DE102016209704A1 - Method for controlling a passenger protection device of a vehicle and control unit - Google Patents

Abstract

The invention relates to a method for controlling a passenger protection device (116) of a vehicle (100). Here, an environmental information item (110) representing a danger zone (104) detected by at least one environment sensor (108) of the vehicle (100) in an environment of the vehicle (100) is read. The vehicle (100) is located outside the danger zone (104) at the time of detection. Subsequently, the environment information (110) is processed in an environmental grid (112) in order to determine a probability of a collision of the vehicle (100) when entering the danger zone (104) and / or a possible injury severity of a person with an object in the danger zone (104). to investigate. Finally, depending on the probability or the severity of the injury, a drive signal (114) is generated for activating the personal safety device (116).

Description

State of the art

The invention is based on a device or a method according to the preamble of the independent claims. The subject of the present invention is also a computer program.

Modern vehicles can have a personal protection system that can be activated when a critical situation is detected by environment sensors in order to prevent a collision or to reduce the impact of the collision in the event of an unavoidable collision.

Disclosure of the invention

Against this background, with the approach presented here, a method for activating a personal protection device of a vehicle, furthermore a control device, which uses this method, and finally a corresponding computer program according to the main claims are presented. The measures listed in the dependent claims advantageous refinements and improvements of the independent claim device are possible.

A method is presented for activating a personal safety device of a vehicle, the method comprising the following steps:
Reading in environmental information representing a danger zone detected by at least one environmental sensor of the vehicle in an environment of the vehicle, the vehicle being outside the danger zone at the time of detection;
Processing the environmental information in an environmental grid to determine a likelihood of collision of the vehicle upon entering the danger zone and / or a potential injury severity of a person with an object in the danger zone; and
Generating a drive signal for driving the personal protection device as a function of the probability or the injury severity.

Under a personal protection device, for example, a system of active, passive or integrated security can be understood. For example, the personal protection device may include restraining means such as airbags or belt tensioners, a pedestrian protection system or adaptive crash structures. The personal protection device can also be designed to automatically steer or decelerate the vehicle in the event of an imminent collision. An environment sensor may, for example, be understood as a radar, ultrasound or video sensor for detecting an environment of the vehicle. A danger zone can be understood to mean a locally or temporally defined area in the surroundings of the vehicle within which there is an increased risk of accidents. For example, the danger zone may be defined by a specific distance of the vehicle to at least one object in the danger zone, such as an object crossing a roadway or a trajectory of the vehicle, or by a relative speed between the vehicle and the object. Depending on, for example, distance or relative speed, the danger zone may be a critical or uncritical situation for the vehicle. For example, the danger zone can represent a critical situation if the distance falls below a critical distance threshold value or the relative speed exceeds a critical speed threshold value, so that an imminent collision between the vehicle and the object can be assumed.

For example, in the step of processing, a probability value representing the probability can be determined. In this case, the drive signal can be generated in the step of generating, if the probability value exceeds a predetermined probability threshold. Alternatively or additionally, a possible injury severity of a person with an object in the danger zone can also be determined. In this way, an assessment can be made as to how critical an expected impact of a person on the vehicle or a vehicle occupant in the vehicle, so that further as low as possible injury scenario can be brought to the affected persons.

Environment information in an environment grid can be understood as the environment information that the environment grid is stored on. The environmental grid may map a layout of the vehicle environment into grid cells covering a different distance or area in or around the vehicle. The environment information may represent a parameter in at least one of the grid cells of the environmental grid. An environmental grid can thus be understood as meaning a two-dimensional or three-dimensional grid structure comprising at least two grid cells. The grid cells can be the same size or different sizes. The grid cells can be pixels or voxels. A respective size of the grid cells may be variable.

The approach presented here is based on the knowledge that accident-relevant information in a non-time-critical driving state of a vehicle in an environmental grid, also called occupancy grid, can be processed. This has the Advantage that the information processed in such a way in a time-critical driving condition already exist and thus can be used for fast and robust triggering functions of a personal protection device of the vehicle. For example, the already processed information can be retrieved from the data structure of the environmental grid in a sudden time-critical driving condition and used directly as an immediately available basis for decision for the respective options of a possible reaction pattern of the personal protection device or linked with other information. This allows efficient use of available computational power for environment detection and interpretation, enabling extremely powerful pre-crash functions to be realized.

