DE102012007389A1 - Method for supporting driver of reference vehicle, involves determining probability for fall below of minimum distance between reference vehicle and vehicle with assumed current pull out of vehicle at traffic lane of reference vehicle - Google Patents

Abstract

The method involves determining probability for the pull out of a vehicle (Fzg.1) depending on relative speed, relative acceleration of a distance (d-12) and the minimum distance. The speed (V-e) and acceleration of a reference vehicle (Fzg.e) is provided, where another probability for a fall below of the minimum distance between the reference vehicle and the vehicle is determined with an assumed current pull out of the vehicle at a traffic lane of the reference vehicle depending on the relative speed, the relative acceleration, the distance and the minimum distance. An independent claim is included for a device for supporting a driver of a reference vehicle.

Description

The invention relates to a method and a device for assisting a driver of a reference vehicle, in which a risk for the reference vehicle is determined, which results from an excursion of a first vehicle ahead of the reference vehicle in an adjacent traffic lane onto the lane of the reference vehicle Vehicle ahead in the lane at least a second vehicle, the first vehicle to the reference vehicle has a distance d _e1 , which is greater than or equal to a predetermined minimum distance Min _de1 , and the first vehicle to the second vehicle has a distance d ₁₂ , which is greater than or equal to one predetermined minimum distance Min _d12 .

In the prior art driver assistance systems and corresponding methods for collision avoidance are known with ausscherenden on their own lane vehicles. Such systems are typically used for automated vehicle longitudinal and / or vehicle lateral control.

So will in the DE 10 2009 007 885 A1 discloses a method for detecting vehicles breaking into their own lane or shunting their own lane. An essential idea of the described method is to detect at least one vehicle traveling in the lane adjacent to its own traffic lane or driving ahead in its own traffic lane by technical means and to evaluate its driving behavior with regard to a possible lane change, for example using an image or signal processing algorithm. The technical means used for detection may be, in particular, a camera or a RADAR or LIDAR sensor, as often used in distance warning or proximity control systems. The evaluation of the driving behavior can be based in particular on one or more criteria, each criterion can specify a probability of a possible lane change. For example, a turn signal of a vehicle traveling in the adjacent lane or driving ahead in the driver's lane can be evaluated and evaluated as a lane change. Alternatively or additionally, the transverse movements of vehicles in the adjacent traffic lane or in the driver's own traffic lane can be measured and assessed as a lane change when a threshold value is exceeded. Telematics information in combination with the current local position of the respective vehicles can also be evaluated and evaluated as a lane change. Finally, the relative speed of two vehicles in the adjacent traffic lane can also be measured and, for example, evaluated as a lane change when a threshold value is exceeded. The disclosed method is limited to recognizing a vehicle driving ahead in an adjacent traffic lane on its own lane or a lashing out of a vehicle driving ahead in its own traffic lane.

Furthermore, from the DE 10 2009 006 747 A1 an environment evaluation system in a vehicle with sensor means for detecting objects in the environment of the vehicle and with evaluation means for the evaluation of objects in the environment of the vehicle with regard to the relevance of the objects as target objects for a warning, control or regulating system in the vehicle. The system evaluates, in a first step, each detected object independently of the other detected objects with respect to its lateral relevance and separately with respect to its longitudinal relevance to the own (reference) vehicle. In a second step, an overall relevance of a lateral relevance and its longitudinal relevance is calculated for each detected object. In a third step, the detected object with the maximum overall relevance is selected as the only target object for the own vehicle. This is intended to ensure that a forward-looking and unambiguous selection of a target object, even from a plurality of detected objects, is ensured so as to control a vehicle longitudinal control.

The object of the present invention is to provide an improved method and an improved device with which it is possible to avoid rear-end collisions during overtaking maneuvers on multi-lane roads.

The invention results from the features of the independent claims. Advantageous developments and refinements are the subject of the dependent claims. Other features, applications and advantages of the invention will become apparent from the following description, as well as the explanation of embodiments of the invention, which are illustrated in the figures.

