DE102017119042A1 - Prevention of blind spot warnings due to spray - Google Patents

Abstract

The invention relates to a driver assistance system (12) for monitoring objects (24) in a blind spot (14) on a longitudinal side (16) of a vehicle (10), comprising at least one first ambient sensor (26) for monitoring the blind spot (14). at least one second environmental sensor (28) monitoring a second region (34) at a rear end face (32) of the vehicle (10), and a control unit (36) configured to receive sensor signals from the at least one first environmental sensor (26). and the at least one second environmental sensor (28), wherein the control unit (36) is implemented, an object detection in the blind spot (14) based on the sensor signals of the at least one first environmental sensor (26) and an object recognition in the second region (34 ) based on the sensor signals of the at least one second environmental sensor (28), the control unit (36) is executed, a probability for a Erkennun g of spray (42) based on the object detection in the blind spot (14) and in the second area (34), and the control unit (36) is executed, a blind spot warning upon detection of an approaching object (24) in FIG at the blind spot (14) when the probability of detection of spray (42) is below a threshold. The invention also relates to a vehicle (10) with such a driver assistance system (12). The invention further relates to a corresponding method for monitoring objects (24) in a blind spot (14).

Description

The present invention relates to a driver assistance system for monitoring objects in a blind spot on a longitudinal side of a vehicle, comprising at least one first blind spot environment sensor, at least one second environment sensor monitoring a second area at a rear face of the vehicle, and a vehicle body A control unit configured to receive sensor signals of the at least one first environment sensor and the at least one second environment sensor, wherein the control unit is configured, an object detection in the blind spot based on the sensor signals of the at least one first environment sensor and an object detection in the second region based on Performing sensor signals of the at least one second environmental sensor, and the control unit is designed to output a blind spot warning upon detection of an approaching object in the blind spot.

The present invention also relates to a vehicle having an above driver assistance system.

The present invention relates to a method of monitoring blind spot objects on a longitudinal side of a vehicle, comprising the steps of monitoring the blind spot with at least one first environmental sensor, monitoring a second region having at least one second environmental sensor, receiving sensor signals of the at least one first Environmental sensor and the at least one second environmental sensor, detecting objects in the blind spot based on the sensor signals of the at least one first environmental sensor, and outputting a blind spot warning upon detection of an approaching object in the blind spot.

The present invention also relates to a data processing program with program code means for carrying out the method according to one of the preceding claims by an electronic control unit having at least one processor when the program is executed by the electronic control unit.

The present invention further relates to a computer program product having program code means stored in a computer-readable medium to perform the above method when the computer program product is executed on a processor of an electronic control unit.

A blind spot in a vehicle concerns an area laterally adjacent to the vehicle that can not be directly viewed by a driver or is within the field of view of a side mirror. The blind spot is specified in vehicle standard. The dead-angle area correspondingly extends adjacent the vehicle from a driver's position towards the rear to behind the vehicle, typically in an area about 3 meters behind the vehicle. The blind spot has a width of 2.5 meters to 3 meters next to the vehicle. Although a portion of this standard blind spot can be seen in practice, typically this entire area adjacent to and behind the vehicle is included within the dead angle range. A blind spot exists both on a driver side of the vehicle and on a passenger side of the vehicle.

A driver assistance system for blind spot monitoring nowadays includes one or usually a plurality of environmental sensors, which are arranged along a longitudinal side of the vehicle and detect an approach of objects in this area. If a first environmental sensor detects an object while driving, a blind spot warning can be output accordingly, in particular when the object is approaching. The blind spot monitoring is performed independently for a driver and a passenger side of the vehicle. As environment sensors today usually ultrasonic sensors are used, which are reliable and at the same time inexpensive. In addition, the ultrasonic sensors can be used in common for different driver assistance systems, so that separate ultrasonic sensors do not have to be used for each driver assistance system. By way of example, parking assistance systems may be mentioned here which use ultrasonic sensors for monitoring an environment of the vehicle, in particular on a front and / or rear bumper, that is to say on a front and / or rear end side of the vehicle.

