DE102019210978A1 - Automated warning of a potential collision with motor vehicles - Google Patents

Abstract

In a method for warning of a potential collision of a motor vehicle (7) with another motor vehicle (8), the further motor vehicle (8) in an environment (9) of the motor vehicle (7) is detected by means of a sensor system (10, 11) of the motor vehicle (7). 7) recognized. At least one movement parameter of the motor vehicle (7) and at least one further movement parameter of the further motor vehicle (8) are determined by means of the sensor system (10, 11). An expected trajectory (13) of the motor vehicle (7) and an expected further trajectory (14) of the further motor vehicle (8) are determined based on the movement parameters by means of a computing unit (12) of the motor vehicle (7). A collision probability is determined by the computing unit (12) as a function of the trajectories (13, 14) and, depending on the collision probability, an output unit (15, 16) of the motor vehicle (7) sends a modulated electromagnetic warning signal to the surroundings (9) of the motor vehicle (7) issued automatically.

Description

The present invention relates to a method for warning of a potential collision of a motor vehicle with a further motor vehicle, the further motor vehicle being detected in the surroundings of the motor vehicle by means of a sensor system of the motor vehicle. The invention also relates to a corresponding warning system and a motor vehicle with such a warning system.

Traffic accidents with head-on collisions between two vehicles can have drastic consequences. In two-way traffic scenarios, active evasive maneuvers are often associated with an increased risk due to high relative speeds and limited space available. For the motor vehicle that is causing the potentially threatening collision, it is usually possible to return the motor vehicle to its own lane. However, such situations are more difficult to handle for a motor vehicle approaching the originating motor vehicle. Often threatening head-on collision scenarios arise from the inattentiveness of one or both drivers.

document DE 10 2004 057 060 A1 describes a driver assistance device for a vehicle and a method for recognizing other vehicles approaching in the vehicle's own lane.

In such situations, however, the risk of collision is already relatively high due to the fact that the oncoming traffic is already driving in the lane of the oncoming traffic. The risk that the collision can no longer be prevented is correspondingly high.

Against this background, it is an object of the present invention to provide an improved concept for warning of a potential collision of a motor vehicle with another motor vehicle, by means of which an earlier warning is possible.

This object is achieved by the respective subject matter of the independent patent claims. Advantageous embodiments and developments are the subject of the dependent claims.

The improved concept is based on the idea of predicting expected trajectories of the motor vehicles based on movement parameters that are determined by means of a sensor system and automatically outputting a warning signal as a function of a collision probability calculated therefrom.

According to a first independent aspect of the improved concept, a method for warning of a potential collision of a motor vehicle with a further motor vehicle is specified, in particular for warning the further motor vehicle and / or a driver of the further motor vehicle, wherein the further motor vehicle in an environment of the motor vehicle is recognized. At least one movement parameter of the motor vehicle is determined by means of the sensor system and at least one further movement parameter of the further motor vehicle is determined by means of the sensor system. Using a computing unit of the motor vehicle, an expected trajectory of the motor vehicle is determined based on the at least one movement parameter, and an expected further trajectory of the further motor vehicle is determined using the computing unit based on the at least one further movement parameter. A collision probability, in particular between the motor vehicle and the further motor vehicle, is determined by means of the computing unit as a function of the trajectory and the further trajectory. By means of an output unit of the motor vehicle, depending on the probability of a collision, a modulated electromagnetic warning signal is automatically output to the surroundings of the motor vehicle.

The fact that the further motor vehicle is recognized in the vicinity of the motor vehicle can in particular be understood to mean that it is determined by means of the sensor system that the further motor vehicle is in the vicinity. The environment can in particular correspond to a detection area or field of view of the sensor system. Optionally, the detection of the further motor vehicle can also include the determination of a position of the further motor vehicle and / or tracking of the further motor vehicle, that is to say a continuous determination of the position of the further motor vehicle.

A measured variable relating to the movement of the respective motor vehicle can be understood as a movement parameter. A movement parameter can in particular contain a speed, an angular speed or rate of rotation, an acceleration or angular acceleration of the respective motor vehicle or a variable derived from one or more of these variables.

