DE102019133420A1 - Method and device for reducing the risk of a vehicle collision - Google Patents

Abstract

A device (111) for operating a vehicle (110) is described, the device (111) being set up to determine door information relating to an opening or closing of a door (120) in the surroundings of the vehicle (110). The device (111) is also set up to predict on the basis of the door information whether a collision (105) could occur with a road user (122) who has passed through the door (120). Furthermore, the device (111) is set up to bring about a measure to reduce a collision risk for a collision (105) with the road user (122) if it has been predicted that a collision (105) with the road user (122) will occur could.

Description

The invention relates to a method and a corresponding device with which the risk of collision between a vehicle, in particular an at least partially automated vehicle, with another road user can be reduced.

A vehicle can include one or more environment sensors, in particular a camera, a radar sensor, a lidar sensor, an ultrasound sensor, etc., with which sensor data relating to the environment of the vehicle can be recorded. The sensor data can be evaluated in order to detect other road users and / or objects in the vicinity of the vehicle. If a risk of collision with another road user and / or an object is recognized on the basis of the sensor data, one or more protective measures can be initiated which are aimed at avoiding a collision. For example, a warning can be output and / or an automated intervention in the vehicle guidance, e.g. an automated braking and / or steering intervention, can be carried out.

The sensor data of the one or more environment sensors typically enable a vehicle to capture only a limited section of the environment of the vehicle. This can mean that another road user may only be detected relatively late, so that there is only relatively little time to carry out the one or more protective measures.

This document deals with the technical task of enabling a vehicle to recognize a possible risk of collision with another road user at an early stage (even before the road user can be detected on the basis of the sensor data from the one or more environment sensors of the vehicle) in order to avoid the Increase the comfort and safety of the vehicle.

The problem is solved by each of the independent claims. Advantageous embodiments are described, inter alia, in the dependent claims. It is pointed out that additional features of a patent claim dependent on an independent patent claim without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim can form a separate invention independent of the combination of all features of the independent patent claim, which can be made the subject of an independent claim, a divisional application or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention that is independent of the features of the independent patent claims.

According to one aspect, a device for operating a vehicle, in particular a manually guided or at least partially automated guided vehicle, is described. The device can be set up to determine door information relating to an opening or closing of a door in the surroundings of the vehicle. The door can be, for example, a house door, a garden gate, a gate, a garage door, a vehicle door, etc. The door information can show the position (e.g. the GPS coordinates) of the door. Alternatively or in addition, the door information can indicate whether the door has been opened or closed. Furthermore, the door information can indicate the opening time and / or the closing time at which the door was opened or closed. The door information can be transmitted via a wireless communication link (e.g. WLAN, 3G, 4G, 5G, etc.) from the door (in particular from a sensor in the door) to the vehicle or to a central unit (such as a server). The door information can thus be received by the device.

The device is also set up to predict on the basis of the door information whether, and if so when and / or where, the vehicle could collide with a road user who has passed through the door. In particular, the collision position and / or the collision time of a possible collision between the vehicle and the road user can be predicted.

In particular, the device can be set up (on the basis of the door information and possibly on the basis of a digital map in relation to the surroundings of the vehicle) to estimate a trajectory of the road user based on the position of the door. If necessary, different trajectories can be made for different assumptions, e.g. a relatively fast and / or short trajectory and a relatively slow and / or long trajectory. In this case, different assumptions can be made with regard to the route that the road user covers and / or with regard to the speed of movement of the road user.

Furthermore, the device can be set up to determine a travel trajectory of the vehicle. The driving trajectory can be determined, for example, on the basis of a planned driving route of the vehicle. It can then be based on the estimated trajectory of the road user (in particular on the basis of the different estimated trajectories of the road user) and on in a precise manner Based on the determined driving trajectory of the vehicle, it can be predicted whether, and if so when and / or where, a collision with the road user could occur. Furthermore, the collision point and / or the collision time of the possible collision can be determined in a precise manner.

The device is also set up to bring about at least one measure to reduce the collision risk for a collision of the vehicle with the road user if it was predicted that the vehicle could collide with the road user. As a measure, for example, automatic intervention in the longitudinal and / or lateral guidance of the vehicle can be effected in order to reduce the risk of collision. Alternatively or in addition, a warning relating to the road user can be output to the driver of the vehicle.