A common problem with blind spot monitoring is that the ultrasonic sensors detect spray, ie water spouting from a roadway. This relates in particular to water sprayed by the own vehicle, which is located in the vicinity of the surroundings sensors of the vehicle. If the spray is detected as an approaching object, it will cause a false blind spot warning to be issued. This applies in particular to a blind spot detection at the rear end of the vehicle, since there is to be expected in particular the occurrence of spray or spray through the own vehicle with a correspondingly high concentration. Although spray is whirled up mainly behind the own vehicle, but is still mostly at least some of the spray is visible in the blind spot. Spray, however, also applies to spray in principle by vehicles located next to one's own vehicle, either by vehicles that move in the same direction of travel, ie outdated or overtaking vehicles, as well as by vehicles that move in an opposite direction of travel.

In this context are from the DE 10 2010 033 207 A1 a method and apparatus for environmental monitoring for a vehicle known. In the method, at least one ultrasound sensor transmits a transmission signal at predetermined measuring times, and at least one echo signal is received in response to the transmission signal, wherein for each received echo signal, a distance information about a possible object is determined by evaluating a corresponding propagation time. In order to enable an analysis of the received echo signals for the detection of real objects and / or interference sources as possible objects, a distance pattern of the received echo signals for the corresponding measurement time is determined from the distance information determined at a time of measurement, wherein for detecting a real object and / or an interference source as a possible object parameters of distance patterns are compared with each other, which are detected at least two consecutive measurement times.

Next is from the DE 19843563 A1 a device for detecting moisture on a substrate known. The device comprises a body movable on the ground for stirring up spray from the ground and a sensor for detecting the spray. The device is used for detecting road wetness in motor vehicles, wherein the motor vehicle itself may be the movable body.

From the DE 10 2005 023 696 A1 a monitoring device for a vehicle with ultrasonic sensors is known. Ultrasonic signals are used to measure distances to obstacles around the vehicle. The ultrasonic sensors also serve to detect whether it is raining. For this purpose, an excitation of the ultrasonic sensors is evaluated with respect to incident raindrops.

The DE 10 2010 021 053 B3 relates to a method for detecting disturbances of the measuring operation of an ultrasonic measuring arrangement of a motor vehicle at high speeds, in particular speeds from 50 km / h. The ultrasound measuring arrangement comprising at least one ultrasound sensor as output data comprises at least one radius describing the distance to the nearest object lying within the detection range of the at least one sensor used for measuring the radius, wherein a disturbance of the measuring operation depends on at least one comparison of the radius 'is determined with a particular speed-dependent minimum radius.

Next is from the EP 2 388 618 B1 a method for detecting disturbances of the measuring operation of an ultrasonic measuring device of a motor vehicle at speeds from 50 km / h known. The ultrasonic measuring arrangement comprising at least one ultrasonic sensor comprises as output data at least one radius describing the distance to the nearest object lying in the detection range of the at least one sensor used for the measurement with respect to the radius. A malfunction of the measuring operation is determined as a function of at least one comparison of the radius with a speed-dependent minimum radius, wherein the minimum radius increases with the speed.

Based on the above-mentioned prior art, the invention is therefore based on the object, a driver assistance system for monitoring objects in a blind spot on a longitudinal side of a vehicle, a vehicle with such a driver assistance system, a method for monitoring objects in a blind spot a longitudinal side of a vehicle, a data processing program with program code means for carrying out the above method, and a computer program product with program code means for carrying out the above method, the reliable detection of located in a blind spot of the vehicle objects and avoiding false alarms in the blind spot monitoring in particular ensure by spray.

The object is achieved by the features of the independent claims. Advantageous embodiments of the invention are specified in the subclaims.