Accordingly, the sensor system can contain one or more sensors, in particular at least partially different sensor types. For example, the sensors can contain a radar sensor system, a lidar sensor system, a camera system or other environment sensors. Such environment sensors can in particular serve to determine the at least one further movement parameter of the further motor vehicle. In addition, the sensors of the sensor system can include a speed sensor system, for example a longitudinal speed sensor system, a steering angle sensor system, a yaw rate sensor system, an acceleration sensor system, for example a lateral acceleration sensor system, and so on. Such sensors can in particular serve to determine the at least one movement parameter of the motor vehicle.

The determination of the expected trajectory or the further expected trajectory by means of the arithmetic unit includes in particular the calculation of the corresponding expected, approximated or estimated coordinates of chronologically successive positions and / or orientations of the motor vehicle or the further motor vehicle for a predetermined period of time in the future. The period of time can, for example, be on the order of several seconds.

The coordinates of the positions and / or the orientations are stored in particular by means of the computing unit on a storage medium of the motor vehicle.

The output unit can contain one or more devices for generating the warning signal. For example, the output unit can contain vehicle lighting of the motor vehicle or a part thereof, for example one or more headlights, in particular front headlights, for example a high beam, of the motor vehicle in order to output the warning signal.

In various embodiments, the output unit can also contain a control device of the motor vehicle for controlling the vehicle lighting. The control device can also be part of the computing unit.

The fact that the warning signal is output automatically can in particular be understood to mean that the output unit is automatically controlled by the computing unit and / or the control device depending on the probability of a collision in order to output the warning signal, in particular without a driver of the motor vehicle manually using the output unit or an operating element must operate.

The output of the warning signal can warn the further motor vehicle, in particular if the further motor vehicle is appropriately equipped, for example with a detector for electromagnetic radiation and a corresponding further computing unit for signal evaluation and processing, and this can then initiate a risk-reducing measure, for example, in particular the brake another motor vehicle and / or initiate an automatic steering maneuver or make the driver of the further motor vehicle aware of the risk of collision.

In embodiments in which the warning signal is output as visible light, the driver of the further motor vehicle can also be warned directly himself so that he can react early and initiate another risk-reducing measure, in particular can carry out a manual steering and / or braking maneuver, to prevent a collision or to reduce the risk of collision.

Because the improved concept is based on the prediction of the expected trajectories, a possible risk of collision can be recognized particularly early. In particular, it is not necessary for the further motor vehicle to be completely or partially in the same lane as the motor vehicle so that the warning signals are output automatically. This increases security.

The risk of collision is thereby reduced from the point of view of the driver of the motor vehicle by warning the oncoming traffic, without the driver of the motor vehicle himself necessarily having to perform a driving maneuver. This is advantageous because the space that is available to the driver of the motor vehicle to evade is usually very limited, especially when the situation takes place outside of town. In addition, the relative speed of the motor vehicles is particularly high in such situations. A driving maneuver of the further motor vehicle, which causes the impending collision, for example, is often associated with lower risks in such situations than a driving maneuver of the motor vehicle.

According to at least one embodiment of the method, at least one additional expected trajectory of the motor vehicle is determined by means of the computing unit based on the at least one movement parameter and / or at least one additional expected further trajectory of the further motor vehicle is determined by means of the computing unit based on the at least one further movement parameter.

In such embodiments, the collision probability can be determined by means of the computing unit as a function of the expected trajectory of the additional trajectory and the further and the further additional trajectory.

The trajectory and the additional trajectory can correspond to different scenarios that come into question on the basis of the available movement parameters and other movement parameters. For example, an associated probability or an associated confidence value can be calculated for the expected and the additional trajectory by means of the computing unit based on the at least one movement parameter. The same also applies to the further trajectory and the further additional trajectory. The probability of a collision can then be determined by means of the computing unit as a function of the probabilities or confidence values.

According to at least one embodiment, the warning signal is automatically output by means of a lighting device of the motor vehicle, in particular the output unit, depending on the probability of a collision, in particular as a visible light signal.

Since a motor vehicle generally has a lighting device anyway, no additional hardware is advantageously required in order to output the warning signal by means of the lighting device.

The lighting device is in particular one or more headlights and / or a high beam of the motor vehicle.

According to at least one embodiment, the collision probability is compared with a predetermined limit value by means of the computing unit, and the warning signal is output by means of the output unit, in particular precisely when the collision probability is greater than or equal to the limit value.

