DE102020213673A1 - Method for warning at least one occupant of a first vehicle of a risk of collision through a vehicle door opening, first control unit, first vehicle and warning method for a second vehicle, second control unit and second vehicle - Google Patents

Abstract

Method for warning at least one occupant (230) of a first vehicle (100) of a risk of collision through a vehicle door opening, comprising the following steps: detecting (310) an environment (190) of the first vehicle (100); Detection (320) of at least one moving object (198, 198a, 198b, 198c) in the area (190) of the first vehicle (100) as a function of the detected area (190), the current position of each detected object being determined; determining (340) a motion vector (199, 199a, 199b, 199c) for the at least one recognized object (198, 198a, 198b, 198c); Determination (360) of a possible collision object depending on the current position of the detected object (198, 198a, 198b, 198c), the determined motion vector (199, 199a, 199b, 199c) of the detected object (198, 198a, 198b, 198c) and depending on an opening area (195a, 195b, 195c, 195d) of a vehicle door (130a, 130b, 130c, 130d) in the vicinity (190) of the first vehicle (100); and display (380) of a warning for the occupant (230) of the first vehicle (100) as a function of the potential collision object determined.

Description

The present invention relates to a method for warning at least one occupant of a first vehicle of a risk of collision through a vehicle door opening and a first control device which is set up to carry out this method. The invention also relates to a first vehicle with the first control device. The invention also relates to a warning method for a second vehicle or for a possible collision object determined by the first vehicle, in particular for a bicycle or an electric bicycle. The invention also relates to a second control unit, the second control unit being set up to carry out the warning method for the possible collision object that has been determined. The invention also relates to a second vehicle, in particular a bicycle or an electric bicycle, with the second control device.

State of the art

The opening of a vehicle door of a vehicle poses a risk when the vehicle is parked, for example, at the side of the road in a parallel parking space, since an imminent opening of the door is hardly or not at all recognizable to other road users. This danger of a collision between a vehicle door and a moving object such as a cyclist exists on the right side of the vehicle and on the left side of the vehicle depending on the position and orientation of the vehicle depending on the current traffic. In order to avoid a collision, the other road users are usually dependent on the attention and caution of the vehicle driver when a door is opened. The risk of collision is particularly high for cyclists, since they are comparatively narrow or inconspicuous and typically move quickly and can therefore be overlooked more easily than other vehicles or people in the rear-view mirror. This applies in particular in backlit conditions for occupants or if an occupant of a vehicle is blinded with the intention of opening the door or at dusk when a cyclist has not yet activated his bicycle lights. Cyclists who collide with opening vehicle doors can suffer serious injuries.

DE 10 2011 115 740 A1 discloses a door opening assistant for a motor vehicle. This includes an environment sensor system for monitoring at least the lateral area of a vehicle. The door opening assistant also has a device for detecting an opening of a vehicle door or the intention of a vehicle occupant to open a door or a door that is already open. An evaluation unit carries out a situation analysis, evaluating whether at least one surrounding object is located in a danger zone to the side of the vehicle or will enter the zone within a specified time. A warning device or a door locking device prevents the vehicle door from being opened if at least one surrounding object is located in the danger area or could enter the danger area. If there is a possible collision on one side of the vehicle and an occupant operates a vehicle door handle on the relevant side of the vehicle or approaches it, a visual warning is issued, e.g. B. by an LED flashing light.

The document DE 10 2018 107 830 A1 discloses a device for preventing a collision when opening a vehicle door of a vehicle. The device includes a detection unit for detecting an object located in the vicinity of the vehicle door, a control unit for determining a risk of collision when the presence of an object is determined when a vehicle user attempts to open the door, and a blocking unit that is designed to initiate an opening movement of the door inhibit or stop

The object of the present invention is to improve a method for warning of a risk of collision when opening a vehicle door.

Disclosure of Invention

The above object is achieved according to the invention according to independent claims 1, 9, 10, 11, 14 and 15.