In one embodiment, the method may include a step of changing the environmental raster using the environmental information to obtain a modified environmental raster. In this case, in the step of processing, the environment information in the changed environment grid can be processed. For example, when changing the environmental raster, a number or size of raster cells of the environmental raster, and thus a resolution of the environmental raster, may be changed. By this embodiment, efficient use of available computing power can be achieved.

According to another embodiment, in the step of changing, the environmental grid may be changed using a tree structure, in particular using a quad and / or octree. A quadtree can be understood as a tree in which each inner knot has exactly four children. Here, a root of the tree may represent a square area that can be decomposed recursively into four equal-sized quadrants until a desired resolution is achieved and the recursion ends in a leaf of the tree. Thereby, the surface represented by the root node can be arbitrarily finely resolved. An octree can be understood to mean a rooted tree whose nodes each have either eight direct successors or no successors. By means of this embodiment, environmental information in the form of two-dimensional or three-dimensional data can be managed to save memory.

It is advantageous if, in the step of changing, the environmental raster is changed such that the changed environmental raster has at least a first raster cell and a second raster cell of different size, in particular wherein a size of the first raster cell is equal to an integer multiple of a size of the second raster cell. This allows the resolution of the environment grid to be changed quickly and flexibly.

The method may further include a step of determining a temporal and / or spatial distance between the vehicle and the danger zone using the environmental information. In this case, in the step of changing the environmental grid can be changed depending on the distance, a planned or actual driving trajectory of the vehicle and / or a speed of the vehicle. This allows the environment grid to be changed before the vehicle reaches the danger zone.

Advantageously, in the step of changing, a grid cell number of the surrounding grid may be reduced if the distance falls below a distance threshold. This can speed up the determination of the probability.

According to another embodiment, the method may include a step of determining a stiffness and / or a mass of at least one object located in the danger zone using the environment information. In this case, a desired trajectory can be determined in the step of processing as a function of the rigidity and / or the mass. Accordingly, in the step of generating the drive signal can be generated to guide the vehicle to the desired trajectory. A desired trajectory may, for example, be understood to mean a driving trajectory of the vehicle which either passes by the object or crosses a trajectory of the object at a point which is as uncritical as possible. As a result, a collision can be prevented or at least mitigated.

Furthermore, in the reading-in step, at least one further environmental information representing a recording of the environment detected by the surroundings sensor at a time deviating from a time of detection of the danger zone can be read in. Further, in the step of processing, the other environmental information in the environment grid may be processed to determine the likelihood. By way of example, the further environmental information may represent a section of the surroundings of the vehicle which is already outside of a detection range of the environmental sensor at the time of the acquisition of the environmental information. By this embodiment, the detection range of the environmental sensor can be effectively increased, whereby the probability can be determined with high reliability and accuracy.

According to a further embodiment, in the step of generating the drive signal can be generated to control the personal protection device before and / or when the vehicle reaches the danger zone. As a result, a timely activation of functions of the personal protection device can be ensured.

It is also advantageous if, in the reading-in step, at least one other environment information representing a recording of the environment detected by at least one other environment sensor of the vehicle is read. Accordingly, in the step of processing, the other environment information in the environment grid may be further processed to determine the probability. By this embodiment, the environment of the vehicle can be detected as accurately as possible.

This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit.

The approach presented here also creates a control unit which is designed to execute, to control or to implement the steps of a variant of a method presented here in corresponding devices. Also by this embodiment of the invention in the form of a control device, the object underlying the invention can be achieved quickly and efficiently.

For this purpose, the control unit can have at least one arithmetic unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface to a sensor or an actuator for reading sensor signals from the sensor or for outputting control signals to the actuator and / or or at least a communication interface for reading or outputting data embedded in a communication protocol. The arithmetic unit may be, for example, a signal processor, a microcontroller or the like, wherein the memory unit may be a flash memory, an EPROM or a magnetic memory unit. The communication interface can be designed to read or output data wirelessly and / or by line, wherein a communication interface that can read or output line-bound data, for example, electrically or optically read this data from a corresponding data transmission line or output to a corresponding data transmission line.

In the present case, a control device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon. The control unit may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based embodiment, the interfaces can be part of a so-called system ASIC, for example, which contains various functions of the control unit. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

In an advantageous embodiment, the control unit is used to control a brake system, a steering system or an engine of the vehicle. For this purpose, the control unit can access, for example, sensor signals such as environment sensor signals or brake and steering sensor signals. The control takes place via corresponding actuators such as steering or brake actuators.