The invention thus provides a driver assistance system for monitoring objects in a blind spot on a longitudinal side of a vehicle, comprising at least one first blind spot environmental sensor, at least one second environmental sensor monitoring a second area at a rearward face of the vehicle, and A control unit configured to receive sensor signals of the at least one first environmental sensor and the at least one second environmental sensor, wherein the control unit is configured, an object detection in the blind spot based on the sensor signals of the at least one first environmental sensor and a Perform object detection in the second region based on the sensor signals of the at least one second environmental sensor, the control unit is configured to determine a probability of detection of spray based on the object detection in the blind spot and in the second region, and the control unit is implemented To output blind spot warning upon detection of an approaching object in the blind spot when the probability of detection of spray is below a threshold.

According to the invention, a vehicle is also specified with an above driver assistance system.

Further, according to the present invention, there is provided a method for monitoring blind spot objects on a vehicle longitudinal side, comprising the steps of monitoring the blind spot with at least a first environmental sensor, monitoring a second region having at least one second environmental sensor, receiving sensor signals of the at least one first Environmental sensor and the at least one second environmental sensor, detecting objects in the blind spot based on the sensor signals of the at least one first environmental sensor, determining a probability of detection of spray based on the object detection in the blind spot and in the second area, and outputting a Blind spot warning upon detection of an approaching object in the blind spot when the probability of detection of spray is below a threshold.

The invention likewise provides a data processing program with program code means for carrying out the method according to one of the preceding claims by an electronic control unit having at least one processor when the program is executed by the electronic control unit.

According to the invention, a computer program product is further provided with program code means which are stored in a computer-readable medium to perform the above method when the computer program product is executed on a processor of an electronic control unit.

The basic idea of the present invention is thus to reduce or avoid false alarms in the recognition of blind spots by an improved detection of spray, whereby the detection of spray is improved by additionally adding to the sensor data from the at least one first ambient sensor for monitoring the blind spot Sensor data from the at least one second environment sensor for monitoring the at least one second area are used. This allows the detection of spray with increased reliability. While the at least one second environmental sensor does not include the blind spot, it provides additional clues as to the presence of spray in the blind spot. The object recognition provides information on the occurrence of spray both for the blind spot and for the second area, so that it can be determined from a probability that the object detected by the at least one first environmental sensor is spray and not an object for which Blind spot warning must be issued. In this case, for example, a probability of the occurrence of spray in the area of the blind spot is thereby increased, even if spray is detected in the second area, as will be explained in more detail below. In this case, the sensor information of the at least one first and the at least one second environmental sensor can be incorporated differently into the calculation of the probability for detection of spray in the area of the blind spot and, for example, weighted. The second area typically does not belong to the blind spot.

The at least one first blind spot ambient sensor is typically located on the longitudinal side of the vehicle to monitor the blind spot. Preferably, the driver assistance system comprises a plurality of first environmental sensors, which are arranged along the longitudinal side of the vehicle. Since spray typically occurs behind the driver's own vehicle, in the case of a plurality of first environmental sensors, in particular a rear first first environmental sensor in the vehicle direction with respect to an occurrence of spray is to be monitored. Spray, however, also applies to spray in principle by vehicles located next to one's own vehicle, either by vehicles that move in the same direction of travel, ie outdated or overtaking vehicles, as well as by vehicles that move in an opposite direction of travel.

Accordingly, a second environmental sensor may be provided, or a plurality of second environmental sensors, for monitoring the second region and detecting objects in the second region. The second area may, for example, connect to the blind spot, or be positioned in another area.

The control unit is a computing unit with a processor and a memory, as is typically used in vehicles for control. The control unit is via a vehicle bus, for example, a CAN bus or may be another data bus common to vehicles, connected to the environmental sensors, and receiving the corresponding sensor signals therefrom. The control unit is also connected via the vehicle bus with an output device for outputting the blind spot warning.

The object detection in the blind spot or in the second area can be performed in the control unit itself based on the corresponding sensor signals. Alternatively, however, processing or at least preprocessing of the sensor signals can already be carried out in the corresponding environmental sensor in order to detect objects in the region. The corresponding functionality of the control unit is then outsourced to the respective environmental sensor.