The present invention relates to a method for warning at least one occupant of a first vehicle of a risk of collision through a vehicle door opening. The method includes the step of detecting surroundings of the first vehicle using at least one surroundings sensor. The surroundings are advantageously recorded by means of at least one camera which is arranged on the first vehicle. Additionally or alternatively, the environment is detected using at least one ultrasonic sensor, a radar sensor and/or a lidar sensor, which is arranged on the first vehicle. The environment is particularly preferably recorded by means of at least four cameras, each of which has a wide-angle lens and is arranged around the first vehicle or on a different side of the first vehicle. Then, in a further step, at least one moving object, in particular a bicycle or an electric bicycle, in the Environment of the first vehicle detected depending on the detected environment. The current position is determined for each detected object, with the position also being able to be represented by a detected or determined distance of the object from the vehicle and/or a detected or determined directional position of the object in relation to the first vehicle. The moving object is detected in particular by means of a trained machine detection method, preferably by a neural network for object detection, in particular as a function of the captured camera images of the at least one camera of the first vehicle. A movement vector and/or a movement trajectory for the at least one recognized object are then determined. The determination of the movement vector and/or the movement trajectory for the at least one detected object is advantageously carried out as a function of an optical flow determined based on the captured camera images and/or a movement estimate as a function of object tracking. In a subsequent step, a possible collision object is determined depending on a current position of the detected object, depending on the determined movement vector and/or the determined movement trajectory of the detected object and depending on an opening area of a vehicle door in the vicinity of the first vehicle. The opening range of each vehicle door in the vicinity of the first vehicle is only dependent on the vehicle position, especially since the dimensions of the vehicle door as well as the arrangement position of each vehicle door and the position of each sensor on the first vehicle for detecting the surroundings are known. The opening area of each vehicle door can thus be determined as a function of a current or future vehicle position of the first vehicle. The moving object is advantageously determined as a possible collision object if an opening area of a vehicle door of the first vehicle includes at least one predicted position of the detected moving object, the predicted positions of the detected moving object depending on the current position of the detected object and depending on the determined Movement vector and / or the determined movement trajectory can be determined or estimated. In a further method step, a warning is displayed for the occupants of the first vehicle as a function of the detected possible collision object, the warning advantageously being issued as a function of the affected vehicle door for which there is a risk of collision with the detected moving object as a possible collision object. Advantageously, the warning is given by displaying the respective vehicle door for which the risk of collision was determined and/or by displaying the possible collision object. In other words, an occupant is advantageously warned about the vehicle door for which a risk of collision has been determined. The method is advantageously carried out only when the vehicle speed is less than or equal to ten kilometers per hour or 10 km/h. The method results in the advantage that an occupant of the first vehicle is warned of a possible collision with a moving object or of a risk of collision when a vehicle door is opened, so that a possible collision with the object can be mitigated or preferably prevented. A first period of time until the marked collision object is expected to be reached in the opening area of the vehicle door and/or a second period of time until the marked collision object is likely to exit the opening area of the vehicle door is advantageously additionally displayed to the occupant.

In a preferred refinement, at least one opening area of a vehicle door in the area surrounding the first vehicle is determined in a predictive manner while a semi-automatic or automatic parking procedure is being carried out, based on a target parking position of the parking procedure. The opening range of the vehicle door is determined as a function of a determined target parking position in a detected parking space. This results in the advantage that the occupant of the first vehicle is warned in good time of a possible collision object and thus deals with the situation in a more relaxed manner. The comfort of the occupant of the first vehicle is consequently increased. Furthermore, there is the advantage that there is still a long period of time before the planned door opening, in which, for example, information about the possible collision object can be displayed and perceived by the occupant or the occupant can carry out other activities.

In a further embodiment of the method, the opening area of the vehicle door is determined as a function of a seating position of the occupant in the first vehicle. This results in the advantage that the occupant is not warned unnecessarily but only when there is actually a risk of collision with the determined or recognized collision object.

It can advantageously be provided that, in an optional step, a detection of the occupant approaching a door opening lever is detected. In particular, the approach is detected by means of a proximity sensor on the door opening lever, for example by means of an infrared sensor and/or by means of a light barrier. Then takes place in this optional Execution of a display of the warning additionally depending on the detected approach of the occupant to the door opening lever. This results in the advantage that the occupant is only warned of the determined possible collision object or the risk of a collision when the door is planned to be opened.