This prevents the warning signal from being output when the probability of a collision is relatively low and leads to an unnecessary distraction of the driver of the motor vehicle or of the driver of the further motor vehicle.

According to at least one embodiment, the warning signal is automatically output as a time-modulated warning signal by means of the output unit, depending on the probability of a collision.

The modulation of the warning signal over time means in particular that an intensity of the warning signal is changed over time.

The time modulation results on the one hand in better recognizability of the warning signal for the driver of the further motor vehicle and on the other hand in simpler automated detection and processing of the warning signal by means of the further motor vehicle, in particular by means of the detector of the further motor vehicle.

By means of the modulation, information can also be transmitted in various embodiments, for example that the warning signal is such. The information can also contain a risk characteristic that is dependent on the probability of a collision. The further motor vehicle can then, for example, initiate or adapt the risk-minimizing measure as a function of the risk parameter.

According to at least one embodiment, the warning signal is automatically output as a light signal with periodically varying intensity by means of the output unit, depending on the probability of a collision.

According to at least one embodiment, the light signal with periodically varying intensity has a predefined frequency which can be, for example, in a range between 0.1 Hz and 50 Hz, in particular between 1 Hz and 10 Hz.

According to at least one embodiment, an information signal is output by means of a user interface of the motor vehicle, in particular to the driver of the motor vehicle, i.e. in particular in an interior of the motor vehicle, when the warning signal is output by means of the output unit, i.e. in cases in which the warning signal is output.

The information signal can in particular be an acoustic, visual and / or haptic signal that is directed to the driver of the motor vehicle.

As a result, the driver of the motor vehicle can also react, for example, by manually initiating a braking and / or steering maneuver. This further increases security.

According to at least one embodiment, the warning signal is received by means of a detector, in particular an optical detector or a detector for detecting electromagnetic radiation, of the further motor vehicle and a detector signal is generated based on the warning signal by means of the detector. By means of a further processing unit of the further motor vehicle, a measure to reduce risk is automatically initiated based on the detector signal.

The detector can in particular contain one or more photodiodes, a rain sensor and / or a camera.

The risk reduction measure includes, in particular, automatic intervention in a control of the further motor vehicle, for example initiating an automatic steering and / or braking maneuver and / or warning the driver of the further motor vehicle by outputting a driver warning signal, in particular by means of a further user interface of the further motor vehicle .

According to at least one embodiment, the modulation of the warning signal is recognized by means of the further computing unit based on the sensor signal. This enables the processing unit to identify the warning signal as such.

According to at least one embodiment, the characteristic risk value is determined by means of the further arithmetic unit based on the sensor signal, and the risk reduction measure is automatically initiated as a function of the characteristic risk value.

According to at least one embodiment, the driver warning signal for warning the driver of the further motor vehicle is output by means of a further user interface of the further motor vehicle based on the detector signal, in particular initiated by a further processing unit.

In accordance with at least one embodiment, the automatic intervention in a control of the further motor vehicle is initiated by means of the further computing unit based on the detector signal.

According to a further independent aspect of the improved concept, a warning system for a motor vehicle is specified for warning of a potential collision of the motor vehicle with another motor vehicle, the warning system having a sensor system, a computing unit and an output unit. The sensor system is set up to recognize the further motor vehicle in the surroundings of the motor vehicle. The sensor system is set up to determine at least one movement parameter of the motor vehicle and at least one further movement parameter of the further motor vehicle. The computing unit is set up to determine an expected trajectory of the motor vehicle based on the at least one movement parameter and to determine an expected further trajectory of the further motor vehicle based on the at least one further movement parameter. The computing unit is set up to determine a collision probability as a function of the trajectory and the further trajectory. The output unit is set up to automatically output a modulated electromagnetic warning signal in the vicinity of the motor vehicle as a function of the probability of a collision.

Further embodiments of the warning system result directly from the various embodiments of the method according to the improved concept and vice versa. In particular, a warning system according to the improved concept can be set up or programmed to carry out a method according to the improved concept or the warning system according to the improved carries out a method according to the improved concept.

According to a further independent aspect of the improved concept, a motor vehicle with a warning system according to the improved concept is output.