In an advantageous embodiment of the invention, the control unit is designed to carry out a probability of detection of spray based on the object recognition in the blind spot and in the second area based on pattern recognition from the sensor signals of the at least one first environmental sensor and the at least one second environmental sensor , Accordingly, the step of determining a probability of detection of spray comprises pattern recognition based on the sensor signals of the at least one first environmental sensor and the at least one second environmental sensor. Pattern recognition can be based on various patterns that can display or even exclude spray. The probability of the detection of spray can therefore be increased or reduced by the pattern recognition. When detecting spray, a density of object detection may occur. In the case of an ultrasonic sensor, the object detection relates to a received reflection of a radiated signal pulse. In another environment sensor, the object detection is a signal indicating presence of an object. With a high density of object detections in an area, i. Object detections in temporal proximity are spatially close, i. at similar distances from the environmental sensor, it is highly probable that the first environmental sensor detected no spray but a real object. The pattern recognition may include a determination of a standard deviation of sensor signals. This can be used in particular to detect spray. Spray is typically characterized by the sensor signals containing object detections that change in a short time sequence, i. Object surveys in temporal proximity take place with little spatial proximity. The sensor signals thus contain information that is similar to noise, for example, and can be identified as such. The pattern recognition can also be vehicle-dependent. Thus, in particular the spray of one's own vehicle may be different in different vehicles. As a result, the spray can be reflected differently in the sensor information.

In an advantageous embodiment of the invention, the control unit is designed to perform the pattern recognition in the blind spot based on a pattern for spray. Accordingly, the step of pattern recognition includes pattern recognition in the blind spot based on a pattern for spray. Spray is characterized by a corresponding pattern in the sensor signals of the at least one first environmental sensor, which can be recognized as such. Simultaneous detection of spray with multiple first environmental sensors, such as right and left first environmental sensors, may improve the detection of the occurrence of spray. When detecting spray, a density of object detection may occur. With a high density of object detections in an area, i. Object detections in temporal proximity are spatially close, i. at similar distances from the environmental sensor, it is highly probable that the first environmental sensor detected no spray but a real object. The pattern recognition may include a determination of a standard deviation of sensor signals. This can be used in particular to detect spray. Spray is typically characterized by the fact that the sensor signals contain object detections that change in a short time sequence. The sensor signals thus contain information that is similar to noise, for example, and can be identified as such.

In an advantageous embodiment of the invention, the at least one second environmental sensor is arranged on a rear end side of the vehicle, and the control unit is designed to perform the pattern recognition in that in the second region based on a pattern for spray. Accordingly, the at least one second environmental sensor is disposed at a rear end side of the vehicle, and the step of pattern recognition includes pattern recognition in the second region based on a pattern for spray. Second environment sensors at the rear end of the vehicle usually detect an area immediately behind the vehicle and are therefore well suited to detect the occurrence of spray, especially spray by the own vehicle. Spray is characterized by a corresponding pattern in the sensor signals of the at least one second environmental sensor, which is recognized as such can be. The detection can be carried out, for example, as for the at least one first environmental sensor. Simultaneous detection of spray with multiple environmental sensors, such as the at least one first environmental sensor and one or more second environmental sensors, may result in an improvement in the detection of the occurrence of spray.

In an advantageous embodiment of the invention, the at least one second environmental sensor is arranged on a front end side of the vehicle, and the control unit is designed to perform the pattern recognition in the second region based on a pattern for rain. Accordingly, the at least one second environmental sensor is disposed at a front end side of the vehicle, and the step of pattern recognition includes pattern recognition in the second region based on a pattern for rain. Although environmental sensors on the front of the vehicle are usually not or only partially suitable to detect the occurrence of spray, especially spray by the own vehicle. However, detection of rain by the second environmental sensors at the front end of the vehicle may provide an indication of a possible occurrence of spray behind the own vehicle. Although spray can also occur in wet roads due to other reasons, rain is the most common cause of a wet road and thus an indication that can increase the probability of an occurrence of spray in the dead-angle area. Rain, like spray, is characterized by a corresponding pattern in the sensor signals of the at least one second environmental sensor, so that rain can be recognized as a pattern.