A first aspect of the invention relates to a method for assisting a driver of a reference vehicle, in which a risk R for the reference vehicle is determined, which results from an outrunning of the reference vehicle in an adjacent lane first vehicle on the lane of the reference vehicle, said first vehicle in the lane at least a second vehicle ahead, the first vehicle to the reference vehicle has a distance d _e1 which is greater than or equal to a predetermined minimum distance Min _de1 , and the first vehicle to the second vehicle has a distance d ₁₂ , the greater or equal a predetermined minimum distance Min _d12 is. According to the invention on the reference vehicle, a sensor means for determining the distances d _e1 and d ₁₂ , a speed v ₁ and an acceleration
a ₁ = dv ₁ / dt of the first vehicle and a speed v ₂ and an acceleration a ₂ = dv ₂ / dt of the second vehicle, wherein the first and second vehicles are in a detection range of the sensor means. The variables determined by the sensor means are preferably determined currently and continuously, ie with a high "up-date" rate of, for example, 10-200 Hz, in particular 50 Hz, 100 Hz or 150 Hz. The sensor means preferably comprises a radar sensor and / or a lidar sensor and / or a camera and / or an ultrasound sensor.

The method according to the invention comprises the following method steps.

In a first step, a determination of a first probability W ₁ for the outriggering of the first vehicle on the lane of the reference vehicle in dependence on at least the relative speed Δv ₁₂ = v ₂ -v ₁ , the relative acceleration Δa ₁₂ = a ₂ -a ₁ , of the distance takes place d ₁₂ , and the minimum distance Min _d12 . In the case v ₁ > v ₂ , the first probability W ₁ is greater, the smaller the distance d ₁₂ and the larger the amount Δv ₁₂ . In this case, the first probability W ₁ continues to be greater, the greater a relative acceleration Δa _{12 of} the first and the second vehicle is toward each other. The probability W ₁ is still greater, the more likely on the basis of the above-mentioned dynamic variables _{falls below} the predetermined minimum distance Min _d12 . For the determination of the first probability, algorithms which can be used by a person skilled in the art are easily accessible on the basis of the relationships indicated.

In a second step, the actual speed v _e and the current acceleration a _e = dv _e / dt of the reference vehicle are made available, and a second probability W _{2 is determined} for a _below minimum distance Min _de1 between the reference vehicle and the first vehicle in the case of an imputed one current excursion of the first vehicle on the lane of the reference vehicle in dependence on the relative velocity .DELTA.v _e1 = v ₁ - v _e , the relative acceleration .DELTA.a _e1 = a ₁ - a _e , the distance d _e1 , and the minimum distance Min _de1 . In the determination of the second probability W ₂ , in this second step, it is therefore assumed that the first vehicle currently engages in the lane of the reference vehicle, independently of a previously determined probability W ₁ . It can also be said that in the second step, the first probability W _{1 is} always assumed equal to "1" or "100%".

It should be noted at this point that in the present case all speed and accelerations are understood as vector quantities, so that when determining the probabilities W ₁ and W _{2 it is} always taken into account whether vehicles move towards each other or if they move away from one another. If the relevant vehicles move towards each other, this tends to increase the first or second probability. If the relevant vehicles move away from each other, this tends to lower the first or second probability. Furthermore, the terms "minimum distance Min _de1 " and "minimum distance Min _d12 " _denote predetermined minimum distances between the reference vehicle and the first vehicle or between the first and the second vehicle, which should preferably not be undershot. Depending on the specification of the minimum distances, the method can be adjusted in its dynamics accordingly.

In a third step, the risk R for the reference vehicle is determined on the basis of the first probability W ₁ and the second probability W ₂ . The risk R for the reference vehicle is thus determined according to the invention on the basis of the previously determined first and second probabilities / probability values.