Also of advantage is a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the embodiments described above is used, especially when the program product or program is executed on a computer or a device.

Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description. It shows:

1 a schematic representation of a vehicle with a control unit according to an embodiment;

2 a schematic representation of an environmental grid for processing environmental information in a control device according to an embodiment;

3 a schematic representation of an environmental grid 2 ;

4 a schematic representation of an environmental grid 2 ;

5 a schematic representation of an environmental grid for processing environmental information in a control device according to an embodiment;

6 a schematic representation of an environmental grid 5 with different sized grid cells;

7 a schematic representation of a control device according to an embodiment;

8th a schematic representation of a comparison between a CPU architecture and a GPU architecture; and

9 a flowchart of a method according to an embodiment.

In the following description of favorable embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and similar acting, wherein a repeated description of these elements is omitted.

1 shows a schematic representation of a vehicle 100 with a control unit 102 according to an embodiment. The vehicle 100 moves to a danger zone 104 to, for example, the possibility of a collision of the vehicle 100 with one in the danger zone 104 located object 106 , here a standing on a roadside child exists. The control unit 102 is with an environment sensor 108 connected, which is trained to the danger zone 104 in the vicinity of the vehicle 100 to capture and the danger zone 104 representing environment information 110 to the control unit 102 to send. When detecting the danger zone 104 through the environment sensor 108 is the vehicle 100 outside the danger zone 104 , The control unit 102 is designed to be the environment information 110 in an environment grid 112 to process. The environmental grid 112 is in 1 schematically as a the danger zone 104 superimposed grid shown. Alternatively, the vehicle 100 completely or at least in sections from the surrounding grid 112 be surrounded. When processing the environment information 110 in the environment grid 112 determines the control unit 102 a probability with which the vehicle 100 when entering danger zone 104 with the object 106 collided or not collided. Depending on the probability determined, the control unit generates 102 a drive signal 114 for controlling a personal protection device 116 , the example of an airbag here 118 and a belt tensioner 120 includes.

Optional is the control unit 102 trained to the surrounding grid 112 using the environment information 110 to change it before the environment information 110 in the environment grid 112 processed to determine the probability. For example, the controller changes 102 Here, a number or size of grid cells 122 that make up the environment grid 112 is composed. This may cause a resolution of the environmental grid 112 be changed.

According to one embodiment, the controller determines 102 using the environment information 110 first a local or temporal distance between the danger zone 104 and the vehicle 100 , Subsequently, the controller changes 102 the environmental grid 112 depending on the local or temporal distance. For example, the controller reduces 102 the resolution of the environment grid 112 when the distance falls below a predetermined distance threshold value. This can speed up the determination of probability in time-critical situations, ie in situations where the vehicle 100 only a small distance to the danger zone 104 has or is already in the danger zone 104 is increased.

Depending on the embodiment, the vehicle 100 realized with various environment sensors for detecting the environment, such as radar, ultrasonic or video sensors. The environment sensors serve to capture environmental information for various driver assistance and safety-relevant functions of the personal protection device 116 are relevant. The non-ideal sensor signals generated by the environmental sensors should be used by the ECU for the reliable detection and classification of objects, such as object lists 102 be prepared accordingly.

According to one embodiment, the personal protection device comprises 116 At an interface between active and passive safety, so-called pre-crash functions, which can use environment sensors of active safety to detect a potential collision with a relevant object in a critical situation. In the case of an unavoidable collision activation thresholds can be reduced on an airbag control unit, for example by so-called pre-set functions to the reliability and robustness of a trigger decision of restraint systems of the personal protection device 116 to improve. Furthermore, the personal protection device 116 be configured to activate reversible passive safety restraint means, also referred to as pre-fire functions, or irreversible passive safety means of restraint, also referred to as pre-trigger functions, and thus to reduce the severity of the accident. Furthermore, the personal protection device 116 be designed to evasive movements in the event of an unavoidable collision, also called pre-crash alignment, or braking interventions which can positively affect a type and severity of collision to the occupants in the vehicle 100 Protect as comprehensively as possible by means of the available retention means.