In a further development of the method, the method also includes determining a point in time for safe door opening. The point in time for safe door opening is determined as a function of at least one detected object and its respective determined movement vector and/or its movement trajectory. The point in time for safe door opening is a point in time at which the occupant can safely open the vehicle door for a predetermined period of time or span of time without the risk of a collision. The time determined for safe door opening is then displayed to the occupant. In other words, the occupant is advantageously shown when he can safely open the vehicle door of the first vehicle for a predetermined period of time. As a result, the occupant is not only warned of a collision, but is also advantageously supported when exiting the first vehicle on a busy street or on a busy cycle path, for example, so that he or she can open the vehicle door comfortably and without stress and leave the first vehicle.

In an optional refinement, an opening of the vehicle door is detected, for example by means of a sensor which detects contact when the door is closed. The warning is then also displayed depending on the detected opening of the vehicle door. As a result, the occupant is advantageously only warned when the vehicle door is actually opened, so that no warning can be given without the intention of opening the door.

In advantageous further developments of the method, the warning is only displayed if the first vehicle is not locked and/or the speed of the first vehicle is zero and/or the vehicle door to the opening area to which the possible collision object is moving is still closed. In these developments, unnecessary warnings to the occupant about a risk of collision are avoided.

In an advantageous development of the method, the warning is displayed in a displayed virtual model of the environment, for example in a three-dimensional environment model or in a so-called SurroundView view. The possible collision object determined is marked optically in the virtual model, for example by means of a colored marking, border, lighting and/or adjustment of the brightness. This results in the advantage that an occupant of the first vehicle can quickly perceive or recognize the position and/or the movement of the determined possible collision object. The occupant's attention to the determined possible collision object is increased.

In another refinement, the warning is displayed by activating an actuator, the actuator being set up to at least increase a mechanical resistance to opening the vehicle door or to prevent the opening. As a result, the occupant of the first vehicle is prevented from opening the vehicle door or is given a physically perceptible warning as a result of the increased opening force required. This results in the advantage that the displayed warning is perceived as pleasant or not annoying. Furthermore, in a particularly preferred refinement, an external warning is displayed for the possible collision object that has been determined. The display is advantageously carried out by activating at least one vehicle light that is visible on the outside of the first vehicle and from the surroundings and/or by emitting an acoustic warning tone. For example, the vehicle lamp is activated and deactivated at a very high frequency to display the external warning for the determined possible collision object, so that a cyclist is clearly alerted to the external warning. Drivers of a possible collision object or a second vehicle, for example cyclists, are thus advantageously warned of a possible door opening of a first vehicle, so that they can drive carefully and cautiously and prevent a collision on their own or at least reduce the severity of a collision by braking early. Advantageously, the warning only occurs when a risk of collision is actually determined or when a possible collision object is determined.

In another development of the method, an electromagnetic warning radio signal is additionally transmitted to the surroundings of the first vehicle depending on the possible collision object that has been determined, in particular a Bluetooth signal. The warning radio signal is set up to be received by the possible collision object or the second vehicle and advantageously to warn a driver of the identified possible collision object or the second vehicle of a possible door opening and/or to activate a brake of the identified possible collision object or the second vehicle and/or a movement to change rajektorie of the detected possible collision object or the second vehicle. This results in the advantage that the driver of the possible collision object or the second vehicle, for example a cyclist, is warned of a door opening at an early stage, for example if visual contact with the first vehicle is limited, and/or an automatic braking process and/or an automatic adjustment of a travel trajectory of the possible Collision object or the second vehicle can be initiated.

The invention also relates to a first control unit, the first control unit being set up to carry out the method according to the invention for warning at least one occupant of a first vehicle of a risk of collision through a vehicle door opening.

The invention also relates to a first vehicle with the first control device.

In addition, the invention relates to a warning method for a possible collision object or for a second vehicle, in particular for a bicycle or an electric bicycle. The warning method includes receiving an electromagnetic warning radio signal transmitted by a first vehicle by means of an antenna, for example a Bluetooth signal. The driver of the possible collision object or of the second vehicle is then warned of a possible opening of a vehicle door of a first vehicle in the vicinity of the possible collision object or of the second vehicle, depending on the received warning radio signal, with the warning being given in particular acoustically and/or visually. With this method, a driver of the second vehicle or of the possible collision object, in particular a cyclist, is warned at an early stage of the risk of a collision with a vehicle door of another vehicle or a first vehicle.