Finally, in a fourth step, depending on the determined risk (value) R, a warning is issued to the driver of the subject vehicle and / or a steering and / or braking intervention is carried out in the reference vehicle

By the method according to the invention a significantly clearer and more accurate risk assessment for the reference vehicle is possible as currently known in the art. The method according to the invention serves to assist the driver of the reference vehicle in assessing a complex traffic situation, ie. H. in an overtaking operation on a multi-lane road, with regard to a (accident) risk for the own vehicle / reference vehicle. The method helps prevent accidents in such traffic situations.

A preferred embodiment of the method according to the invention is characterized in that when determining the first probability W ₁ for the first vehicle, a delay a _{1 min is} determined and taken into account, which is required in order to decelerate the first vehicle in such a way that the minimum distance Min _{d12 is} not undershot. The greater the value of the delay a _1min , the greater the first probability W ₁ .

A further preferred development of the method _{according to} the invention is characterized in that, when determining the second probability W ₂ for the reference _vehicle, a deceleration a _{emin is} determined and taken into account, which is required to decelerate the reference _vehicle such that the minimum distance Min _de1 does not fall below becomes. _By analogy, the greater the value of the delay a _emin , the greater the second probability W ₂

Until it was assumed that the first probability W ₁ , ie the probability that the first vehicle on the lane in front of the reference vehicle at the current distance d _e1 einschert of dynamic variables: relative speed Δv ₁₂ (t) = v ₂ (t) - v ₁ (t), relative acceleration Δa ₁₂ (t) = a ₂ (t) - a ₁ (t) and distance d ₁₂ (t), as well as the predetermined minimum distance Min _d12 depends, ie independent of the reference vehicle or the associated dynamic variables is. In reality, however, a possible outbreak of the first vehicle in the lane of the reference vehicle is also influenced by the fact that the driver of the first vehicle may recognize in its rearview mirror the approaching reference vehicle at a certain distance, wherein its decision to change to the lane of the reference vehicle , typically depends on the distance to the reference vehicle detected by the driver by looking into the rearview mirror. A preferred embodiment of the method is therefore characterized in that the determination of the first probability W ₁ takes place as a function of the distance d _e1 . Whereby the distance d _{e1 in the} present case is not the distance supposedly perceived by the driver of the first vehicle from the first vehicle to the reference vehicle, but the distance d _e1 determined by the sensor means of the reference vehicle.

A further preferred embodiment of the method according to the invention is characterized in that the determination of the first probability W ₁ is effected as a function of the relative velocity Δv _e1 = v ₁ -v _e . This variant takes up the experience that when the driver of the first vehicle perceives the approaching reference vehicle at a supposed large distance in the rearview mirror but drives the reference vehicle at a very high speed, the relative speed Δv _e1 = v ₁ -v _{e becomes} very high is, the first probability W ₁ , ie a lane change of the first vehicle on the track of the reference vehicle, due to the supposedly large distance to the reference vehicle is high. The underlying problem here is that while the supposed distance to a vehicle approaching from behind on an adjacent track is often still easily predictable by means of rearview mirrors, the estimation of the speed of the vehicle approaching from behind is much more difficult, and in the worst case scenario clearly underestimated. This often results in a skidding of vehicles into an adjacent parallel lane, although this would prohibit such a maneuver when looking at the vehicle's attitude and relative speed together. The present embodiment provides a remedy.

Another _{variant of the} method is characterized in that the minimum distance Min _d12 = 0 and / or the minimum distance Min _de1 = 0 is selected. In this case, falling below the respective minimum distance in each case means touching the respective vehicles and thus an accident. In this respect, this choice of minimum distances is an extreme adjustment of the method. Alternatively, the minimum distances> 0 are selected. In this case, the minimum distance Min _{d12 is} preferably _{chosen as a} function of the relative speed Δv ₁₂ = v _{2 -v 1} and / or the minimum distance Min _{de1 is} preferably selected as a function of the relative speed Δv _e1 = v _{1 -v e} . This enables a traffic situation-dependent optimization of the process.

A preferred further development of the method is characterized in that the determination of the risk R takes place by means of a predetermined look-up table in which values of the risk R can be taken for combinations of the first probability W ₁ and the second probability W ₂ . This allows a simple and fast process execution. Of course, the risk R can also be determined by means of appropriate models and algorithms.