As an alternative or in addition, a different route for the vehicle can be selected as a measure. For example, on the basis of the door information (in particular on the basis of the door information from several doors) it can be recognized that the one or more opening and / or closing events of the one or more doors were caused by a relatively large number of people coming together on a property can be detected by a relatively high number of consecutive opening and closing events at least one door on the property. In such a case in particular, it can be advantageous to change the route of the vehicle in order to avoid the collision point of a possible collision.

The device is thus designed to recognize the risk of collision with another road user (in particular with a pedestrian) before the other road user can be detected by the one or more environment sensors of the vehicle. This makes it possible to initiate a measure to reduce the risk of collision at an early stage, thereby increasing the comfort and safety of the vehicle.

The device can be set up to determine, on the basis of the door information, a trajectory that the road user travels from the position of the door to the collision point of the possible collision. As an alternative or in addition, the device can be set up to determine the speed of movement with which the road user is moving towards the collision point of the possible collision. It can then be predicted in a precise manner on the basis of the determined trajectory and / or on the basis of the determined movement speed whether a collision with the road user could occur.

The door information can indicate the room type of a room from a plurality of different room types that is locked by the door. Exemplary room types are: a house, a garage, a vehicle, a dormitory and / or a hospital. The device can be set up to determine the trajectory of the road user up to the collision point of the possible collision and / or the speed of movement of the road user as a function of the type of room. In this way, it can be predicted with increased accuracy whether, and if so when and where, a collision with the road user could occur.

As already explained above, the device can be set up to determine the trajectory of the road user from the position of the door to the collision point of the possible collision. Furthermore, the device can be set up to detect one or more further doors on the trajectory, in particular on the basis of a digital map in relation to the surroundings of the vehicle. Further door information relating to the one or more further doors can then be determined and, depending on the further door information, it can be predicted with particularly high reliability whether and if so when and / or where there will be a collision with the Road users could come.

The digital map can be designed to provide information relating to the interior of a room (in particular a building). In particular, the digital map can be designed to display the position of one or more doors in the interior of a room. A door can also be the door of an elevator. Building information (from a digital map) can thus be used if necessary (e.g. in relation to elevators, in relation to stairs in relation to the doors on different floors, in relation to the Z component of the GPS coordinate of a door, etc. ), in order to predict the trajectory of a road user up to the collision point of a possible collision, for example by means of elevator opening or closing signals and by means of the speed of an elevator or the speed when walking upstairs.

The device can be set up to determine, on the basis of the door information, an opening time at which the door was opened. Based on the opening time, it can then be predicted whether, and if so when and / or where, a collision with the road user could occur. In particular, on the basis of the opening time, a relatively short and / or fast trajectory of the road user can be determined and, if necessary, compared with the driving trajectory of the vehicle (since the opening time is the earliest possible time at which the road user got through the door).

As already explained above, the road user typically includes, in particular is (at least) a human person. The device can be set up to determine status information relating to the status of the person. The status information can show, for example, the age, the health status and / or the stress status of the person. On the basis of the status information, it can then be predicted with increased accuracy whether, and if so when and / or where, the vehicle could collide with the road user. In particular, on the basis of the status information, the distance covered by the road user and / or the speed of movement of the road user can be estimated with increased accuracy in order to estimate the trajectory of the road user. The status information can, for example, be determined (and sent to the vehicle or to the device) using one or more sensors (e.g. a pulse sensor) of the person.

The device can be set up as a measure to reduce the risk of collision, based on the door information, to determine a direction from which the road user could move towards the vehicle and / or in which the road user could be arranged starting from the vehicle. The acquisition and / or evaluation of the sensor data of the one or more environment sensors of the vehicle in relation to the environment of the vehicle can then be intensified in the determined direction (in order to detect an object, in particular the road user, with increased reliability). In this way, the risk of collision can be reliably reduced.

As an alternative or in addition, the device can be set up, as a measure to reduce the risk of collision, to cause the travel trajectory of the vehicle to be adapted in order to avoid the determined collision point and / or the collision time. In this way, the risk of collision can be reliably reduced.

According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle or an electrically powered means of transport, e.g. an eScooter, an e-skateboard, etc.) is described which is the one described in this document Device includes.

According to a further aspect, a method for reducing the risk of a vehicle collision is described. The method comprises the determination of door information relating to an opening or closing of a door in the surroundings of the vehicle. Furthermore, the method includes predicting, on the basis of the door information, whether, and if so when and / or where, the vehicle could collide with a road user who has passed (in particular walked or driven) through the door. In addition, the method includes bringing about a measure to reduce the risk of a collision of the vehicle with the road user if it was predicted that a collision with the road user could occur.

