DE102021001176A1 - Method for the detection of an impending head-on collision between two vehicles - Google Patents

Abstract

The invention relates to a method for detecting an impending head-on collision between two vehicles (1.1, 1.2), with at least one first headlight (3.1) of an external vehicle (1.2) approaching the host vehicle (1.1) detecting by means of a camera (2) of a host vehicle (1.1) becomes. The method according to the invention is characterized in that, in order to calculate a lateral offset (LV) of the external vehicle (1.2) to the host vehicle (1.1) in a direction (Q) transverse to the direction of travel (F) of the host vehicle (1.1), at least the following method steps are carried out: detect the at least one headlight (3.1) of the foreign vehicle (1.2) and determine a headlight position (PS1) of the headlight (3.1); - calculate angles (α1, β1, γ1) and edge lengths of a first triangle (D1) using trigonometric functions , wherein a camera position (PK) of the camera (2) of the host vehicle (1.1), the headlight position (PS1) and an intersection (SP) form corner points of the first triangle (D1), the intersection (SP) being a point of contact of a first (a1 ) and second edge (b1) of the first triangle (D1), and wherein the first edge (a1) corresponds to a distance from the camera position (PK) to the headlight position (PS1) in the direction of travel (F) of the host vehicle s (1.1) and the second edge (b1) corresponds to the lateral offset (LV).

Description

The invention relates to a method for detecting an impending head-on collision between two vehicles according to the type defined in more detail in the preamble of claim 1 and a vehicle for carrying out the method.

Wrong-way drivers, i.e. vehicles that are moving in a lane against a prescribed direction of travel, pose an acute threat to other road users. When driving on a lane on which a wrong-way driver is staying, there is a considerable risk of a head-on collision. This is a particularly serious type of accident. Since wrong-way drivers are often encountered on country roads and motorways and comparatively high speed limits apply here, the corresponding accidents are particularly devastating due to the increased kinetic energy of the colliding vehicles. It is often difficult to avoid a wrong-way driver because the wrong-way driver is noticed too late and / or because the wrong-way driver can perform a steering maneuver to avoid or to steer into an oncoming vehicle.

Accidents between vehicles can also occur when driving on a roadway with two lanes that are directly adjacent to one another, i.e. not separated from one another by a structural separation, especially if the lanes have opposite directions of travel. It is sufficient for one of the vehicles to drive “too far to the left” in its lane so that the vehicle touches an oncoming vehicle.

Sensors for environmental monitoring and driver assistance systems for recognizing static and dynamic objects are known from the general prior art.

The DE 10 2010 028 122 A1 discloses a method and an apparatus for detecting wrong-way drivers. With the help of a sensor, in particular a camera, headlights emitted by the wrong-way driver's headlights are detected in order to determine a position of the wrong-way driver. Navigation data of a vehicle having the camera are taken into account. A relative position of the wrong-way driver to one's own vehicle and a direction of movement of the wrong-way driver are determined by several measurements carried out in succession. To validate that it is actually a wrong-way driver, a course of the road can also be included in the classification of the potential wrong-way driver. If a wrong-way driver is actually recognized, an optical or acoustic warning signal is output to a person driving the vehicle in the driver's own vehicle. In this way, the person driving the vehicle can be warned of the wrong-way driver. However, it is disadvantageous that a wrong-way driver can only then be recognized. if the wrong-way driver has activated a lighting device in his vehicle so that the headlights of the wrong-way driver emit headlights. In addition, even if the wrong-way driver is detected and a warning is issued, there is a risk of a potential head-on collision, since the person driving the vehicle may react too slowly.

The present invention is based on the object of specifying an improved method for detecting an impending head-on collision between two vehicles, with the aid of which the risk of an impending head-on collision is reduced more reliably.

According to the invention, this object is achieved by a method for detecting an impending head-on collision between two vehicles with the features of claim 1. Advantageous refinements and developments as well as a vehicle result from the dependent claims.