According to a further independent aspect of the improved concept, a safety system for warning of a potential collision of a motor vehicle with another motor vehicle is specified. The safety system has a warning system according to the improved concept as well as a detector for the further motor vehicle which is set up to receive the warning signal and to generate a detector signal based on the warning signal. The safety system has a further computing unit for the further motor vehicle, which is set up to automatically initiate a risk reduction measure based on the detector signal.

According to a further independent aspect of the improved concept, a computer program with instructions is specified. When the computer program is executed by a warning system according to the improved concept, the commands cause the warning system to execute a method according to the improved concept.

According to a further independent aspect of the improved concept, a computer-readable storage medium is specified on which a computer program according to the improved concept is stored.

The invention also includes developments of the warning system according to the invention which have features as they have already been described in connection with the further developments of the method according to the invention. For this reason, the corresponding developments of the warning system according to the invention are not explicitly described again here.

The invention also includes combinations of the features of the described embodiments.

• 1 ein Kraftfahrzeug, das eine beispielhafte Ausführungsform eines Warnsystems nach dem verbesserten Konzept aufweist, sowie ein weiteres Kraftfahrzeug und
• 2 ein Ablaufdiagramm einer beispielhaften Ausführungsform eines Verfahrens nach dem verbesserten Konzept.

Show in the drawings

• 1 a motor vehicle that has an exemplary embodiment of a warning system according to the improved concept, and a further motor vehicle and
• 2 a flowchart of an exemplary embodiment of a method according to the improved concept.

The exemplary embodiments explained below are preferred embodiments of the invention. In the exemplary embodiments, the described components of the embodiments each represent individual features of the invention that are to be considered independently of one another, which also develop the invention independently of one another and are therefore also to be regarded as part of the invention individually or in a combination other than the one shown. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

In the figures, functionally identical elements are each provided with the same reference symbols.

In 1 is a motor vehicle 7th shown that a warning system 18th according to the improved concept.

The warning system 18th has an environment sensor 10 on, for example, a camera, a radar or a lidar system, and one or more motion sensors 11 , for example speed sensors, yaw rate sensors, acceleration sensors or the like, in order to determine one or more movement parameters, in particular a longitudinal speed, an acceleration, for example transverse acceleration, an orientation and / or rate of rotation of the motor vehicle.

The warning system 18th also has a computing unit 12th that with the environment sensor system 10 and the motion sensor 11 connected is. In addition, the motor vehicle 7th or the warning system 18th a high beam 15th of the motor vehicle 7th on.

Optionally, the motor vehicle 7th or the warning system 18th a user interface 17th on.

The other motor vehicle 8th has another arithmetic unit 20th and another environment sensor with an optical detector 19th and optionally another user interface 21st . The further environment sensor can be designed, for example, as a rain sensor or camera.

The functionality of the warning system 18th is discussed below with reference to 2 explained in more detail using an exemplary embodiment of a method according to the improved concept.

In step 1 the process is carried out by means of the environment sensor 10 of the motor vehicle 7th recognized that the further motor vehicle 8th in an environment 9 of the motor vehicle 7th is located.

In step 2 the process is carried out using the motion sensors 11 at least one movement parameter of the motor vehicle 7th determined, in particular a speed, an acceleration and an orientation of the motor vehicle 7th certainly.

Corresponding measured values of the at least one movement sensor can be used for this 11 by means of the computing unit 12th evaluated and / or processed.

In step 2 is also by means of the environment sensor 10 at least one further movement parameter of the further motor vehicle 8th determines, in particular a speed, an acceleration and an orientation of the further motor vehicle 8th . In particular, image information that is generated by means of the environment sensor 10 were recorded by the computing unit 12th be evaluated in order to determine the at least one further movement parameter.

In step 3 of the method calculates the arithmetic unit 12th of the motor vehicle 7th at least one expected trajectory 13 of the motor vehicle 7th , which are exemplified in 1 is shown. For example, the motor vehicle is moving 7th at constant speed along a straight line.

In step 3 calculates the arithmetic unit 12th in addition, based on the at least one further movement parameter, at least one expected further trajectory 14th of the further motor vehicle 8th which are also in 1 is shown schematically. For example, describes the further expected trajectory 14th a trajectory showing the expected trajectory 13 cuts.