According to a further aspect, a software (SW) program is described. The software program can be set up to be executed on a processor (e.g. on a control unit of a vehicle) and thereby to execute the method described in this document.

According to a further aspect, a storage medium is described. The storage medium can comprise a software program which is set up to be executed on a processor and thereby to execute the method described in this document.

It should be noted that the methods, devices and systems described in this document can be used both alone and in combination with other methods, devices and systems described in this document. Furthermore, any aspects of the methods, devices and systems described in this document can be combined with one another in diverse ways. In particular, the features of the claims can be combined with one another in diverse ways.

• 1a eine beispielhafte Verkehrssituation;
• 1b beispielhafte Komponenten eines Fahrzeugs; und
• 2 ein Ablaufdiagramm eines beispielhaften Verfahrens zum Betrieb eines Fahrzeugs.

The invention is described in more detail below on the basis of exemplary embodiments. Show it

• 1a an exemplary traffic situation;
• 1b exemplary components of a vehicle; and
• 2 a flowchart of an exemplary method for operating a vehicle.

As stated at the outset, the present document is concerned with increasing the safety and / or comfort of a vehicle, in particular of an at least partially automated vehicle. In this context shows 1a an exemplary traffic situation in which a vehicle 110 on a lane or street 102 moves. To the road 102 leads a way 103 another road user 122 , for example on foot or with another vehicle, to the roadway 102 so that it could get to the Mouth of the way 103 onto the roadway 102 to a collision 105 between the vehicle 110 and the other road user 122 could come.

1a particularly shows one system 100 that the vehicle 110 and one or more doors 120 of one or more rooms 121 include, in which the other road user 122 can stop before the road user 122 across the way 103 to the roadway 102 got. Exemplary rooms 121 are a house, a garage or a vehicle of the road user 122 .

• • dass die Tür 120 geöffnet wurde;
• • dass die Tür 120 geschlossen wurde;
• • den Öffnungs- bzw. Schließzustand der Tür 120;
• • den Zeitpunkt, an dem ein Türereignis (z.B. das Öffnen oder das Schließen der Tür 120) erfolgt ist;
• • die Öffnungsgeschwindigkeit bzw. die Schließgeschwindigkeit der Tür 120;
• • die Position der Tür 120 (z.B. GPS Koordinaten der Tür 120); und/oder
• • den Typ von Raum 121, der durch die Tür 120 verschlossen wird (z.B. Wohnhaus, Garten, Garage, Fahrzeug, etc.).
• • die Einbaulage der Tür 120, insbesondere in allen drei Raumdimensionen, innerhalb eines Raums 121.

The one or more doors 120 can be set up door information related to the respective door 120 to capture and use a wireless communication link 104 (e.g. WLAN, 3G, 4G, 5G, etc.). The door information related to a door 120 can for example show:

• • that the door 120 was opened;
• • that the door 120 has been closed;
• • the opening or closing status of the door 120 ;
• • the time at which a door event (e.g. opening or closing of the door 120 ) has taken place;
• • the opening speed or the closing speed of the door 120 ;
• • the position of the door 120 (e.g. GPS coordinates of the door 120 ); and or
• • the type of room 121 walking through the door 120 is closed (e.g. house, garden, garage, vehicle, etc.).
• • the installation position of the door 120 , especially in all three room dimensions, within a room 121 .

The vehicle 110 The door information can be set up via a wireless communication link 104 to recieve. The door information can be sent indirectly via a central unit 101 (e.g. a back server) or directly (e.g. using vehicle-to-infrastructure communication) to the vehicle 110 be transmitted.

1b shows exemplary components of a vehicle 110 . The vehicle 110 comprises a communication unit 113 that is set up via a wireless communication link 104 with an external unit, e.g. with a central unit 101 and / or with a door 120 To exchange data. Furthermore, the vehicle can 110 one or more environmental sensors 112 (for example a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.) which are set up to include sensor data relating to the surroundings of the vehicle 110 capture.