• - Erfassen des wenigstens einen Scheinwerfers des Fremdfahrzeugs und Bestimmen einer Scheinwerferposition des Scheinwerfers;
• - Berechnen von Winkeln und Kantenlängen eines ersten Dreiecks unter Anwendung von trigonometrischen Funktionen, wobei eine Kameraposition der Kamera des Egofahrzeugs, die Scheinwerferposition und ein Schnittpunkt Eckpunkte des ersten Dreiecks ausbilden, wobei der Schnittpunkt einem Berührpunkt einer ersten und zweiten Kante des ersten Dreiecks entspricht, und wobei die erste Kante einem Abstand der Kameraposition zur Scheinwerferposition in die Fahrtrichtung des Egofahrzeugs entspricht und die zweite Kante dem lateralen Versatz entspricht.

In a method for detecting an impending head-on collision between two vehicles of the type mentioned at the outset, at least the following method steps are carried out according to the invention to calculate a lateral offset of the other vehicle to the host vehicle in a direction transverse to the direction of travel of the host vehicle:

• - Detecting the at least one headlight of the other vehicle and determining a headlight position of the headlight;
• - Calculation of angles and edge lengths of a first triangle using trigonometric functions, a camera position of the camera of the host vehicle, the headlight position and an intersection point forming corner points of the first triangle, the intersection point corresponding to a point of contact of a first and second edge of the first triangle, and wherein the first edge corresponds to a distance between the camera position and the headlight position in the direction of travel of the host vehicle and the second edge corresponds to the lateral offset.

With the aid of the method according to the invention, a lateral offset of a wrong-way driver to the host vehicle can be determined transversely to the direction of travel of the host vehicle, which can be used as a criterion for a possible collision of the wrong-way driver with the host vehicle. With the help of According to the method according to the invention, a wrong-way driver can also be recognized if the wrong-way driver has deactivated a lighting device of his vehicle, since the headlights themselves are detected here instead of the headlights emitted by the headlights. The term “headlight” is to be understood here in a broader sense. For example, a daytime running light belonging to or adjacent to the headlight or a blinker can also be detected.

Since trigonometric functions, which can be solved particularly quickly and easily, are calculated to calculate the lateral offset, the lateral offset can be determined particularly quickly. To determine the headlight position, camera images generated by the camera are evaluated by a computing unit and a position of the recognized headlight is determined in the camera image. The distance between the pixels occupied by the headlight in the camera image and a vertical center axis of the camera image can determine the angle at which the recognized headlight is arranged in relation to the host vehicle. If there is then information about the distance between the headlight and the host vehicle, the lateral offset can be calculated with the aid of the trigonometric function. The location of the camera on the host vehicle must be taken into account. For example, if the camera is located in the center of the vehicle, a corresponding vehicle width of the host vehicle transverse to the direction of travel of the host vehicle and a distance between the headlight of the external vehicle and an outer edge of the external vehicle transverse to the direction of travel must be taken into account when evaluating the lateral offset. If the camera is off-center on the host vehicle, this offset must also be taken into account.

With the aid of the method according to the invention, not only a possible collision with a wrong-way driver can be detected, but any collision with an external vehicle approaching the host vehicle if the host vehicle and the external vehicle are on a collision course in such a way that they threaten at least a partial area of their respective vehicle front, to collide with each other. This is also the case, for example, when driving on a country road if the host vehicle and / or the other vehicle drive too far to the left in their respective lane. This also makes it possible, for example, to avoid an accident in which the two vehicles touch each other, as a result of which their exterior mirrors touch and these are damaged.

An advantageous development of the method provides that a length of a third edge of the first triangle is determined by evaluating a sensor signal generated by at least one distance sensor. By using a distance sensor, it is possible to determine a particularly reliable, that is to say comparatively precise, distance value between the detected at least one headlight and the camera of the host vehicle. This allows a comparatively precise calculation of the lateral offset.

According to a further advantageous embodiment of the method, a lidar, ultrasonic sensor, radar sensor and / or a camera, in particular a stereo camera, is used as the distance sensor. The sensor types mentioned are typical sensors that are used in vehicles to determine distances. Since vehicles nowadays often have different driver assistance systems which require environmental monitoring, no additional hardware components need to be provided on the vehicle in order to carry out the method according to the invention. With the help of the stereo camera, it is also possible to determine distance information from the camera images generated by the stereo camera directly by triangulation.

A further advantageous embodiment of the method further provides that at least one second headlight of the other vehicle is detected, a headlight position of the second headlight is determined and a midpoint position of a center point between the first and second headlights is determined, and for calculating a length of a third edge of the first triangle The angles and edge lengths of a second triangle are calculated using the sine law, cosine law and / or the angle sum of the second triangle, the headlight position of the first headlight of the other vehicle, the center position and the camera position forming corner points of the second triangle.