A particularly preferred embodiment of the method is characterized in that a meteorological condition and / or a road condition is provided for a traffic space relevant to the reference vehicle, the first and the second vehicle, and determining the first probability W ₁ and / or the Determining the second probability W ₂ and / or determining the risk R as a function of the meteorological state and / or road condition takes place. This variant takes into account the fact that, for example, the braking power of a vehicle differs depending on the meteorological conditions (dry, wet, icy road). Furthermore, the driving behavior of the driver depends on the meteorological condition and / or the road condition. Thus, a driver of the first vehicle in a given dynamic driving situation with a dry road in the lane of the reference vehicle einhereren while he would not do so in the same dynamic driving situation with icy road. These effects are considered in this embodiment.

A further preferred variant of the method is characterized in that the determination of the risk R is driver-specific, in particular in the the first probability W _{1 is} weighted driver-specifically. This makes it possible to tailor the inventive method individually to the driver of the reference vehicle. For example, the method can be tailored to "sporty" riders who have a fast response time (and those who consider themselves athletic riders) or occasional or pleasure riders.

A further aspect of the invention relates to a device with which a risk R for a reference vehicle can be determined, which results from an outward movement of the reference vehicle in an adjacent lane ahead vehicle on the lane of the reference vehicle, wherein the first vehicle in the lane at least precedes a second vehicle, the first vehicle to the reference vehicle has a distance d _e1 which is greater than or equal to a predetermined minimum distance Min _de1 , and the first vehicle to the second vehicle has a distance d ₁₂ which is greater than or equal to a predetermined minimum distance Min _d12 , The device according to the invention comprises a sensor means arranged on the reference vehicle, with which the distances d _e1 and d ₁₂ , a speed v ₁ and an acceleration a ₁ = dv ₁ / dt of the first vehicle and a speed v ₂ and an acceleration a ₂ = dv ₂ / dt of the second vehicle can be determined, wherein the first and the second vehicle are located in a detection range of the sensor means, a first means with the relative velocity .DELTA.v ₁₂ = v ₂ - v ₁ , the relative acceleration .DELTA.a ₁₂ = a ₂ - a ₁ , the distance d ₁₂ , and the minimum distance Min _d12, a first probability W ₁ for the outraging of the first vehicle can be determined, a second means, with a second probability W ₂ for _{falling below} the minimum distance Min _de1 between the reference _vehicle and the first vehicle in an imputed current Ausscheren the first vehicle on the lane of the reference vehicle, depending on e Iner speed v _e and an acceleration a _e = dv _e / dt of the reference vehicle, the relative velocity .DELTA.v _e1 = v ₁ - v _e , the relative acceleration .DELTA.a _e1 = a ₁ - a _e , the distance d _e1 , and the minimum distance Min _de1 determined is a third means by which the risk R for the reference vehicle on the basis of the first probability W ₁ and the second probability W ₂ can be determined, and a fourth means, depending on the determined risk R can be issued a warning and / or a fifth means with the depending on the risk determined a steering and / or braking intervention is executable.

Preferably, the first means is designed and set up such that the first probability W ₁ can be determined as a function of the distance d _e1 . Further preferably, the first means is designed and set up such that the first probability W _{1 can be determined} as a function of the relative velocity vΔve ₁ = v ₁ -v _e .

Advantages and preferred further developments of the device according to the invention result from analogous transmission of the statements made above in connection with the method according to the invention to the device according to the invention.

Another aspect of the invention relates to a vehicle, in particular a motor vehicle or an electric vehicle with a device as described above.

Further advantages, features and details emerge from the following description in which an exemplary embodiment is described with reference to the drawings. Described and / or illustrated features form the subject of the invention, or independently of the claims, either alone or in any meaningful combination, and in particular may additionally be the subject of one or more separate applications. The same, similar and / or functionally identical parts are provided with the same reference numerals. Show it:

1 a plan view of a typical traffic situation to explain the method according to the invention,

2 a schematic sequence of a method according to the invention,

3 a look-up table for determining risk values R, and

4 a schematic representation of a device according to the invention.

