention, braking and steering intervention are overridden (with at least frontal situation detection), and / or - a full braking intervention, braking and steering intervention are not overridden (with frontal situation detection, reverse protection and side protection) include.

It is very advantageous if the driver assistance system according to the invention not only acts on one's own motor vehicle 1, but additionally tunes the behavior with the other situation participants via the C2X communication system 8 - analogously to cooperative collision avoidance systems in the aviation sector.

The maneuver to be performed or to be displayed is based on a collision-avoidance R. 322899

15

the avoidance trajectory, which can be determined in the case of the use of corresponding sensors (Li- darsensoren, video sensors) taking into account determined by means of the method described below for determining the free areas or free areas 2a in the environment 2 of the motor vehicle 1 free areas 2a. In this case, information is used by the mid-range sensor 5c in the front region of the motor vehicle 1 via the detected object 3 taking into account the properties of the physical measuring principle of the mid-range sensor 5c, wherein z. B. is considered in a Lidarsensor that he is able to detect by means of a single measurement several objects 3 directly, or is taken into account in a video sensor that he open spaces directly, d. H. without inverting an object detection can measure. Accordingly, information about the freedom or driveability of areas of the vehicle environment 2 is derived from the measurements or locations of objects 3 in a simple manner.

One possible embodiment of the method is to store knowledge about the state of the surroundings 2 of the motor vehicle 1 relevant to the vehicle guidance in the form of probabilities for the occupancy and non-occupancy of areas or the areas 2a, 2b. Thus, the regions 2 a, 2 b in the environment 2 of the motor vehicle 1 can each be assigned probability values for the non-occupancy of the respective area 2 a, 2 b. In the present exemplary embodiment, the regions 2 a, 2 b in the environment 2 of the motor vehicle 1 are subdivided into individual cells (not shown in detail), to which probability values p free for the non-occupancy of the respective cell are assigned. Pbeged denotes the probability for occupancy of the respective cell.

Where:

p _occupied (x) + p _free (x) <1, (2.1)

or more precisely:

Pbew ( ^X ) + Pfre, ( ^X ) + Punw _IS sen ( ^X ) = 1, ( ² - ² ) R. 322899

16

where x can be a scalar or vector indicating the position of the area 2a, 2b or, in the present case, the cell in space. In the following, for the sake of simplicity, a scalar position is assumed without restriction of the generality; for example, a mid-range lidar sensor is also used as an example. Furthermore, punks know the detection uncertainty. The mid-range lidar sensor 5c is able to detect occupancies of the areas 2a, 2b in the form of object or obstacle detection. The mid-range lidar sensor 5 c itself does not provide any information about the free area or the free area 2 a within its detection area, ie for the direct measurement of the mid-range lidar sensor 5 c, p _free = 0. This method now provides a calculation rule with which, with the aid of knowledge of the measuring method, the probability is derived with which the regions 2a, 2b are free, ie passable, within the detection range. It is known in advance how good the detection performance of the mid-range lidar sensor 5 c is at a particular location within its detection range. This is described by the sensor system-dependent detection power p _sys (x) with 0 <ρ _sys (x) ≦ 1 for each location or cell in the detection area. From equation 2.1 follows immediately the maximum estimate of the information content of a measurement with respect to the open space information:

p _free (x) ≤ l -p _occupied (x). (2.3)

The mid-range lidar sensor 5 c is multi-target capable in a single measurement, d. H. several objects 3 can be detected directly by a single measurement. Therefore, the estimation is now made that the free area information contained in a measurement is reduced by the preceding objects 3:

P _fcl (x) ≤ l -max (p _occupies (x)). (2.4)

Taking into account the system-related detection power p _sys (x) with respect to the detection of open spaces 2 a, it follows that:

p _free (x) <p _sys (x) (l - max (p _occupied (x))). (2.5)

Claims

R. 32289917patents claims

1. Driver assistance method for indicating and / or autonomous or semi-autonomous activation of a collision-avoiding driving maneuver of a motor vehicle (1) based on at least one determined avoidance trajectory in order to avoid an accident while the motor vehicle (1) is traveling by: a situation detection step for detecting a current environment situation of the motor vehicle (1) by means of at least one object detection sensor (5, 5a-5d) of the motor vehicle (1) and / or data of at least one further vehicle system

(6,7,8,9,10); a situation judgment step for determining at least one avoidance trajectory based on the current environment situation of the motor vehicle (1) and a trajectory prediction for the motor vehicle (1) and for at least one detected object (3) in the environment (2) of the motor vehicle (1); and an action step for displaying and / or autonomous or partially autonomous activation of the driving maneuver based on one of the determined avoidance trajectories.

2. Driver assistance method according to claim 1, characterized in that the environment situation detected objects (3) and / or free areas (2a) in the environment (2) of the motor vehicle (1).

3. driver assistance method according to claim 1 or 2, characterized in that an assessment of the criticality of the determined avoidance trajectories is performed, wherein the favorable avoidance trajectory is selected for the driving maneuver.

4. Driver assistance method according to one of claims 1, 2 or 3, characterized in that the driving maneuver at least one brake intervention and / or at least one R. 322899

18

Has steering intervention.

5. driver assistance method according to one of claims 1 to 4, characterized in that the further vehicle systems of the motor vehicle (1), a man / machine interface (4b), a motor / driveline control device (9), a brake system (6), a Steering system (10), a navigation system (7) and / or a C2X communication system (8).

6. driver assistance method according to one of claims 1 to 5, characterized in that at least one object detection sensor, a radar sensor, in particular long

Range radar sensor (5a), mid-range radar sensor, short-range radar sensor (5d), a lidar sensor (5b, 5c), an ultrasonic sensor or a video sensor.

7. Computer program with program code means for carrying out a driver assistance method according to one of claims 1 to 6, when the program is executed on a microprocessor of a microcomputer, in particular on a control device (4a) of a driver assistance system (4).

8. Computer program product with program code means which are stored on a computer-readable medium to perform a driver assistance method according to one of claims 1 to 6, when the program on a microprocessor of a microcomputer, in particular on a control device (4a) of a driver assistance system (4) is executed ,

9. Device, in particular driver assistance system (4) of a motor vehicle (1) for carrying out the driver assistance method according to one of claims 1 to 6, with at least one object detection sensor (5,5a-5d) for the detection of objects or obstacles (3) in an environment (2) of the motor vehicle (1), and a control R. 322899

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Device (4a), which is connected to the at least one object detection sensor (5,5a-5d) and at least one further vehicle system (6,7) and which is adapted to execute a computer program according to claim 7, wherein the control device (4a) is a situation detection module (40), a situation evaluation module (41) and an action module (42).

10. Apparatus according to claim 9, characterized in that a human / machine interface (4b) is provided.

11. The device according to claim 9 or 10, characterized in that the further vehicle systems of the motor vehicle (1), a motor / driveline control device (9), a brake system (6), a steering system (10), a navigation system (7) and / or a C2X communication system (8).

12. The apparatus of claim 9, 10 or 11, characterized in that at least one object detection sensor, a radar sensor, in particular long-range radar sensor (5a), mid-range radar sensor, short-range radar sensor (5d ), a lidar sensor (5b, 5c), an ultrasonic sensor or a video sensor.

13. Device according to one of claims 9 to 12, characterized in that the at least one object detection sensor (5,5a-5d) front, rear or side of the motor vehicle (1) is arranged.