Because the expected trajectories 13 , 14th by means of the computing unit 12th are approximately predicted based on the movement parameters and the further movement parameters, the expected trajectories are correct 13 , 14th not necessarily exactly with actual trajectories of the motor vehicles 7th , 8th match. However, the computing unit 12th in step 4th a value for a Probability of collision between the two vehicles 7th , 8th based on the expected trajectories 13 , 14th and possibly on further (not shown) expected trajectories for the motor vehicle 7th and / or the further motor vehicle 8th to calculate.

For example, the computing unit 12th in step 4th also compare the value for the collision probability with a predetermined limit value.

In step 5 of the process controls the computing unit 12th the high beam depending on the value for the collision probability 15th of the motor vehicle 7th or a control unit (not shown) of the motor vehicle 7th to control the high beam 15th to generate a modulated light signal, in particular a visible light signal. This is done by the high beam 15th for example actuated periodically at a high frequency in the range of, for example, 1 Hz to 30 Hz, so that a periodic light signal in the environment 9 is sent out. In particular, the light signal is only generated and transmitted when the probability of a collision is greater than or equal to the predetermined limit value. A more complex modulation can optionally be used.

Information can optionally be coded by means of the modulation. For example, a value for the probability of a collision or a risk characteristic value derived therefrom can be coded in this way.

Optionally, the computing unit 12th , for example if the probability of a collision is greater than the limit value, by means of the user interface 17th an information signal to the driver of the motor vehicle 7th output in order to inform this about the activation of the system, in particular the sending of the warning signal, and the driver of the motor vehicle 7th also point out the impending collision.

In step 6 recorded by the optional optical detector 19th of the further motor vehicle 8th the modulated light signal. Based on this, the detector generates 19th a detector signal and transmits it to the further processing unit 20th . The other arithmetic unit 20th detects the modulation, for example the modulation frequency, of the modulated light signal in the detector signal and thereby identifies the light signal as a warning signal. If necessary, the further computing unit 20th determine the probability of collision or the risk value from the detector signal.

Depending on the detector signal, the further processing unit can 20th automatically initiate a measure to reduce the risk of collision. The measure can, for example, be an automatic steering and / or an automatic braking maneuver for the further motor vehicle 8th include.

Optionally, the further processing unit 20th by means of the further user interface 21st a driver warning signal to the driver of the further motor vehicle 8th output, in particular an optical, acoustic and / or haptic driver warning signal, to the driver of the further motor vehicle 8th additionally point out the impending collision.

The driver of the further motor vehicle can also optionally 8th capture the modulated light signal. This becomes the driver of the further motor vehicle 8th also pointed directly to the impending risk of collision and can accordingly initiate a de-escalating measure, in particular the further motor vehicle 8th brake and / or initiate a corresponding steering maneuver to prevent the collision.

In alternative embodiments, instead of the modulated light signal, a modulated infrared signal, a modulated ultraviolet signal or some other modulated electromagnetic signal is used by means of an output unit of the motor vehicle 7th automatically issued. In such embodiments, the output unit can have a corresponding source for infrared or ultraviolet light or other electromagnetic radiation, for example a laser source. The detector 19th of the further motor vehicle 8th is designed to detect the infrared, the ultraviolet or other electromagnetic signal. The above explanations can be applied analogously to such embodiments.

With the improved concept, in particular, a system and a method are specified which, when a risk of collision is detected by oncoming traffic, automatically warns this oncoming traffic by means of the modulated electromagnetic warning signal, for example a light signal. The possibility of automatic detection and corresponding automatic further processing of the warning signal is particularly effective in reducing the risk of collision. In particular, the reaction time of the driver of the further motor vehicle does not limit the effectiveness of the method, since the further motor vehicle can react automatically.

Alternatively or additionally, the driver of the further motor vehicle can be informed of the risk of a collision by a driver warning signal inside the passenger compartment. This increases the likelihood that the driver will be able to react appropriately.

According to the improved concept, the risk of collision is reduced, in particular, without the need for a driving maneuver by the driver of the motor vehicle.

Because the warning signal can also be seen over a large distance and also during the day, collision de-escalation at an early stage is possible.

In various embodiments, the driver of the motor vehicle that is sending out the warning signal is informed about the deactivation of the system or the sending of the warning signal. In addition, infotainment systems in one or both of the motor vehicles can be automatically muted.