1 shows a plan view of a typical for the application of the inventive traffic situation. Shown is a road with two lanes, the direction of which in this case leads from the bottom of the screen to the top of the screen. On the left lane, the reference vehicle Fzg. E travels at a speed v _e whose driver is assisted by the execution of the method according to the invention in the reference vehicle. The first vehicle Fzg. 1 and the preceding second vehicle Fzg. 2 are shown on the right, adjacent lane the reference vehicle Fzg. E driving in column. The first vehicle Fzg. 1 runs at the speed v ₁ and the second vehicle Fzg. 2 at the speed v ₂ . In the illustrated situation, the first vehicle 1 and the second vehicle 2 are spaced apart vehicles with the distance d ₁₂ and the first vehicle Fzg. 1 and the reference vehicle Fzg. E with the distance d _e1 . The distances d ₁₂ and d _e1 preferably denote distances along a roadway longitudinal axis. The sensor means of the reference vehicle in the present case has a detection area EFB in a triangular form. Of course, other suitable forms of coverage EFB are readily available to those skilled in the art.

The sensor means (not shown) arranged on the reference vehicle F enables the continuous determination (with an up-date rate of 100 Hz) of the distances d _e1 (t) and d ₁₂ (t), the speed v ₁ (t) and the acceleration a ₁ (t) = d _v1 (t) / dt of the first vehicle Fzg. 1 and the speed v ₂ (t) and the acceleration a ₂ (t) = dv ₂ (t) / dt of the second vehicle.

The sensor means of the reference vehicle Fzg. E in the present case comprises a radar sensor, a lidar sensor and a camera system. The latter, for example, to evaluate whether the first vehicle Fzg. 1 has set a turn signal, in this case to indicate a turn to the left.

The method is carried out on a device in the reference vehicle F e.

2 e shows a schematic flow of a method according to the invention for assisting the driver of the reference vehicle Fzg. e, in which a risk R for the reference vehicle Fzg. e is determined by an outrun of the reference vehicle Fzg. e in the adjacent lane ahead moving first vehicle Fig. 1 on the lane of the reference vehicle Fzg. E arises. Based on the known in the reference vehicle Fzg. E measured variables, the following steps are performed.

In a first step 201 ₁ is determined as a function of the relative velocity Δv ₁₂ = v ₂ -v ₁ , the relative acceleration Δa ₁₂ = a ₂ -a ₁ , the distance d ₁₂ , and the minimum distance Min _d12 . In a second step 202 there is provided a speed v _e and an acceleration a _e = dv _e / dt of the reference vehicle Fzg. e as well as a determination of a second probability W ₂ for _{falling below} the minimum distance Min _de1 between the reference vehicle Fzg. e and the first vehicle Fzg 1 in the lane of the reference vehicle Fzg. e as a function of the relative velocity .DELTA.v _e1 = v ₁ - v _e , the relative acceleration .DELTA.a _e1 = a ₁ - a _e , the distance d _e1 , and the Minimum distance Min _de1 . In a third step 203 A determination of the risk (risk value) R for the reference vehicle Fzg. e on the basis of the first probability W ₁ and the second probability W ₂ . In the present case, the risk R is determined by means of a look-up table in which values of the risk R can be deduced for combinations of the first probability W ₁ and the second probability W ₂ . In a fourth step 204 depending on the determined risk R, issuing a warning to the driver of the reference vehicle Fzg. e and / or performing a steering and / or braking intervention in the reference vehicle Fzg. e.

3 shows an example of such a look-up table for determining risk values R. In the top line of the table, the in step 201 ascertainable possible values of the first probability W ₁ . In the first left column of the table are the ones in step 202 ascertainable possible values of the second probability W ₂ . In the present case, both probabilities can only assume values in the interval from "0" to "1" ([0, 1]). With a value of "0", the corresponding event certainly does not occur in the present case. If the value is "1", then the corresponding event occurs safely. The other cells contain values for the risk R. Depending on the steps in the steps 201 and 202 The values determined for the first and second probability are now entered in the corresponding column and row of the table and the cell at which the relevant column crosses with the respective row can be deduced the value of the assigned risk R.