A fusion of sensor signals of the environment sensors involved, also referred to above as environmental information, can take place at different levels of the respective sensor signal processing, depending on the exemplary embodiment. For example, when merging at the data level, the sensor data may be in the form of the environmental grid 112 , also called environment grids to manage. The memory and processing power for processing the environment grid 112 can keep the controller at an efficient level 102 use hierarchical tree structures, such as quads or octrees, through which the resolution or size of the raster cells 122 For example, in the case of three-dimensional data, voxels can be adapted dynamically to the represented data and functions. This allows the environment information through the hierarchical environment grid 112 optimized for the respective functions in a preprocessed representation. The precalculation of accident-relevant information and its administration as attributes in a hierarchical tree structure for integrated security functions make it possible to make functional decisions particularly quickly. This is the control unit 102 For example, it is designed to detect collision-relevant variables, such as the probability of a collision, cyclically in a non-time-critical driving state of the vehicle 100 to pre-calculate the results of this precalculation as pre-crash attributes in a hierarchical tree structure, in particular about a quad or octree, to manage and to use for function triggering in time-critical situations.

The dynamic precalculation and storage of pre-crash relevant environmental information in a vehicle 100 surrounding environment grid 112 Enables the enlargement of a virtual opening angle in the vehicle 100 built environment sensor, since, for example, static objects that are at a possible collision time outside the current detection range of the environment sensors were already detected before the collision time.

According to a further embodiment, the control device 102 designed to be at least one of the environmental sensor 108 deviating environment sensor provided other environment information to determine the probability in the environmental grid 112 to process. For example, a fusion of different orthogonal environmental sensors at the data level and their temporal integration in the environmental grid 112 the reliability and quality of the environment detection are improved. Also, the influence of sensor noise and measurement inaccuracies can be reduced.

The following 2 to 4 For example, an environment grid is a hierarchical environment grid that provides variable-precision data, depending on the cell size of the grid cells.

2 shows a schematic representation of an environmental grid 112 for processing environment information in a control device according to an exemplary embodiment, such as a control device, as described above with reference to FIG 1 is described. Shown is a first cell zone 200 from a plurality of grid cells 122 , one to the first cell zone 200 adjacent second cell zone 202 from a plurality of grid cells 122 and one to the second cell zone 202 adjacent third cell zone 204 from a plurality of grid cells 122 , wherein the second cell zone 202 between the first cell zone 200 and the third cell zone 204 is arranged. The three cell zones 200 . 202 . 204 each represent a particular object in the vicinity of the vehicle, wherein the objects may each be assigned a different criticality with respect to a risk of collision. For example, the controller is designed to determine the criticality of the objects based on a respective mass or rigidity of the objects. In this case, the mass or rigidity is determined by the control unit using the environmental information provided by the environment sensor of the vehicle.

A current direction of travel of the vehicle is marked with a thick arrow. Possible trajectories of the vehicle are indicated by three thinner arrows.

3 shows a schematic representation of an environmental grid 112 out 2 , The environmental grid 112 has a smaller number of grid cells 122 than that in 3 shown environment grid on. In addition, the grid cells 122 significantly larger than the one in 3 shown grid cells, here for example four times as large. The resolution of the environmental grid 112 is thus lower than the one in 3 shown environment grid.

4 shows a schematic representation of an environmental grid 2 , The grid cells 122 are again significantly larger than in 3 , again four times as large. Also, that points in 4 shown environment grid 112 a significantly smaller number of grid cells 122 as in 3 on.

Depending on the time requirement, the decision basis may be based on a coarser resolution of the environmental grid 112 occur. Through the hierarchical structure of the environment grid 112 Any resolution level can be used for a legitimate function decision. In this case, the information of several small grid cells are fused and combined to form larger grid cells. This supports the faster function evaluation based on the environment information.

5 shows a schematic representation of an environmental grid 112 for processing environment information in a controller according to an embodiment. Shown is an intersection as danger zone 104 , where the vehicle 100 straight into the danger zone 104 retracts. The through the danger zone 104 represented critical situation is used, for example, to adjust trigger thresholds for a pre-set function of the personal protection device. Further, possible trajectories of the vehicle 100 drawn on passing the intersection, including, for example, at least one target trajectory 500 that the vehicle 100 so out of the danger zone 104 that leads to a collision with another vehicle 502 , here a vehicle entering the intersection from the right, is avoided or at least mitigated. The control unit is designed, for example, to the desired trajectory 500 depending on the mass or stiffness of located in the area of the crossing objects to determine and to control the personal protection device such that the vehicle 100 the desired trajectory 500 follows, for example by automatic actuation of corresponding steering or brake actuators of the vehicle 100 ,

The mass or rigidity of the objects located in the environment is stored, for example, as a result of the environmental sensor system. Additional sources of data may be static maps or Car2X information. In the event of an unavoidable collision with one or more objects, a pre-crash alignment may be controlled by the controller, wherein the vehicle 100 by means of an optimized emergency trajectory as desired trajectory 500 in an improved impact position to reduce the injury severity of all involved. Depending on the situation, the decision strategy required for this may be based on ethical considerations (stroller with mother has higher priority than garbage cans on the roadside) as well as an optimization of the impact geometry, ie the control of the own vehicle in an optimized collision position (for example lateral impact in the front end instead into the passenger compartment).