In one embodiment of the warning method, at least one brake of the possible collision object or the second vehicle is additionally activated as a function of the received warning radio signal. With this configuration, the collision object or the second vehicle is automatically braked and thus a collision of the second vehicle with a vehicle door of the first vehicle is automatically at least mitigated or avoided. Alternatively or additionally, in this embodiment, an activation of an electric motor as the drive motor of the second vehicle is adapted as a function of the received radio warning signal, so that in particular when a radio warning signal is received, no more engine torque is generated by the electric motor. This results in the advantage that a speed of the second vehicle is at least reduced and thus a collision of the second vehicle with a vehicle door of the first vehicle is automatically at least mitigated or avoided.

In another embodiment of the warning method, the warning radio signal includes information about an absolute position of an opening area of the vehicle door of the first vehicle and/or about a relative position of an opening area of the vehicle door of the first vehicle to the possible collision object or second vehicle. In this embodiment, the method also includes an adjustment of a movement trajectory of the possible collision object or the second vehicle depending on the received warning radio signal, and/or a display of an opening area of the vehicle door for the driver of the possible collision object or the second vehicle depending on the received warning radio signal. A collision of the possible collision object or the second vehicle is avoided by these refinements, or the risk of a collision is reduced, since precise information about the door opening is transmitted by the first vehicle via the warning radio signal.

The invention also relates to a second control unit, the second control unit being set up to carry out the warning method according to the invention for the possible collision object or the second vehicle.

The invention also relates to a second vehicle, in particular a bicycle or an electric bicycle, with the second control device.

• 1: Erstes Fahrzeug mit erstem Steuergerät und mögliches Kollisionsobjekt
• 2: Erstes Fahrzeug während des Einparkvorgangs
• 3: Ablaufdiagramm des Verfahrens zur Warnung wenigstens eines Insassen eines ersten Fahrzeugs
• 4: Zweites Fahrzeug mit zweitem Steuergerät
• 5: Ablaufdiagramm des Warnverfahren für ein zweites Fahrzeug

Further advantages result from the following description of exemplary embodiments with reference to the figures.

• 1 : First vehicle with first control unit and possible collision object
• 2 : First vehicle during the parking process
• 3 : Flowchart of the method for warning at least one occupant of a first vehicle
• 4 : Second vehicle with second control unit
• 5 : Flow chart of the warning procedure for a second vehicle