If, for example, a value of "0" has been determined for the first probability, ie the first vehicle Fzg. 1 certainly does not shear the lane of the reference vehicle Fzg. E, then the second column is determined from the left to determine the risk R ( W ₁ = 0). In this case, there is no purely logical risk for the reference vehicle Fzg. E, ie R = 0 for all possible values of the second probability W ₂ . This is reflected in the table by the second column from the left only contains the values "0".

If, for example, a value of "0.8" has been determined for the first probability, ie the first vehicle Fzg. 1 shifts to the lane of the reference vehicle Fzg. E with a very high probability, then the column of the table is determined to determine the risk R. fixed for the following applies: W ₁ = 0.8. If, in this case, a value of "0" is determined for the second probability W ₂ , ie if the assumed safe displacement of the first vehicle Fzg. 1 to the lane of the reference vehicle Fzg. E does not fall below the minimum distance Min _de1 , this is also purely logically the risk R = 0. In the table this is reflected again by the line, which represents the second probability value "0" (second row from above) likewise only the values "0" contains.

Analogously, a risk value R = 3 results from the table for a pairing of first probability value W ₁ = 0.6 and second probability value W ₂ = 1.0. In the present case, the risk values lie in the interval [0, 5].

4 1 shows a schematized representation of a device according to the invention, with which a risk R for a reference vehicle Fzg. e can be determined, which by an excursion of the reference vehicle Fzg. e in an adjacent lane ahead moving first vehicle Fzg. 1 on the lane of the reference vehicle Fzg. e arises, wherein the first vehicle Fzg. 1 in its lane at least a second vehicle Fzg. 2 ahead, the first vehicle Fzg. 1 to the reference vehicle Fzg. e has a distance d _e1 which is greater than or equal to a predetermined minimum distance Min _de1 , and the first vehicle Fzg. 1 to the second vehicle Fzg. 2 has a distance d ₁₂ which is greater than or equal to a predetermined minimum distance Min _d12 , comprising: a arranged on the reference vehicle Fzg. e sensor means 301 in which the distances d _e1 and d ₁₂ , a speed v ₁ and an acceleration a ₁ = dv ₁ / dt of the first vehicle Fzg. 1 and a speed v ₂ and an acceleration a ₂ = dv ₂ / dt of the second vehicle Fzg 2, wherein the first and the second vehicle are in a detection range EFB of the sensor means 301 are located. The device according to the invention comprises a first means 302 in which, as a function of the relative velocity dv ₁₂ = v ₂ -v ₁ , the relative acceleration Δa ₁₂ = a ₂ -a ₁ , the distance d ₁₂ , and the minimum distance Min _d12, a first probability W ₁ for the displacement of the first vehicle Fzg. 1 can be determined; a second means 303 , with which a second probability W ₂ for _{falling below} the minimum distance Min _de1 between the reference vehicle Fzg. e and the first vehicle Fzg. 1 in an imputed current Ausscheren the first vehicle Fzg. 1 on the lane of the reference vehicle Fzg. e, depending a speed v _e and an acceleration a _e = dv _e / dt of the reference vehicle Fzg. e, the relative velocity .DELTA.v _e1 = v ₁ - v _e , the relative acceleration .DELTA.a _e1 = a ₁ - a _e , the distance d _e1 , and the minimum distance Min _de1 can be determined; a third remedy 304 with which the risk R for the reference vehicle Fzg e can be determined on the basis of the first probability W ₁ and the second probability W ₂ , and a fourth means 305 with which depending on the determined risk R in the reference vehicle F e. e an audible and / or visual and / or haptic warning to the driver of the reference vehicle can be output, and a fifth means 306 with the depending on the determined risk in the reference vehicle Fzg. e a steering and / or braking intervention of a pitch control is executable.