For example, to control a pre-set function, the controller may be configured to address critical situations, such as a cross-traffic critical intersection, by grid-meshing all available environmental information, particularly environmental information from different environmental sensors of the vehicle 100 to recognize well before entering the intersection. Critical locations of the intersection are determined by the controller in the environmental grid 112 precalculated and marked. When passing the critical locations, the controller changes, for example, the thresholds of the pre-set function on an airbag control unit in order to improve a release, in particular a release time, of the passive restraint means.

6 shows a schematic representation of an environmental grid 112 out 5 with differently sized grid cells 122 , The environmental grid 112 exemplifies a plurality of grid cells 122 as well as another raster cell 600 on, which is significantly larger than the grid cells 122 is. For example, the other grid cell 600 six times as large as the grid cells 122 , According to the in 6 The embodiment shown represents the further grid cell 600 an area relevant for the pre-set function for right-hand traffic. A critical driving range 602 the intersection is through a plurality of grid cells 122 shown. A roadside area outside the intersection 604 with objects of high mass or rigidity is also by a plurality of grid cells 122 shown.

7 shows a schematic representation of a control device 102 according to an exemplary embodiment, for example of a control device, as described above with reference to FIG 1 to 6 is described. The control unit 102 includes a read-in unit 710 for reading in the environment information 110 , To the reading unit 710 is a processing unit 720 connected, which is adapted to the environmental information 110 to process in the environment grid. As a result of the processing, the processing unit generates 720 a probability value 725 which represents a probability of a collision of the vehicle on entering the danger zone represented by the environment information. A generation unit 730 is designed to be the probability value 725 from the processing unit 720 to receive and using the probability value 725 the drive signal 114 to generate the personal protection device of the vehicle.

According to one embodiment, the processing unit 720 realized with a graphics processor, short GPU, for parallel data processing. The performance of the environmental grid can be significantly increased by the use of such a graphics processor to manage the environmental information and to carry out the sometimes complex pre-calculations. The structure of the environment grid benefits from the parallel processing of the graphics processor. In the simplest case, each of the N processing cores of the graphics processor manages one of the grid cells. As a result, a theoretical acceleration by a factor of N can be achieved in comparison to a CPU solution optimized for serial processing.

8th shows a schematic representation of a comparison between a CPU architecture 800 and a GPU architecture 802 ,

9 shows a flowchart of a method 900 according to an embodiment. The procedure 900 For example, in connection with a preceding on the basis of 1 to 7 described control unit are performed. The procedure 900 for driving a personal protection device of a vehicle comprises a step 910 in which the environmental information representing the danger zone is read. In a further step 920 the environmental information is processed in the environmental grid to determine the likelihood of a collision of the vehicle when entering the danger zone. Finally, in one step 930 the drive signal for driving the personal protection device in dependence on the in step 920 generated probability generated.

The steps 910 . 920 . 930 can be carried out continuously.

According to one embodiment, in step 930 generates the drive signal to ignite passive safety restraint means not only upon contact of the vehicle with a collision object, but already before the actual collision time. Relevant for the optimization of individual occupant protection systems to reduce the injury severity of the occupants is in addition to the mass, stiffness and relative speed of an accident opponent, the position of the occupants and a coordinated on the collision time control of the restraint. For example, due to an automatically activated emergency brake function or an automatically initiated evasive maneuver, the occupants experience a forward displacement depending on the time and duration of a longitudinal or lateral deceleration of the vehicle to which the ignition timing or the adaptive control of the restraint means is to be adjusted. Depending on the complexity of the model, such an adaptation can be preceded by complex calculations which, according to this exemplary embodiment, are already performed before the critical situation occurs and stored in the environmental grid and can thus be retrieved or refined immediately upon the occurrence of a critical situation with unavoidable collision.