In principle, alternative or additional pattern recognition may also be performed in the second region for the second environmental sensor at the rear end of the vehicle based on a pattern for rain. This can be done parallel to the detection of spray.

Furthermore, it is possible for a plurality of second environmental sensors to be arranged on the vehicle, wherein at least one second environmental sensor is arranged on the front end side of the vehicle, and at least one second environmental sensor is arranged on the rear end side of the vehicle. Accordingly, as described above, the pattern may be detected for rain with the at least one second environmental sensor on the front end of the vehicle, and a pattern for spray may be detected with the at least one second environmental sensor on the rear end of the vehicle. The information may be processed together in the control unit to improve the determination of the probability of the occurrence of spray.

In an advantageous embodiment of the invention, the at least one first environmental sensor and / or the at least one second environmental sensor are designed as ultrasonic sensors. Ultrasonic sensors as such are known in the art and are used to monitor a near field around the vehicle. The ultrasonic sensors can detect objects at a maximum distance of about 3 to 5 meters. Ultrasonic sensors are well proven in the art, also inexpensive and readily available. In the case of spray, ultrasonic echoes experience typical echoes at a distance of about two to three meters.

In an advantageous embodiment of the invention, the step of determining a probability of detection of spray based on the object recognition in the blind spot and in the second area, detecting a speed of the vehicle, and determining the probability below a limit speed to zero. In practice, it has been found that the occurrence of spray, at least from one's own vehicle below the limit speed, is not relevant and can be neglected accordingly. In a first approximation, this also applies to spray or spray from other vehicles, assuming that the other vehicles are moving at a similar speed. As a limit speed, a speed of about 50 km / h to 70 km / h, in particular of about 60 km / h has been found suitable because below these speeds no or very little relevant spray is generated. Thus, especially in city traffic with traffic speeds of usually not more than 50 km / h or even less, it can be assumed that spray neither by the own vehicle nor by other vehicles significantly impair the recognition of objects or false detection of objects in the dead Angle will lead.

The invention will be explained in more detail with reference to the accompanying drawings with reference to preferred embodiments. The illustrated features may represent an aspect of the invention both individually and in combination. Features of various embodiments are transferable from one embodiment to another.

• 1 eine schematische Ansicht eines Fahrzeugs gemäß einer ersten, bevorzugten Ausführungsform mit einem Fahrerassistenzsystem zur Totwinkelüberwachung für zwei tote Winkel an beiden Längsseiten des Fahrzeugs,
• 2 eine schematische Ansicht des Fahrzeugs aus 1 in einer Verkehrssituation mit einem nachfolgenden Fahrzeug und einem Sichtfeld eines ersten Umgebungssensors des Fahrzeugs,
• 3 ein Diagramm mit Sensorsignalen eines ersten Umgebungssensors des Fahrerassistenzsystems der ersten Ausführungsform, und
• 4 ein Ablaufdiagramm zur Durchführung eines Verfahrens zur Überwachung von Objekten in einem toten Winkel an einer Längsseite eines Fahrzeugs in Übereinstimmung mit dem Fahrzeug der ersten Ausführungsform.

It shows

• 1 2 shows a schematic view of a vehicle according to a first, preferred embodiment with a driver assistance system for blind spot monitoring for two dead angles on both longitudinal sides of the vehicle,
• 2 a schematic view of the vehicle 1 in a traffic situation with a following vehicle and a field of view of a first environment sensor of the vehicle,
• 3 a diagram with sensor signals of a first environmental sensor of the driver assistance system of the first embodiment, and
• 4 a flowchart for performing a method for monitoring objects in a blind spot on a longitudinal side of a vehicle in accordance with the vehicle of the first embodiment.