exemplary embodiments

In 1 a first vehicle 100 with a first control unit 110 and a possible collision object 198 are shown schematically in a plan view. The first vehicle 100 has a left front vehicle door 130a and a left rear vehicle door 130c on the left vehicle side, and a right front vehicle door 130b and a right rear vehicle door 130d on the right vehicle side. The vehicle doors 130a, 130b, 130c and 130d of the first vehicle 100 are rotatably arranged on the first vehicle 100, in particular by means of hinges or joints. Vehicle doors 130a, 130b, 130c and 130d are each set up to be opened into surroundings 190 of first vehicle 100, each vehicle door 130a, 130b, 130c and 130d having an opening area 195a, 195b, 195c and 195d assigned to this vehicle door , into which the respective vehicle door 130a, 130b, 130c and 130d enters when a door is opened or which it passes when a door is opened. The opening areas 195a, 195b, 195c and 195d in the surroundings 190 of the first vehicle 100 can be determined as a function of the vehicle position 103 of the first vehicle 100, i.e. the opening areas 195a, 195b, 195c and 195d each have a fixed relative to the first vehicle 100 Position in the area 190 of the vehicle 100. The first vehicle 100 also has vehicle lights 150, 151, for example the reversing lights 150, the reversing lights 150 preferably each comprising a rear light and a turn signal light. The first vehicle further includes headlights and turn signal lights as vehicle lights 151 . The first vehicle 100 has a vehicle camera 120 for capturing the surroundings 190 on the front side 101, on the rear side 102 and on the right and left side of the vehicle. In this exemplary embodiment, each vehicle camera 120 has wide-angle optics, so that the surroundings 190 of the first vehicle 100 are essentially completely captured by the vehicle cameras 120 . The first vehicle 100 also includes a plurality of ultrasonic sensors 121 for detecting the environment 190. The vehicle cameras 120 and the ultrasonic sensors 121 are connected to the first control unit 110 of the first vehicle 100, so that the control unit detects the sensor signals of each vehicle camera 120 and each ultrasonic sensor 121. The sensor signals of a vehicle camera 120 represent a captured camera image of the surroundings 190. The sensor signals of an ultrasonic sensor 121 represent distance data between the first vehicle 100 and objects 198 in the surroundings 190 of the first vehicle. Provision can optionally be made for further sensors to be arranged on vehicle 100 for detecting distances between first vehicle 100 and objects in the vicinity of first vehicle, for example lidar sensors or radar sensors. In this exemplary embodiment, the cyclist can be detected as a moving object 198 by means of vehicle camera 120 arranged on the rear side of vehicle 100 and/or on the left-hand side of the vehicle and/or by means of an ultrasonic sensor 121 arranged on the rear side of vehicle 100. Furthermore, a movement vector 199 and/or a movement trajectory of the moving object 198 can be determined, for example as a function of object tracking in a sequence of camera images from a vehicle camera 120 that captures the at least one moving object 198, with the movement vector 199 and/or the movement trajectory of the moving object 198 each represented a predicted future movement of the moving object. Alternatively or additionally, the movement vector 199 and/or the movement trajectory of the at least one moving object 198 can be determined as a function of a determined optical flow for the sequence of camera images of the vehicle camera 120 . Depending on the at least one detected moving object 198 and the specific movement vector 199 of moving object 198 and/or the specific movement trajectory of moving object 198, it is determined whether there is a risk of collision between the at least one vehicle door 130a, 130b, 130c and 130d and the moving object is present, it being determined as a risk of collision whether the detected moving object 198 is a possible collision object. The risk of collision between the at least one vehicle door 130a, 130b, 130c and 130d and the detected moving object 198 is determined or detected in particular when the specific movement vector 199 of the moving object 198 and/or the specific movement trajectory of the moving object 198 covers at least one of the opening areas 195a, 195b, 195c and/or 195d in surroundings 190 of first vehicle 100 or moving object 198 is likely to enter at least one of opening regions 195a, 195b, 195c and/or 195d. In other words, a moving object is advantageously determined or recognized as a possible collision object if a determined opening area 195a, 195b, 195c and/or 195d in the vicinity 190 of one of the vehicle doors 130a, 130b, 130c and 130d of the first vehicle 100 predicted at least one position of the at least one moving object 198, with the predicted positions of the at least one moving object 198 being determined as a function of a current position of the moving object 198 and as a function of the specific movement vector 199 of the moving object 198 and/or the specific movement trajectory of the moving object 198 respectively be estimated. The vehicle 100 also has a display device 140 or a display or an HMI for displaying information for an occupant of the vehicle. The display device 140 is set up in particular to display a warning to the occupant or a driver. The vehicle 100 also has a transmission device (not shown), which is set up to emit an electromagnetic warning radio signal depending on a detected or determined collision object, in particular a Bluetooth signal.

In 2 first vehicle 100 is shown schematically as possible collision objects in a top view during a semi-autonomous or autonomous parking process from a current vehicle position 103 along a parking trajectory 221 to a target parking position 210 and moving objects 198a, 198b and 198c. The target parking position 210 of the parking process in the surroundings 190 of the first vehicle 100 is generally known at the start of the parking process, since a parking assistance method or an autonomous parking process typically determines the target parking position 210 before the start of the parking process after a sensory detection of a parking space 211. In other words, the first vehicle 100 is in at the moment shown 2 in motion, it approaching a determined target parking position 210 in a detected parking space 211 along a parking trajectory 221 . The approach takes place in a driving path 220. In this example, the detected parking space 211 is a parallel parking space and the planned parking process is consequently carried out as a parallel parking process. The parking space 211 is in the area of a roadside 201 of a street 200 , other vehicles 250 being parked in front of and behind the parking space 211 . The future positions of the opening areas 195a, 195b, 195c and/or 195d of each of the vehicle doors 130a, 130b, 130c and 130d of the first vehicle 100 can be determined as a function of a position of the target parking position 210. Furthermore, vehicle cameras 120 with wide-angle optics capture surroundings 190 of first vehicle 100, and moving objects 198a, 198b and 198c in surroundings 190 of first vehicle 100 are detected as a function of the detected surroundings. The cyclist as moving object 198a approaches first vehicle 100 from behind, with another vehicle approaching first vehicle 100 as moving object 198b behind moving object 198a. In addition, another cyclist approaches first vehicle 100 as a moving object 198c from the front and on a cycle path and/or footpath 202. A movement vector 199 and/or a movement trajectory is determined for each recognized object 198a, 198b and 198c. Based on the current position of the detected objects 198a, 198b and 198c, the determined motion vectors 199a, 199b and 199c for each detected moving object 198a, 198b and 198c, the detected moving objects can be determined as possible collision objects or a respective risk of collision. The occupants 230 of the vehicle 100 sitting on the left in the first vehicle 100 can thus already be seen early in front of the detected moving objects 198a and 198b as possible collision objects during the parking process, and the occupants 230 of the vehicle 100 sitting on the right in the first vehicle 100 can be seen in front of the moving object 198c as possible collision object are warned in the event of a door opening, preferably by an acoustic and/or visual display of the warning, for example by means of display device 140. This results in a clear and convenient assessment of the situation for the occupants of the first vehicle even during the parking process.