A control unit 111 (also referred to as the device in this document) of the vehicle 110 can be set up on the basis of the sensor data of the one or more environment sensors 112 one or more objects in the vicinity of the vehicle 110 to detect. Furthermore, it can be determined whether there is a risk of collision with an object in the vicinity of the vehicle 110 consists. Furthermore, one or more protective measures can be implemented in order to prevent a collision with an object. For this purpose, for example, one or more longitudinal and / or lateral guidance actuators can be used 114 of the vehicle 110 (for example a drive motor, a braking device and / or a steering device) are caused in the longitudinal and / or lateral guidance of the vehicle 110 to intervene. Alternatively or in addition, a user interface 115 of the vehicle 110 an (acoustic, visual and / or haptic) warning to a driver of the vehicle 110 are issued.

As an alternative or in addition, the control unit 111 of the vehicle 110 be designed based on the received door information relating to a door 120 around the vehicle 110 to predict whether there will be a possible collision 105 with a road user 122 who might come through the door 120 has arrived. The door 120 can be outside the detection range of the one or more environment sensors 112 of the vehicle 110 be. There can thus be a possible risk of collision with another road user at an early stage 122 can be detected.

For example, the door information can indicate that a road user 120 by opening and closing the door 120 a residential building 121 left, or by opening the door 120 a garage 121 opened for another vehicle, or by opening and closing the door 120 another vehicle 121 into the other vehicle 121 has risen.

The control unit 111 can be set up based on the position of the door 120 based on the time of the detected door event and / or based on the type of room 121 that has been left or entered, to predict whether it is along the driving trajectory of the vehicle 110 to a collision 105 with the road user 122 could come. In addition, the collision point or location at which the collision occurred can be determined 105 he follows. Furthermore, the collision time of the collision 105 be determined.

For example, it can be determined on the basis of the door information that the Road users 122 walk his home 121 has left, and assuming a typical running speed at a certain point in time, the mouth of the path 103 onto the roadway 102 will achieve. It can also be checked whether the vehicle is 110 at this particular point in time also at the mouth of the path 103 onto the roadway 102 will be located. If this is the case, it can be determined that there is a risk of collision with the road user 122 exists and / or that there is an interaction between the road user 122 and the vehicle 110 could come.

When it is recognized that there is an interaction between the road user 122 and the vehicle 110 could come, at least one protective measure can be taken to reduce the risk of collision with the road user 122 to reduce. For this purpose, an automated intervention in the longitudinal and / or lateral guidance of the vehicle can (at an early stage) 110 and / or a warning is issued. So can the comfort and safety of the vehicle 110 can be further increased.

The control unit 111 can thus be set up, a time prediction of the approach of the self-driven or autonomously driven vehicle 110 to one or more people 122 which will be involved in road traffic in a pre-calculated time interval. One or more driver assistance systems in the vehicle 110 can be proactively prepared for this. In this context, opening and closing signals (ie door information) are used by locking systems 120 (Front doors, garage doors, entrance gates, floor-to-ceiling windows, etc.) tapped and / or evaluated. Furthermore, the trajectory of at least one person 122 from the locking system 120 across the property to the sidewalk of the street 102 (possibly in one or more scenarios) and with the route of the vehicle 110 must be adjusted to avoid a possible collision 105 to recognize and preventively avert it if necessary. This can be achieved, for example, by measures such as “changing lanes, reducing speed, preparing braking and steering systems, choosing a different route, etc.”.

In one example, a front door 120 from the street 102 Be visible so that the path from the front door 120 to the street 102 can be estimated. When transmitting the opening and closing signals of the front door 120 the minimum time of the direct route to the street 102 forecast. The direct way to the street 102 can possibly be followed by the path of the person 122 is covered outside of a sidewalk over unpaved terrain. If necessary, several different doors can be used on one path 120 (e.g. a house entrance door and at least one gate that is adjacent to the sidewalk) must be passed through.

The control unit 111 can be set up to take into account the time of day and / or the day of the week to avoid a possible collision 105 to predict. For example, in the case of a kindergarten, it can be estimated at the known drop-off and pick-up time windows of the kindergarten that if there is a first door 120 is opened and closed, people on their way to a second door 120 (e.g. a gate).

The shortest possible arrival time of the road user 122 on the roadway 102 of the vehicle 110 can be based on the direct route from the respective door 120 and are determined on the basis of an assumed average speed. If necessary, the information from a smart shoe or a heart rate monitor can be used to derive the walking speed via the step counter per unit of time or the pulse of the person in order to determine the speed. For example, from opening a door 120 (and then closing the same door 120 ) assume that a person 122 stepped outside. Turning back inside is also possible if necessary. This can possibly be accepted if after a defined dwell time after a door event at a first door 120 no door event at another door 120 takes place on the way or if there is no further door 120 is present, and after a period of time there is no person on the street 102 was recognized by the passing vehicles.