The 1 shows a vehicle 10 according to a first, preferred embodiment. The vehicle 10 includes a driver assistance system 12 for blind spot monitoring for a blind spot 14 on each of the two long sides 16 of the vehicle 10 ,

The two dead angles 14 are here by definition together with a front blocking zone 18 shown. The two dead angles 14 each include a necessary alarm zone 20 and an optional alarm zone 22 , A blind spot warning can be triggered accordingly if an object 24 , here another vehicle 24 , in the optional alarm zone 22 the vehicle 10 approaches, while a blind spot warning must be triggered when the object 24 in the necessary alarm zone 20 the vehicle 10 approaches. Is the object 24 however in the blocking zone 18 , is to block a blind spot warning. These zones 18 . 20 . 22 are based on an ISO standard and are universally known in this form.

The driver assistance system 12 each includes a plurality of first ultrasonic sensors 26 along the respective long sides 16 of the vehicle 10 are arranged to monitor the respective blind spot 14 , The first ultrasonic sensors 26 are first environment sensors 26 in the sense of the present invention. The driver assistance system 12 further comprises a plurality of second ultrasonic sensors 28 on a front end 30 and a rear end 32 of the vehicle 10 are arranged. The second ultrasonic sensors 28 are second environment sensors 28 in the sense of the present invention. The second ultrasonic sensors 28 are executed and arranged, each a second area 34 to monitor, which is at the respective end face 30 . 32 located. At each end face are two second ultrasonic sensors 28 arranged.

As can be seen for example 2 is the first ultrasonic sensor considered here 26 each at a rear end face of the two longitudinal sides 16 of the vehicle 10 positioned. The at the rear end 32 positioned second ultrasonic sensors 28 join directly to it. A corresponding field of vision 40 of the first ultrasonic sensor 26 is for example in the 2 and 3 shown. It is only partially true with the blind spot 14 and extends in particular in the second area 34 that of the second environment sensors 28 at the rear end 32 of the vehicle 10 is monitored, into it.

The driver assistance system 12 also includes a control unit 36 that have a data bus 38 with the first and second ultrasonic sensors 26 . 28 connected is. The control unit 36 receives sensor signals of the first and second ultrasonic sensors 26 . 28 over the data bus 38 ,

The control unit 36 is over the data bus 38 also connected to an output device not shown here for outputting a blind spot warning. The output device may be an acoustic output device, or an optical output device.

The control unit 36 is executed, an object detection in the blind spot 14 based on the sensor signals of the first ultrasonic sensors 26 and an object recognition in the second area 34 based on the sensor signals of the second ultrasonic sensors 28 perform. Based on this, the control unit determines 36 a probability of detection of spray 42 , as explained below, and indicates upon detection of an approaching object 24 in the blind spot 14 a blind spot warning off if the likelihood of detection of spray 42 is below a threshold. spray 42 is in 3 , right part, shown.

Hereinafter, referring to 4 a method for monitoring objects 24 in the blind spot 14 on both sides 16 of the vehicle 10 described according to the first preferred embodiment. The procedure is with the vehicle 10 and the driver assistance system 12 of the first embodiment.

The process begins with a step S100 who is watching the blind spot 14 with the first ultrasonic sensors 26 includes. Watching the blind spot 14 with the first ultrasonic sensors 26 is carried out continuously here.

In step S110 the second area is monitored 34 with the second ultrasonic sensors 28 , Monitoring the second area 34 with the second ultrasonic sensors 26 is also carried out continuously.

According to step S120 receives the control unit 36 Sensor signals of the first ultrasonic sensors 26 and the second ultrasonic sensors 28 , The sensor signals are from the respective first and second ultrasonic sensor 26 . 28 over the data bus 38 to the control unit 36 transfer.

In step S130 there is a recognition of objects 24 in the blind spot 14 based on the sensor signals of the first ultrasonic sensors 26 , The detection is done by the control unit 36 carried out.