The environmental sensor system of the vehicle may have a limited opening angle and capture the surroundings of the vehicle in normal driving operation successively, the corresponding environmental information in step 920 be stored dynamically in the environment grid. If there is an abrupt change of direction of the vehicle, for example due to a spin operation, then ambient data stored in advance and stored in the environmental grid can be used to trigger a system reaction, in particular to control restraint means, which are no longer in the current detection range of the environment sensor system.

If an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature.

Claims (13)

Procedure ( 900 ) for controlling a personal protection device ( 116 ) of a vehicle ( 100 ), the process ( 900 ) includes the following steps: reading in ( 910 ) of environment information ( 110 ), which is one of at least one environment sensor ( 108 ) of the vehicle ( 100 ) detected danger zone ( 104 ) in an environment of the vehicle ( 100 ), whereby the vehicle ( 100 ) at the time of detection outside the danger zone ( 104 ) is located; To process ( 920 ) of the environment information ( 110 ) in an environment grid ( 112 ), a probability of a collision of the vehicle ( 100 ) when entering the danger zone ( 104 ) and / or a possible injury severity of a person with an object in the danger zone ( 104 ) to investigate; and generating ( 930 ) of a drive signal ( 114 ) for activating the personal protection device ( 116 ) depending on the probability or the severity of the injury. Procedure ( 900 ) according to claim 1, characterized by a step of changing the environmental grid ( 112 ) using the environment information ( 110 ) to a changed environment grid ( 112 ), wherein in the step of processing ( 920 ) the environment information ( 110 ) in the changed environment grid ( 112 ) is processed. Procedure ( 900 ) according to claim 2, characterized in that in the step of changing the environmental grid ( 112 ) is changed using a tree structure, in particular using a quad and / or octree. Procedure ( 900 ) according to claim 2 or 3, characterized in that in the step of changing the environmental grid ( 112 ) is changed so that the changed environment grid ( 112 ) at least one first raster cell ( 600 ) and a second grid cell ( 122 ) of different sizes, in particular wherein a size of the first grid cell ( 600 ) equal to an integer multiple of a size of the second screen cell ( 122 ). Procedure ( 900 ) according to one of claims 2 to 4, characterized by a step of determining a temporal and / or spatial distance between the vehicle ( 100 ) and the danger zone ( 104 ) using the environment information ( 110 ), where in the step of changing the environment grid ( 112 ) depending on the distance, a planned or actual driving trajectory of the vehicle ( 100 ) and / or a speed of the vehicle ( 100 ) will be changed. Procedure ( 900 ) according to claim 5, characterized in that in the step of changing a grid cell number of the environmental grid ( 112 ) is decreased when the distance falls below a distance threshold. Procedure ( 900 ) according to one of the preceding claims, characterized by a step of determining a stiffness and / or a mass of at least one in the danger zone ( 104 ) ( 106 ) using the environment information ( 110 ), wherein in the step of processing ( 920 ) as a function of the stiffness and / or the mass of a desired trajectory ( 500 ), wherein in the step of generating ( 930 ) the drive signal ( 114 ) is generated to the vehicle ( 100 ) to the desired trajectory ( 500 ) respectively. Procedure ( 900 ) according to one of the preceding claims, characterized in that in the step of reading ( 910 ) at least one further environment information that is one of the environment sensor ( 108 ) at one of a time of detecting the danger zone ( 104 ) recording of the environment, is read in, wherein in the step of processing ( 920 ) further environment information in the environment grid ( 112 ) is processed to determine the probability. Procedure ( 900 ) according to one of the preceding claims, characterized in that in the step of generating ( 930 ) the drive signal ( 114 ) is generated to protect the personal protection device ( 116 ) before and / or when the vehicle ( 100 ) the danger zone ( 104 ) reached. Procedure ( 900 ) according to one of the preceding claims, characterized in that in the step of reading ( 910 ) at least one other environment information that is one of at least one other environmental sensor of the vehicle ( 100 ) recorded recording of the environment is read in, wherein in the step of processing ( 920 ) the other environment information in the environment grid ( 112 ) is processed to determine the probability. Control unit ( 102 ) with units ( 710 . 720 . 730 ), which are adapted to the process ( 900 ) according to any one of the preceding claims and / or to control. Computer program that is adapted to the procedure ( 900 ) according to any one of claims 1 to 10 and / or to control. A machine readable storage medium storing the computer program of claim 12.

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