Although the invention has been further illustrated and explained in detail by way of preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exists. It is also to be understood that exemplified embodiments are really only examples that are not to be construed in any way as limiting the scope, applicability, or configuration of the invention. Rather, the foregoing description and description of the figures enable one skilled in the art to practice the exemplary embodiments, and those skilled in the art, having the benefit of the disclosed inventive concept, can make various changes, for example, to the function or arrangement of individual elements recited in an exemplary embodiment, without Protected area, which is defined by the claims and their legal equivalents, such as further explanation in the description.

LIST OF REFERENCE NUMBERS

Vehicle e

Own vehicle / reference vehicle

Vehicle 1

preceding vehicle

Vehicle 2

in front of the preceding vehicle Fzg. 1 moving vehicle

EFB

Sensor detection area

201-204

steps

301

sensor means

302

first means

303

second means

304

third means

305

fourth means

306

fifth remedy

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 102009007885 A1 [0003]
• DE 102009006747 A1 [0004]

Claims (15)

Method for assisting a driver of a reference vehicle (vehicle e) in which a risk R for the reference vehicle (vehicle e) is determined, which is caused by a first vehicle (FIG. 1) onto the lane of the reference vehicle (vehicle e), the first vehicle (vehicle 1) driving ahead in its lane at least one second vehicle (vehicle 2), the first vehicle (vehicle 1) to the reference vehicle (FIG. E) has a distance d _e1 which is greater than or equal to a predetermined minimum distance Min _de1 , and the first vehicle (Fzg 1) to the second vehicle (Fzg 2) has a distance d ₁₂ which is greater than or equal to a predetermined Minimum distance Min _d12 is, with one on the reference vehicle (vehicle e) arranged sensor means for determining the distances d _e1 and d ₁₂ , a speed v ₁ and an acceleration a ₁ = dv ₁ / dt of the first vehicle (Fzg. 1) and a Speed v ₂ and one r Acceleration a ₂ = dv ₂ / dt of the second vehicle (Fzg. 2), wherein the first (Fzg. 1) and the second (Fzg 2) vehicle in a detection range (EFB) of the sensor means are located, comprising the following steps: - Determining a first probability W ₁ for the Ausscheren the first vehicle (Fzg 1) as a function of the relative velocity Δv ₁₂ = v ₂ -v ₁ , the relative acceleration Δa ₁₂ = a ₂ -a ₁ , the distance d ₁₂ , and the minimum distance Min _d12 , - providing a velocity v _e and an acceleration a _e = dv _e / dt of the reference vehicle (F e. e) and determining a second probability W ₂ for _{falling below} the minimum distance Min _de1 between the reference vehicle (Fzg e) and the first vehicle (Fzg 1) in an imputed current Ausscheren the first vehicle 1 to the lane of the reference vehicle (FIG. 1) as a function of the relative velocity Δv _e1 = v ₁ -v _e , the relative acceleration Δa _e1 = a ₁ -e _e , the distance d _e1 , and the minimum distance Min _{d e1} , - determining the risk R for the reference vehicle (vehicle no. e) based on the first probability W ₁ and the second probability W ₂ , and - depending on the determined risk R outputting a warning and / or performing a steering and / or braking intervention in the reference vehicle (F e. A method according to claim 1, characterized in that when determining the first probability W ₁ for the first vehicle (vehicle 1), a delay a _{1min is} determined and taken into account, which is required in order to decelerate the first vehicle (vehicle 1) in such a way, so that the minimum distance Min _{d12 is} not undershot. A method according to claim 1 or 2, characterized in that, when determining the second probability W ₂ for the reference vehicle (e), a deceleration a _{emin is} determined and taken into account which is required to decelerate the reference vehicle (e) in such a way, so that the minimum distance Min _{de1 is} not undershot. Method according to one of claims 1 to 3, characterized in that the determination of the first probability W ₁ takes place as a function of the distance d _e1 . Method according to one of claims 1 to 4, characterized in that the determination of the first probability W ₁ as a function of the relative