An algorithm can be used to calculate when a person is the earliest 122 on a direct route to the street 102 can get. For autonomous or manually guided vehicles 110 can thus focus on a certain entrance on the roadway at an early stage 102 be put out of what a person 122 on foot or in a car.

The travel time from a door 120 up to the roadway 102 depends, among other things, on how "directly" (eg along the "straight line") or how "indirectly" (eg with detours) the road user feels 122 from the door 120 up to the roadway 102 moves (e.g. runs or drives). This can be predicted depending on the boundary conditions. The speed of movement depends on how the road user is 122 moving (on foot, with a scooter, with a vehicle, etc.). Furthermore, the speed depends on the stress level of the person 122 (e.g. late appointment) and / or the state of health or fitness level of the person 122 (e.g. age). The speed can be predicted depending on the boundary conditions.

The control unit 111 can be set up to calculate a minimum scenario. The minimal scenario marks the most direct route for the road user 122 by air line from the door 120 to the street 102 . This route can be viewed as the shortest route and marks the earliest possible time for the road user to arrive 122 on the street 102 . Furthermore, the control unit 111 set up actual ways 103 between the door 120 and the road 102 to consider. The course of the paths 103 can for example be based on a digital map and / or based on the sensor data of a camera 112 of the vehicle 110 be determined. It can be checked, for example, whether the entrance door 120 of a house 121 frontal to the street 102 facing or not. When the door 120 not in front of the street 102 is facing, it can be assumed as a first approximation that the door 120 at least 90 degrees or 180 degrees to the street and it can be an estimate of the way around the house 121 to the street 102 to be calculated. This scenario can be assumed, for example, if a person is not short of time and / or the weather conditions are dry. For example, from the control unit 111 assume that wet and / or snow-covered meadows, forests, etc. are not traversed to get to the road 102 to get.

The control unit 111 can be set up for calculating a person's arrival time 122 at the roadside to take into account the opening signal (since this is the first point in time from which a person 122 the door 120 towards the street 102 can leave). The closing signal typically marks the time when the last person closes the door 120 leaves (if e.g. a group of people 122 leaving a house).

The control unit 111 can be set up, for security reasons, the theoretically minimum possible time (straight line) after the time of the opening signal of a locking system 120 to be determined and taken into account. Depending on the information about a person that is securely available and / or determined 122 (e.g. time of the day: working hours / leisure time, weather situation, stress level, going to the garage before reaching the street, etc.) can be switched to a standard scenario if necessary.

The closing signal typically marks leaving the house 121 a person or a group of people. If in addition to an entrance door (person steps outside) there are also one or more intermediate gates, sliding doors, garage doors, etc. on the property, the signals from the individual doors 120 differentiated and when determining the time of arrival on the street 102 must be taken into account. For example, on the basis of the signals from several doors 120 be understood whether a person 122 covers a distance in the direction of the road or car or not. Furthermore, the order of the opening and closing signals of the different doors 120 to be taken into account to the person 122 track along the way and / or to ensure the closing signal of the last door 120 (e.g. the garage door closing signal) the person leaving 122 marked by the property.

In addition to the closing signals of property doors and gates, the combination of opening and closing signals from a vehicle (which can be localized via GPS, for example) is advantageous so that a case can be differentiated as to whether the person or persons 122 get in one or more vehicles. This can be used to determine whether a person 122 walk or whether a vehicle is the road 102 will achieve. This can be especially true in the case of an apartment building 121 must be taken into account.

The control unit 111 can be set up to determine that the door is not closed or that the door is closed, but no road user even after a maximum time interval has been exceeded 122 the street 102 reached. The control unit 111 can be set up, also in this case the possible appearance of a road user 122 to consider.

The speed profile of a road user 122 typically depends on the number of obstacles on the property (e.g. braking in front of a closed door) or on the age of a person, the stress level, the time of day, etc.