By calculating the second triangle to determine the length of the third edge of the first triangle, the distance between the headlight position of the first headlight of the other vehicle and the camera position can also be determined with the aid of a mono camera. In order that the second triangle can be calculated, information about the distance between the first and second headlights of the other vehicle is required. This headlamp spacing can be provided by various sources.

According to a first, particularly simple embodiment, a fixed value can be assumed for the headlight distance, which applies accordingly to all vehicles. Since the headlight distance is within certain limits across different vehicles, the headlight distance can be approximated by a fixed value. However, this leads to an incorrect value of the lateral offset, which can, however, be compensated for by providing a safety factor.

According to a further embodiment, the headlight distance can also be calculated by comparing it with known object dimensions. In camera images generated by the camera, with the aid of proven object recognition algorithms, certain objects whose dimensions are known, for example a license plate of the other vehicle, can be determined and their dimensions related to the headlight distance. This allows the headlight distance to be calculated.

According to a further embodiment, a vehicle type can also be recognized. In addition to a vehicle type such as a truck, car, van or bus, details such as a vehicle brand and / or a vehicle model can also be determined. The exact dimensions of the corresponding vehicle can then be stored in a database and a headlight distance of the corresponding vehicle can be read out from the database. This allows the lateral offset to be calculated more precisely than by using a fixed headlight distance value which is used across the board for each vehicle type.

According to a further advantageous embodiment of the method, the lateral offset is compared with a threshold value. The threshold value corresponds to a distance value which is dependent on the dimensions of the host vehicle and the dimensions of the other vehicle and at which the two vehicles can safely drive past one another. When determining the threshold value, a typical distance value between a vehicle headlight and an outer edge of the other vehicle can be taken into account. Such distances are typically specified in accordance with guidelines, for example in accordance with the applicable road traffic regulations of a particular country. Depending on a selected calculation method for determining the lateral offset, the threshold value can be multiplied by a safety factor in order to compensate for uncertainties in the calculation of the lateral offset. In this way, a potential collision between the host vehicle and the other vehicle can be prevented even more reliably.

A further advantageous embodiment of the method also provides that an acoustic, visual and / or haptic warning is output and / or automatic intervention in longitudinal and / or transverse guidance of the vehicle in the event of a lateral offset that is less than or equal to the threshold value he follows. If the lateral offset assumes a value that is equal to or below the threshold value, a collision of the host vehicle with the other vehicle is to be expected. In order to prevent such a collision, a person driving the host vehicle or a driver assistance system can intervene in a vehicle longitudinal and / or lateral guidance of the host vehicle. In this way, the person driving the vehicle can be prepared for the impending collision by means of the warning.

An acoustic warning can be issued via one or more vehicle loudspeakers. This can be, for example, a warning tone and / or a warning message. The host vehicle can also have one or more displays on which a corresponding warning symbol, warning text or other warning animation is output. It is also conceivable that an external lighting device of the host vehicle, for example the headlights of the host vehicle, are activated. The headlights can, for example, be operated with high beam in a continuous mode or also in pulsed mode. In this way, a person driving the other vehicle can also be warned of an impending collision. The host vehicle can also have actuators, for example a vibration generator connected to a steering wheel of the host vehicle, which excites the steering wheel of the vehicle to vibrate when the warning is output.

However, since a person has a comparatively long reaction time compared to a computer, the host vehicle can be controlled even faster to prevent a collision with the aid of a control command issued by a driver assistance system to intervene in the longitudinal and / or lateral guidance of the vehicle.

The host vehicle is preferably positioned transversely to the external vehicle by means of an intervention in at least the transverse vehicle guidance, so that in the event of an impending head-on collision between the external vehicle and the host vehicle, a side impact on the host vehicle occurs instead. A head-on collision is a particularly devastating type of accident. By positioning the host vehicle across the other vehicle, the impact of the collision on damage to the host vehicle can be reduced. It is possible that the wrong-way driver is a confused or suicidal person. In this case, the wrong-way driver can try to actively steer into the host vehicle. Since the host vehicle performs a lateral maneuver instead of a simple evasive maneuver, the risk of a head-on collision can be further reduced.