List of reference symbols

1

Process step

2

Process step

3

Process step

4th

Process step

5

Process step

6th

Process step

7th

Motor vehicle

8th

Motor vehicle

9

Surroundings

10

Environment sensor

11

Motion sensor

12

Arithmetic unit

13

expected trajectory

14th

expected trajectory

15th

High beam

17th

User interface

18th

Warning system

19th

optical detector

20th

further arithmetic unit

21st

further user interface

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• DE 102004057060 A1 [0003]

Claims (10)

Method for warning of a potential collision of a motor vehicle (7) with another motor vehicle (8), wherein the further motor vehicle (8) in an environment (9) of the motor vehicle (7) by means of a sensor system (10, 11) of the motor vehicle (7) ) is recognized; characterized in that at least one movement parameter of the motor vehicle (7) and at least one further movement parameter of the further motor vehicle (8) are determined by means of the sensor system (10, 11); - by means of a computing unit (12) of the motor vehicle (7) an expected trajectory (13) of the motor vehicle 7 () based on the at least one movement parameter is determined and an expected further trajectory (14) of the further motor vehicle (8) based on the at least one further movement parameters are determined; - A collision probability is determined by means of the computing unit (12) as a function of the trajectory (13) and the further trajectory (14); and - depending on the probability of a collision, a modulated electromagnetic warning signal is automatically output to the surroundings (9) of the motor vehicle (7) by means of an output unit (15) of the motor vehicle (7). Procedure according to Claim 1 , characterized in that the warning signal is automatically output by means of a lighting device (15) of the motor vehicle (7) depending on the probability of a collision. Method according to one of the Claims 1 or 2 , characterized in that - the collision probability is compared by means of the computing unit (12) with a predetermined limit value; and - the warning signal is output automatically by means of the output unit (15, 16) when the probability of a collision is greater than or equal to the limit value. Method according to one of the Claims 1 to 3 , characterized in that the warning signal is automatically output as a time-modulated warning signal by means of the output unit (15, 16) depending on the probability of a collision. Method according to one of the Claims 1 to 4th , characterized in that the warning signal is automatically output as a light signal with periodically varying intensity by means of the output unit (15, 16) depending on the probability of a collision. Method according to one of the Claims 1 to 5 , characterized in that an information signal is output by means of a user interface (17) of the motor vehicle (7) when the warning signal is output by means of the output unit (15, 16). Method according to one of the Claims 1 to 6 characterized in that - the warning signal is received by means of a detector (19) of the further motor vehicle (8) and a detector signal is generated based on the warning signal; - By means of a further computing unit (20) of the further motor vehicle (8) based on the detector signal, a measure to reduce risk is automatically initiated. Procedure according to Claim 7 , characterized in that - by means of a further user interface (21) of the further motor vehicle (8) based on the detector signal, a driver warning signal is output; and / or - by means of the further computing unit (20) based on the detector signal, an automatic intervention in a control of the further motor vehicle is initiated. Warning system for a motor vehicle (7) for warning of a potential collision of the motor vehicle (7) with another motor vehicle (8), the warning system (18) being a sensor system (10, 11) set up to control the further motor vehicle (8) in an environment (9) of the motor vehicle (8) to be recognized, as well as a computing unit (12) and an output unit (15, 16); characterized in that - the sensor system (10, 11) is set up to determine at least one movement parameter of the motor vehicle (7) and at least one further movement parameter of the further motor vehicle (8); - The computing unit (12) is set up to - determine an expected trajectory (13) of the motor vehicle (7) based on the at least one movement parameter and an expected further trajectory (14) of the further motor vehicle (8) based on the at least one further Determine motion parameters; and - depending on the trajectory (7) and the further trajectory (8) to determine a collision probability; and - the output unit (15, 16) is set up to automatically output a modulated electromagnetic warning signal to the surroundings (9) of the motor vehicle (7) as a function of the probability of a collision. Safety system for warning of a potential collision of a motor vehicle (7) with another motor vehicle (8), characterized in that the safety system (18, 19, 20, 21) - a warning system (18) for the motor vehicle (7) Claim 9 having; - has a detector (19) for the further motor vehicle (8), configured to receive the warning signal and to generate a detector signal based on the warning signal; and - has a further computing unit (20) for the further motor vehicle (8), set up to automatically initiate an action to reduce risk based on the detector signal.

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