In 3 a flowchart of the method for warning at least one occupant of a first vehicle of a risk of collision through a vehicle door opening is shown schematically as a block diagram. The method is advantageously only carried out if the first vehicle is not locked and/or the speed of the first vehicle is zero or less than or equal to ten kilometers per hour (10 km/h). First, in step 310, surroundings 190 of first vehicle 100 are detected using at least one surroundings sensor 120, 121. The surroundings are advantageously recorded using at least one vehicle camera 120. Then, in step 320, at least one moving object 198, 198a, 198b, 198c in the surroundings 190 of the first vehicle 100 is detected as a function of the surroundings 190 recorded. In a step 330, the current position in the environment 190 relative to the first vehicle 100 or absolutely is determined for each detected object. A motion vector 199, 199a, 199b, 199c and/or a motion trajectory for the at least one recognized object 198, 198a, 198b, 198c is then determined 340 . In an optional step 350, the opening area 195a, 195b, 195c, 195d of a vehicle door 130a, 130b, 130c, 130d in the surroundings 190 of the first vehicle is determined. The opening area 195a, 195b, 195c, 195d of each vehicle door 130a, 130b, 130c, 130d in the area 190 of the first vehicle is predetermined by the arrangement and fastening of the vehicle doors 130a, 130b, 130c, 130d relative to the first vehicle 100. The opening area 195a, 195b, 195c, 195d to each vehicle door 130a, 130b, 130c, 130d is in the optional step 350 preferably during or before the implementation of a semi-automatic or automatic parking method based on a determined target parking position in a detected parking space predictively determined. In a further development, it can be provided that the respective opening region 195a, 195b, 195c, 195d of vehicle door 130a, 130b, 130c, 130d is determined as a function of an occupied seat position of the at least one occupant 230 in vehicle 100. In step 360, the possible collision object is determined as a function of the current position of the detected object 198, 198a, 198b, 198c, the determined motion vector 199, 199a, 199b, 199c of the detected object 198, 198a, 198b, 198c and as a function of a Opening area 195a, 195b, 195c, 195d of a vehicle door 130a, 130b, 130c, 130d in the area 190 of the first vehicle 100 performed. Furthermore, a determination 370 of a point in time for safe door opening can be carried out as a function of detected moving objects 198, 198a, 198b, 198c and their respective determined movement vectors 199, 199a, 199b, 199c and/or their respective determined movement trajectory. In a further step 380, an acoustic and/or visual warning is displayed to the at least one occupant 230 of first vehicle 100 depending on the potential collision object determined, for example by means of display device 140 and a loudspeaker in the interior of the vehicle. For example, the warning is displayed 380 in a virtual model of the environment 100 displayed by the display device 140, with the possible collision object determined being marked optically in the virtual model. Optionally, the warning is only displayed 380 if the vehicle door 130a, 130b, 130c and/or 130d moves to the opening area 195a, 195b, 195c and/or 195d to which a detected moving object is moving or a moving object is determined as a possible collision object was, is still closed. Optionally, it can also be provided that in step 385 the time determined for safe door opening is displayed for the occupant 230 of the first vehicle 100, for example by means of the display device 140. Furthermore, it can be provided in optional step 390 that the determined possible collision object or second vehicle 400 is warned, in particular a vehicle light 150, 151 visible from the surroundings and arranged on the first vehicle 100 being activated and/or an acoustic warning tone is sent out. In a further optional step 395, an electromagnetic warning radio signal is transmitted into the surroundings 190 of the first vehicle 100, in particular a Bluetooth signal, as a function of the possible collision object that has been determined. The transmitted electromagnetic radio warning signal is advantageously set up to be received by the determined moving object 198, 198a, 198b and/or 198c or by the second vehicle 400, which was determined as a possible collision object, and a guide of the determined possible collision object or the second to warn vehicle 400 of a possible door opening and/or to activate a brake of the determined possible collision object of second vehicle 400 and/or to change a movement trajectory of the determined possible collision object of second vehicle 400. The first control unit 110 is set up so that in 3 perform schematically illustrated method for warning at least one occupant of a first vehicle against a risk of collision through a vehicle door opening.