• • ein Rückgriff auf eine Datenbank, die Durchschnittsgeschwindigkeiten einer Person anzeigt;
• • ein Rückgriff auf Daten einer Pulsuhr einer laufenden Person (zur Abschätzung der Geschwindigkeit anhand des Pulses);
• • ein Rückgriff auf ein Mobiltelefon einer Person (welche z.B. per GPS die Geschwindigkeit der laufenden Person aufzeichnet); und/oder
• • ein Rückgriff auf einen digitalen Terminkalender einer Person, welcher Terminverspätungen anhand der prädizierten Reisezeit zu dem Ort des Termins und dessen Startzeit anzeigt

The control unit 111 can be set up to provide data relating to the road user 122 and to be taken into account when determining a risk of collision. Exemplary data sources are:

• • Recourse to a database showing the average speed of a person;
• • Recourse to data from a heart rate monitor of a running person (to estimate the speed on the basis of the heart rate);
• • Access to a person's mobile phone (which, for example, records the speed of the running person via GPS); and or
• • Recourse to a person's digital appointment calendar, which displays appointment delays based on the predicted travel time to the location of the appointment and its start time

Furthermore, the speed of the road user can 122 determined depending on the type of mobility (e.g. on foot, bicycle, e- Bike, skateboard or car). If the respective means of transport is networked, it is possible, for example, to calculate in advance when the person will be 122 in or on the means of transport on the road 102 will arrive because, for example, the speed can be estimated or can be determined directly via a Vehicle-to-X message.

In addition to the maximum possible speed of a means of transport, the nature of the ground can provide an indication of how fast the road user is 122 moved (e.g. cobblestones or ice / snow).

In addition to a minimum and / or a maximum scenario for calculating the arrival time of a road user 122 one or more additional parameters can be viewed and evaluated at the roadside. For example, the time of day can be taken into account. For example, on the basis of swarm data for a region, it can be known that commuters in a certain region have more time constraints in the morning (e.g. because of a construction site). In this case, a relatively short path and / or a relatively high speed can be assumed.

The appointment situation of a person can be used as a further parameter 122 evaluated and taken into account. On the basis of an upcoming appointment (e.g. from an online calendar of the person 122 is determined) it can be concluded whether the person 122 Is short of time or is stressed. In this case, a relatively short path and / or a relatively high speed can be assumed. If there is no deadline pressure, a relatively long distance and / or a reduced speed can be assumed.

As an alternative or in addition, the type or type of residential building 121 must be taken into account. For example, lower speeds and / or shorter distances can be assumed in an old people's home or in a hospital than in a student residence.

Alternatively or in addition, a combination of door signals from one door can be used 120 of a building, a garage and, for example, a vehicle. For example, it can be determined that several people are at the entrance door 120 of the housing, which then on the one hand (partially) reach the roadside on foot, at least one person on the bicycle reaches the roadside and the remaining one or more people are identified as occupants of a vehicle via the opening and door closing signals of a car and in this vehicle reach the roadside. By evaluating the door information from several doors 120 it can thus be determined in a precise manner how and when different people are 122 those of the vehicle 110 busy road 102 will achieve.

2 shows a flow diagram of an exemplary (computer-implemented) method 200 to reduce the risk of a vehicle collision 110 . The vehicle 110 can possibly be at least partially automated.

The procedure 200 includes determining 201 of door information relating to opening or closing of a door 120 in an area around the vehicle 110 . The door information can for example be via a wireless communication link 104 from the door 120 (e.g. from a sensor on the door 120 ) to the vehicle 110 sent (possibly indirectly via a central unit 101 ). The door 120 can be arranged at a position that is outside the detection range of the one or more environment sensors 112 of the vehicle 110 is.

The method also includes 200 the prediction 202 based on the door information whether there is a collision 105 with a road user 122 who might come through the door 120 has arrived. The road user 122 For example, it can be a person who is walking on the vehicle 110 moved towards. Alternatively, the road user can 122 be a person who is using a means of transport (especially another vehicle) on the vehicle 110 moved towards.

On the basis of the door information, for example, a trajectory that the road user can be estimated 122 from the position of the door 120 up to a collision point of a possible collision 105 with the vehicle 110 will cover. The trajectory can possibly be the position of the road user 122 as a function of time (so that both distance and speed are taken into account). Furthermore, the driving trajectory of the vehicle 110 be determined. By comparing the estimated trajectory of the road user 122 and the determined driving trajectory of the vehicle 110 it can then be predicted whether there will be a collision 105 might come or not. Different trajectories of the road user can possibly be used 122 determined with different assumptions (e.g. fastest trajectory or slowest trajectory) and compared with the driving trajectory.