In step S140 becomes a recognition of objects 24 in the second area 34 based on the sensor signals of the second ultrasonic sensors 28 carried out. The detection is done by the control unit 36 carried out. The recognition of objects 24 becomes independent for second areas 34 on a front end 30 and a rear end 32 carried out.

In step S150 First, a detection of a speed of the vehicle 10 , The speed can be determined, for example, based on odometry information or satellite position information. When the speed of the vehicle 10 is less than a limit speed of about 60 km / h, the probability of the presence of spray is set to zero, and the method is moved to step S170 continued. Otherwise the procedure goes to step S160 continued. Alternatively, the step S150 before the step S140 be performed.

In step S160 there is a determination of a probability of detection of spray 42 based on the object detection in the blind spot 14 and in the second area 34 , It is a pattern recognition based on the sensor signals of the first ultrasonic sensors 26 and the second environmental sensors 28 carried out.

Accordingly, pattern recognition occurs in the blind spot 14 and in the second area 34 at the rear end 32 of the vehicle 10 based on a pattern for spray 42 , spray 42 is characterized by a corresponding pattern in the sensor signals of the respective ultrasonic sensors 26 . 28 out. There is a detection of a density of object detections, ie received reflections of emitted ultrasound pulses. With a high density of object detections in temporal proximity and spatial proximity, ie at similar distances from the respective ultrasonic sensor 26 . 28 , is with a high probability to assume that the corresponding ultrasonic sensor 26 . 28 a real object 24 has recorded. An appropriate detection of the object 24 is in an object reflection section 44 in 3 shown. spray 42 in contrast, typically characterized by the fact that the sensor signals contain object detections that change in a short time sequence, ie object acquisitions in close proximity occur with little spatial proximity and thus contain information that is similar to a noise and can be identified as such. For this purpose, a standard deviation is determined via the sensor signals. An appropriate detection of spray 42 is in an object reflection section 46 in 3 shown.

For the second area 34 at the front end 30 of the vehicle 10 pattern recognition is based on a rain pattern. Rain is characterized by a corresponding pattern in the sensor signals of the second environmental sensors 28 made of repeated individual reflexes 48 exists, as in 3 is shown. When it rains, there is a low density of object detections that change in their timing, that is, at varying distances from the respective second ultrasonic sensor 28 , A corresponding detection of rain results from the detection of individual reflexes, as in 3 is shown.

The probability of that from the first ultrasonic sensors 26 detected object 24 spray 42 is carried out on the basis of the pattern recognition of the first object recognition and the pattern recognition of the second object recognition. The probability of the presence of spray 42 is the higher, the more of the first ultrasonic sensors 26 and the second ultrasonic sensors 28 at the rear end 32 spray 42 detect. The probability of spray 42 is further increased when one or more of the second ultrasonic sensors 28 at the front end 30 Recognize rain.

In step S170 an outputting of a blind spot warning takes place upon detection of an approaching object 24 in the blind spot 14 if the probability of detection of spray 42 is below a threshold. The limit is positive and is in a probability interval between zero and one.

LIST OF REFERENCE NUMBERS

10

vehicle

12

Driver assistance system

14

blind spot

16

long side

18

blocking zone

20

necessary alarm zone

22

optional alarm zone

24

Object, other vehicle

26

first ultrasonic sensor, first environmental sensor

28

second ultrasonic sensor, second environmental sensor

30

front end

32

rear end face

34

second area

36

control unit

38

bus

40

field of vision

42

spray

44

Object reflection section

46

Gischtreflektionsabschnitt

48

Single reflex

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 102010033207 A1 [0009]
• DE 19843563 A1 [0010]
• DE 102005023696 A1 [0011]
• DE 102010021053 B3 [0012]
• EP 2388618 B1 [0013]

Claims (15)