In 4 an electric bicycle is shown schematically as a second vehicle 400 with a second control unit 411 in a side view. The electric bicycle includes a drive unit 410 with an electric motor 412 as the drive motor, with the drive unit 410 including the second control device 411 . The electric bicycle also has a battery 420 for powering the electric motor of the drive unit 410 and a display or HMI 430 for displaying information for the driver or driver of the second vehicle 400 or the cyclist. Furthermore, the second vehicle 400 has a receiving unit 440 which is set up to receive an electromagnetic radio warning signal transmitted by a first vehicle 100 . A housing of the HMI 430 includes, for example, the receiving unit 440. The receiving unit 440 can alternatively or additionally be arranged in the drive unit 410 or the battery 420. Second vehicle 400 also includes at least one brake 450. Brake 450 is set up to be actuated electrically, mechanically, or hydraulically by manual actuation of a brake lever 451 and/or semi-automatically or automatically, with the semi-automatic or automatic actuation being carried out, for example, by an ABS system is done. Furthermore, the brake 450 is optionally set up to be controlled as a function of a received warning radio signal.

In 5 a flowchart of the warning method for a possible collision object or a second vehicle 400 is shown schematically as a block diagram. The possible collision object is, in particular, another vehicle, a bicycle or an electric bicycle. In the first step 510 of the warning method, an electromagnetic warning radio signal transmitted by a vehicle 100 is received. Then, in the second step 520, the driver of the second vehicle 400 is informed before a possible opening of a driving vehicle door 130a, 130b, 130c, 130d of the first vehicle 100 as a function of the received warning radio signal. The warning radio signal advantageously includes information about the location of an opening area 195a, 195b, 195c, 195d of at least one vehicle door 130a, 130b, 130c, 130d of the first vehicle 100. In an optional step 525, the at least one opening area 195a, 195b, 195c, 195d of the respective vehicle door 130a, 130b, 130c, 130d of the first vehicle 100 for the driver of the second vehicle 400 as a function of the received warning radio signal. In a further optional step 530, the at least one brake 350 of the second vehicle 400 is activated or actuated depending on the received warning radio signal, whereby the speed of the second vehicle 400 is at least reduced, so that a collision between the vehicle door 130a, 130b, 130c, 130d of the first vehicle 100 and the second vehicle 400 can be avoided or mitigated. Optionally, an adjustment 540 of a movement trajectory of the second vehicle 400 is carried out as a function of the received radio warning signal, in particular by means of a steering motor which is set up to adjust a steering angle of the second vehicle 400 . In a further optional step 550 (not shown), the activation or energization of the electric motor 412 for driving the electric bicycle can be switched off as a function of the received warning radio signal. In other words, the optional step 550 no longer generates motor torque for driving the electric bicycle by means of the electric motor 412 after the warning radio signal has been received. Second control unit 411 is set up to carry out the warning method for a second vehicle 400 .