In a vehicle with at least one camera and at least one computing unit according to the invention, the computing unit is set up to carry out a method described above. The vehicle can be any vehicle such as a car, truck, van, bus or the like. The camera can be designed as a mono or stereo camera and captures an area in front of the vehicle in the direction of travel. The camera can detect visible light and / or infrared light. By detecting infrared light, it is possible to reliably identify a wrong-way driver even in the dark. The computing unit can be formed by a central on-board computer of the vehicle. The computing unit can also be formed by a separate computing unit or a control unit of a vehicle subsystem. The computing unit comprises at least one memory device for storing a computer program product suitable for executing a method according to the invention as well as a processor set up to execute this computer program product.

Further advantageous refinements of the method according to the invention for detecting an impending head-on collision between two vehicles also result from the exemplary embodiments, which are described in more detail below with reference to the figures.

• 1 eine schematische Draufsicht auf einen sich mit einem Egofahrzeug auf Kollisionskurs befindlichen Falschfahrers;
• 2 eine Detailansicht eines ersten Dreiecks zur Bestimmung eines lateralen Versatzes zwischen dem Egofahrzeug und dem Falschfahrer;
• 3 eine durch ein zweites Dreieck ergänzte schematische Draufsicht aus 1; und
• 4 eine Detailansicht des zweiten Dreiecks zur Bestimmung einer Länge einer dritten Kante des ersten Dreiecks.

Show:

• 1 a schematic top view of a wrong-way driver who is on a collision course with a host vehicle;
• 2 a detailed view of a first triangle for determining a lateral offset between the host vehicle and the wrong-way driver;
• 3 a schematic plan view supplemented by a second triangle 1 ; and
• 4th a detailed view of the second triangle for determining a length of a third edge of the first triangle.

1 shows a host vehicle 1.1 which is on a roadway 5 travels in the direction of travel F. The direction of travel F corresponds to a prescribed direction of travel of the lane 5 . The ego vehicle 1.1 comes another vehicle 1.2 opposite. Since the foreign vehicle 1.2 if driving contrary to the prescribed direction of travel F, it is a wrong-way driver, also referred to as the wrong-way driver. The ego vehicle 1.1 and the foreign vehicle 1.2 have a lateral offset LV in a direction Q transverse to the direction of travel F. If the lateral offset LV falls below a critical value, the two vehicles threaten 1.1 and 1.2 to collide.

The ego vehicle 1.1 instructs a camera 2 and an arithmetic unit 4th on. The arithmetic unit 4th evaluates from the camera 2 generated camera images and is set up to carry out a method according to the invention for detecting an impending head-on collision.

For this purpose, at least one of the camera 2 generated camera image at least a first headlight 3.1 of the foreign vehicle 1.2 recognized. A headlight position P _{S1 of} the first headlight is thereby 3.1 certainly. The headlight position P _{S1 of} the first headlight 3.1 and a camera position P _{K of} the camera 2 of the host vehicle 1.1 and an intersection point SP form a first triangle D1 out. The point of intersection SP corresponds to a point of contact between a first edge a ₁ and a second edge b _{1 of} the first triangle D1 . The first edge a _{1 of} the first triangle D1 corresponds to a distance from the camera position P _K to the headlight position P _S1 in the direction of travel F. The second edge b _{1 of} the first triangle D1 corresponds to the lateral offset LV.

At the first triangle D1 it is a right triangle. An angle γ ₁ corresponds to the right angle. The aim of the method according to the invention is now to find the second edge b _{1 of} the first triangle D1 to calculate the lateral offset LV between the two vehicles 1.1 and 1.2 to be able to determine. Since it is the first triangle D1 is a right triangle, the length of the second edge b ₁ can be calculated particularly easily with the aid of trigonometric functions. Let an angle β ₁ and a length of a third edge c _{1 of} the first triangle be D1 known, one possible formula for calculating the second edge b _{1 is} : b ₁ = sin (β ₁ ) × c ₁ . In general, the second edge b _{1 can} also be calculated using other formulas, for example also by using the Pythagorean theorem.