A driver assistance system (12) for monitoring objects (24) in a blind spot (14) on a longitudinal side (16) of a vehicle (10), comprising at least a first ambient sensor (26) for monitoring the blind spot (14). at least one second environmental sensor (28) monitoring a second region (34) at a rear end face (32) of the vehicle (10), and a control unit (36) configured to receive sensor signals of the at least one first environmental sensor (26) and the at least one second environmental sensor (28), wherein the control unit (36) is configured to perform blind spot object detection based on the sensor signals of the at least one first environmental sensor (26) and object detection in the second region (34) based on the sensor signals of the at least one second environmental sensor (28) . the control unit (36) is adapted to determine a probability of detection of spray (42) based on the object detection in the blind spot (14) and in the second area (34), and the control unit (36) is adapted to output a blind spot warning upon detection of an approaching object (24) in the blind spot (14) when the probability of detection of spray (42) is below a threshold. Driver assistance system (12) after Claim 1 characterized in that the control unit (36) is adapted to provide a probability of detection of spray (42) based on the object detection in the blind spot (14) and in the second area (34) based on pattern recognition from the sensor signals the at least one first environmental sensor (26) and the at least one second environmental sensor (28) perform. Driver assistance system (12) after Claim 2 characterized in that the control unit (36) is adapted to perform the pattern recognition in the blind spot (14) based on a pattern for spray (42). Driver assistance system (12) according to one of Claims 2 or 3 characterized in that the at least one second environmental sensor (28) is disposed on a rear end face (30) of the vehicle (10), and the control unit (36) is executed based on the pattern recognition in the second region (34) a spray pattern (42). Driver assistance system (12) according to one of Claims 2 to 4 characterized in that the at least one second environmental sensor (28) is disposed on a front end side (30) of the vehicle (10) and the control unit (36) is executed based on the pattern recognition in the second region (34) to do a pattern for rain. Driver assistance system (12) according to one of the preceding claims, characterized in that the at least one first environmental sensor (26) and / or the at least one second environmental sensor (28) as ultrasonic sensors (26, 28) are executed. Vehicle (10) with a driver assistance system (12) according to one of the preceding claims. A method for monitoring objects (24) at a blind spot (14) on a longitudinal side (16) of a vehicle (10), comprising the steps Monitoring the blind spot (14) with at least one first environment sensor (26), Monitoring a second region (34) with at least one second environmental sensor (28), Receiving sensor signals of the at least one first environmental sensor (26) and the at least one second environmental sensor (28), Detecting objects (24) in the blind spot (14) based on the sensor signals of the at least one first environmental sensor (26), determining a probability of detection of spray (42) based on the object recognition in the blind spot (14) and in FIG the second area (34), and Outputting a blind spot warning upon detection of an approaching object (24) in the blind spot (14) if the probability of detection of spray (42) is below a threshold. Method according to Claim 8 characterized in that the step of determining a probability of detection of spray (42) comprises pattern recognition based on the sensor signals of the at least one first environmental sensor (26) and the at least one second environmental sensor (28). Method according to Claim 9 characterized in that the step of pattern recognition comprises pattern recognition in the blind spot (14) based on a pattern for spray (42). Method according to one of Claims 9 or 10 characterized in that the at least one second environmental sensor (28) is disposed on a rear end face (30) of the vehicle (10), and the step of pattern recognition comprises pattern recognition in the second region (34) based on a pattern for spray (42 ). Method according to one of Claims 9 to 11 characterized in that the at least one second environmental sensor (28) is disposed on a front face (30) of the vehicle (10), and the step of pattern recognition comprises pattern recognition in the second region (34) based on a pattern for rain. Method according to one of the preceding Claims 8 to 12 characterized in that the step of determining a probability of detection of spray (42) based on the object recognition in the blind spot (14) and in the second area (34) comprises detecting a speed of the vehicle (10), and includes determining the probability below a threshold speed to zero. Data processing program with program code means for carrying out the method according to one of the preceding Claims 8 to 13 by an electronic control unit (36) having at least one processor when the program is executed by the electronic control unit (36). A computer program product comprising program code means stored in a computer readable medium for carrying out the method of any preceding one Claims 8 to 13 perform when the computer program product is executed on a processor of an electronic control unit (36).

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