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited 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 102011115740 A1 [0003]
• DE 102018107830 A1 [0004]

Claims (15)

Method for warning at least one occupant (230) of a first vehicle (100) of a risk of collision through a vehicle door opening, comprising the following steps • Detection (310) of surroundings (190) of the first vehicle (100), • Detection (320) of at least one moving object (198, 198a, 198b, 198c) in the area (190) of the first vehicle (100) as a function of the detected area (190), with the current position of each detected object being determined, • Determination (340) of a motion vector (199, 199a, 199b, 199c) for the at least one recognized object (198, 198a, 198b, 198c), • Determination (360) of a possible collision object depending on the current position of the detected object (198, 198a, 198b, 198c), the determined motion vector (199, 199a, 199b, 199c) of the detected object (198, 198a, 198b, 198c) and depending on an opening area (195a, 195b, 195c, 195d) of a vehicle door (130a, 130b, 130c, 130d) in the vicinity (190) of the first vehicle (100), and • Display (380) of a warning for the occupants (230) of the first vehicle (100) as a function of the possible collision object determined. procedure after claim 1 , wherein the following step is additionally carried out • Determination (350) of the at least one opening area (195a, 195b, 195c, 195d) of at least one vehicle door (130a, 130b, 130c, 130d) during the execution of a semi-automatic or automatic parking method based on a determined Target parking position (210) of a detected parking space (211). Method according to one of the preceding claims, wherein the opening area (195a, 195b, 195c, 195d) of the vehicle door (130a, 130b, 130c, 130d) is determined as a function of an occupied seat position of the at least one occupant (230) in the first vehicle (100). . A method according to any one of the preceding claims, wherein the method additionally comprises the following steps • Determination (370) of a point in time for safe door opening as a function of a detected moving object (198, 198a, 198b, 198c) and its respective determined motion vector (199, 199a, 199b, 199c), and • Display (385) of the time determined for safe door opening for the occupant (230). A method according to any one of the preceding claims, wherein the warning is displayed (380) only if • the first vehicle (100) is not locked, and/or • the speed of the first vehicle (100) is zero, and/or • the vehicle door (130a, 130b, 130c, 130d) is still closed to the opening area (195a, 195b, 195c, 195d) to which the possible collision object is moving. Method according to one of the preceding claims, wherein the warning is displayed (380) in a displayed virtual model of the environment (100), the possible collision object determined being marked optically in the virtual model. Method according to one of the preceding claims, wherein the following step is additionally carried out • Display (390) of an external warning for the determined possible collision object, in particular at least one vehicle light (150, 151) visible on the outside of the first vehicle (100) and from the surroundings (190) being activated and/or an acoustic warning tone being emitted. Method according to one of the preceding claims, wherein the following step is additionally carried out • Emission (395) of an electromagnetic warning radio signal in the environment (190) of the first vehicle (100), in particular a Bluetooth signal, depending on the determined possible collision object. First control unit, wherein the first control unit is set up to use a method for warning at least one occupant of a first vehicle of a risk of collision through a vehicle door opening according to one of Claims 1 until 8th to perform. First vehicle (100) with a first control unit claim 9 . Warning method for a second vehicle (400), in particular for a bicycle or an electric bicycle, the following steps being carried out • Reception (510) of a first vehicle (100) transmitted electromagnetic warning radio signal, • Warning (520) of the driver of the second vehicle (400) of a possible opening of a vehicle door (130a, 130b, 130c, 130d) of the first vehicle (100) depending on the received warning radio signal. warning procedures claim 11 , additionally comprising at least one of the following steps • activation (530) of at least one brake (350) of the second vehicle (400) depending on the received warning radio signal, and/or • adaptation (550) of activation of an electric motor (412) as a drive motor depending of the received radio warning signal, so that in particular when a radio warning signal is received by the second vehicle (400), engine torque is no longer generated by means of the electric motor (412). Warning procedure according to one of Claims 11 or 12 , wherein the warning radio signal includes information about a position of an opening area (195a, 195b, 195c, 195d) of at least one vehicle door (130a, 130b, 130c, 130d) of the first vehicle (100), and wherein the warning method additionally has at least the following step Adaptation (540) of a movement trajectory of the second vehicle (400) depending on the received warning radio signal, and/or display (525) of an opening area (195a, 195b, 195c, 195d) of the vehicle door (130a, 130b, 130c, 130d) for the Driver of the second vehicle (400) depending on the received warning radio signal. Second control unit (411), wherein the second control unit (411) is adapted to a warning method for a second vehicle (400) according to one of Claims 11 until 13 to perform. Second vehicle (400), in particular a bicycle or an electric bicycle, with a second control unit (411). Claim 14 .

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