The procedure 200 also includes causing 203 a measure to reduce the risk of a collision 105 with the road user 122 if it was predicted that there would be a collision 105 with the road user 122 could come. For example, a warning can be output as a measure and / or an automatic intervention in the vehicle guidance can take place.

The measures described in this document can put a vehicle at risk of collision 110 with another road user 122 can be detected at a particularly early point in time. In this way, a protective measure can be brought about in a particularly convenient and / or safe manner.

The present invention is not restricted to the exemplary embodiments shown. In particular, it should be noted that the description and the figures are only intended to illustrate the principle of the proposed methods, devices and systems by way of example.

Claims (10)

Device (111) for operating a vehicle (110); wherein the device (111) is set up, - to determine door information relating to an opening or a closing of a door (120) in the surroundings of the vehicle (110); - to predict on the basis of the door information whether there could be a collision (105) between the vehicle (110) and a road user (122) who has passed through the door (120); and - to effect a measure to reduce the risk of a collision (105) with the road user (122) if it was predicted that a collision (105) with the road user (122) could occur. Device (111) according to Claim 1 wherein the device (111) is set up to determine a trajectory based on the door information, which the road user (122) covers from a position of the door (120) to a collision point of the possible collision (105); and / or - to determine a movement speed with which the road user is moving towards the collision point of the possible collision (105); and - on the basis of the determined trajectory and / or the determined speed of movement, to predict whether a collision (105) with the road user (122) could occur. Device (111) according to one of the preceding claims, wherein - The door information indicates a room type of a room (121) from a plurality of different room types that is closed by the door (120); and the plurality of room types include in particular: a house, a garage, a means of transport, a dormitory and / or a hospital; and - The device (111) is set up to determine a trajectory up to a collision point of the possible collision (105) and / or a movement speed of the road user (122) as a function of the room type. Device (111) according to one of the preceding claims, wherein the device (111) is set up - to determine a trajectory of the road user (122) from a position of the door (120) to a collision point of the possible collision (105); - to detect one or more further doors (120) on the trajectory, in particular on the basis of a digital map in relation to the surroundings of the vehicle (110); - to determine further door information in relation to the one or more further doors (120); and - To predict whether a collision (105) with the road user (122) could occur as a function of the further door information. Device (111) according to one of the preceding claims, wherein the device (111) is set up - estimate a trajectory of the road user (122) based on a position of the door (120); wherein the position of the door (120) is indicated by the door information; - determine a travel trajectory of the vehicle (110), and - On the basis of the estimated trajectory of the road user (122) and on the basis of the determined driving trajectory of the vehicle (110) - to predict whether there could be a collision (105) with the road user (122); and or - to determine a collision point and / or a collision time of the possible collision (105). Device (111) according to one of the preceding claims, wherein the device (111) is set up - To determine an opening time on the basis of the door information at which the door (120) was opened; and - To predict, based on the opening time, whether a collision (105) with the road user (122) could occur. Device (111) according to one of the preceding claims, wherein - the road user (122) comprises, in particular is, a human person; and - the device (111) is set up to - determine state information relating to a state of the person; wherein the status information indicates in particular an age, a health status and / or a stress status of the person; and - to predict on the basis of the status information whether a collision (105) with the road user (122) could occur. Device (111) according to one of the preceding claims, wherein the device (111) is set up as a measure to reduce the risk of collision, - on the basis of the door information, to determine a direction from which the road user (122) could move towards the vehicle (110) and / or in which the road user (122) could be arranged starting from the vehicle (110); and - to intensify a detection and / or an evaluation of sensor data from one or more environment sensors (112) of the vehicle (110) in relation to the environment of the vehicle (110) in the determined direction. Device (111) according to one of the preceding claims, wherein the device (111) is set up as a measure to reduce the risk of collision, - to determine a collision point and / or a collision time of the possible collision (105); and - to cause a travel trajectory of the vehicle (110) to be adapted in order to avoid the determined collision point and / or the collision time. Method (200) for reducing the risk of a collision of a vehicle (110); wherein the method comprises (200), - Determination (201) of door information in relation to an opening or closing of a door (120) in an environment of the vehicle (110); - Predicting (202), based on the door information, whether the vehicle (110) could collide (105) with a road user (122) who has passed through the door (120); and - bringing about (203) a measure to reduce a collision risk for a collision (105) with the road user (122) if it was predicted that a collision (105) with the road user (122) could occur.

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