velocity .DELTA.v _e1 = v ₁ - v _e takes place. Method according to one of claims 1 to 5, characterized in that the minimum distance Min _d12 = 0 and / or the minimum distance Min _de1 = 0 is selected. Method according to one of Claims 1 to 5, characterized in that the minimum distance Min _{d12 is selected as a} function of the relative speed Δv ₁₂ = v _{2 -v 1} and / or the minimum distance Min _de1 depends on the relative speed Δv _e1 = v _{1 -v e} is selected. Method according to one of claims 1 to 7, characterized in that the determination of the risk R by means of a predetermined look-up table in which for combinations of the first probability W ₁ and the second probability W ₂ values of the risk R can be removed. Method according to one of claims 1 to 8, characterized in that for one, for the reference vehicle (Fzg e), the first (Fzg 1) and the second (fzg 2) vehicle relevant traffic space a meteorological condition and / or a Road condition is provided, and the determination of the first probability W ₁ and / or the determination of the second probability W ₂ and / or the determination of the risk R depending on the meteorological condition and / or road condition takes place. Method according to one of claims 1 to 9, characterized in that the determination of the risk R is driver-specific, in particular in which the first probability W _{1 is} weighted driver-specific. Device with which a risk R for a reference vehicle (vehicle e) can be determined, which is determined by an excursion of a first vehicle (vehicle 1) driving ahead of the reference vehicle (f) in an adjacent lane onto the lane of the reference vehicle (fzg e), wherein the first vehicle (vehicle 1) in its lane at least a second vehicle (Fzg 2) ahead, the first 1 (e) to the reference vehicle (e) has a distance d _e1 which is greater than or equal to a predetermined minimum distance Min _de1 , and the first vehicle (Fzg 1) to the second vehicle (Fzg 2) a distance d ₁₂ , which is greater than or equal to a predetermined minimum distance Min _d12 , comprising: - a sensor means arranged on the reference vehicle (e) with which the distances d _e1 and d ₁₂ , a speed v ₁ and an acceleration a ₁ = dv ₁ 1 of the first vehicle (vehicle 1) and a speed v ₂ and an acceleration a ₂ = dv ₂ / dt of the second vehicle (vehicle 2) can be determined, the first vehicle (vehicle 1) and the second vehicle vehicle (vehicle 1) 2) vehicle are located in a detection range (EFB) of the sensor means, - a first means with which as a function of the relative velocity Δv ₁₂ = v ₂ - v ₁ , the relative acceleration Δa ₁₂ = a ₂ - a ₁ , the distance d ₁₂ , and the minimum distance Min _d12 a first probability W ₁ for the Au scissors of the first vehicle (Fzg. 1), - a second means, with a second probability W ₂ for _{falling below} the minimum distance Min _de1 between the reference vehicle (Fzg. E) and the first vehicle (Fzg. 1) in an imputed current Ausscheren the first vehicle ( 1) to the lane of the reference vehicle (vehicle e), as a function of a speed v _e and an acceleration a _e = dv _e / dt of the reference vehicle (vehicle e), the relative speed Δv _e1 = v ₁ -v _e , the relative acceleration Δa _e1 = a ₁ -e _e , of the distance d _e1 , and the minimum distance Min _de1 can be determined, - a third means with which the risk R for the reference vehicle (Fzg e) based on the first probability W ₁ and the second probability W ₂ can be determined, and a fourth means with which, depending on the determined risk R in the reference vehicle (e), a warning can be output and / or a fifth means with the risk depending on the determined risk a steering and / or braking intervention is executable (Fzg. e). Apparatus according to claim 10, characterized in that the first means is designed and arranged such that the first probability W ₁ as a function of the distance d _e1 can be determined. Apparatus according to claim 10 or 11, characterized in that the first means is designed and arranged such that the first probability W ₁ as a function of the relative velocity vΔv _e1 = v ₁ - v _e can be determined. Device according to one of claims 11 to 13, characterized in that the sensor means is a radar sensor and / or a Lidarsensor and / or a camera. Vehicle with a device according to one of claims 11 to 14.

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