In order to be able to calculate the second edge b ₁ , it is therefore necessary to determine the angle β ₁ and the third edge c ₁ . The angle β ₁ results directly from an analysis by the camera 2 generated camera images. The angle β ₁ results from a horizontal pixel spacing of the first headlight recognized in a camera image 3.1 to a vertical center axis of the corresponding camera image. The third edge c ₁ or a length of the third edge c ₁ can be calculated in different ways.

According to a first embodiment of the invention, the third edge c ₁ corresponds to one with the aid of one of the host vehicle 1.1 included distance sensor determined distance value. Any distance sensor such as a radar sensor, ultrasonic sensor, lidar and / or a camera can be used as the distance sensor 2 can be used. This is what the camera is for 2 in particular designed as a stereo camera by the distance corresponding _{to the third edge c 1} between the host vehicle 1.1 and the foreign vehicle 1.2 to be determined by applying triangulation. The third edge c ₁ can, however, also be calculated with the aid of a mono camera, which is shown later in the 3 and 4th is explained.

2 shows a detailed view of the first triangle D1 . The lateral offset LV between the vehicles 1.1 and 1.2 corresponds to a distance between the headlight position P _{S1 of} the first headlight 3.1 to the camera position P _K in the direction Q transversely to the direction of travel F. However, since these points are within an area of a body 6th of the host vehicle 1.1 and the foreign vehicle 1.2 only then is it possible for the two vehicles to pass each other without collision 1.1 and 1.2 given when the lateral offset LV is equal to or greater than a sum of the two in 2 indicated distances AK ₁ and AK ₂ . The distance AK ₁ corresponds to a distance from the camera position P _{K of} the camera 2 to a surface of the body 6th of the host vehicle 1.1 in the direction Q transversely to the direction of travel F. The distance AK ₂ corresponds to a distance from the headlight position P _{S1 of} the first headlight 3.1 to a corresponding surface of the body 6th of the foreign vehicle 1.2 in the direction Q transversely to the direction of travel F.

The two distances AK ₁ and AK ₂ are typically known at least approximately. So lies for the arithmetic unit 4th of the host vehicle 1.1 information about where on the host vehicle 1.1 the camera 2 is appropriate. As shown in the figures, this is in the center of the host vehicle 1.1 arranged. In general, an eccentric arrangement is also conceivable. There are also guidelines regarding the distance from a headlight 3.1 , 3.2 may not be more distant to one side of the vehicle. At least one estimated value for the distance AK ₂ can thus be specified.

To make a statement as to whether it is safe for the vehicles to pass each other 1.1 and 1.2 is possible with respect to one another, the lateral offset LV is compared with a threshold value. The threshold value can correspond to at least a sum of the two distances AK ₁ and AK _2. The threshold value can also be multiplied by a safety factor in order to take account of further uncertainty factors.

3 shows one through a second triangle D2 supplemented schematic plan view accordingly 1 . 3 and 4th serve to explain how the third edge c _{1 of} the first triangle D1 can also be calculated using a mono camera. So, as in 3 shown, according to an embodiment of the method according to the invention, the second triangle D2 generated and the angles α ₂ , β ₂ , γ ₂ and at least one first edge a _{2 of} the second triangle D2 calculated. The first edge corresponds to a _{2 of} the second triangle D2 the third edge c _{1 of} the first triangle D1 .

A headlight distance y between the first headlight is used to calculate the quantities sought 3.1 and a second headlight 3.2 of the foreign vehicle 1.2 assumed as given. Distance y can be entered into the arithmetic unit as an approximately fixed value, for example 4th be stored or also through image analysis with the help of the camera 2 generated camera images can be determined. This is how the length of the first edge a _{2 of} the second triangle is calculated D2 according to the sine law: a ₂ = sin (α ₂ ) × b ₂ / sin (β ₂ ). Thus, values for the angles α ₂ , β ₂ and a length of the second edge are b _{2 of} the second triangle D2 to determine.

4th illustrated by a detailed view of the second triangle D2 the relationships between the individual angles (α ₂ , β ₂ , γ ₂ ) and the edges a ₂ , b ₂ , c _{2 of} the second triangle D2 .

The second triangle is the corner point D2 the camera position P _K , the headlight position P _{S1 of} the first headlight 3.1 of the foreign vehicle 1.2 and a center position P _{MP of} a center point MP. The center point MP lies in the middle between the two headlight positions P _S1 and P _S2 . The angles α ₂ and γ ₂ result from an evaluation of the positions of the first headlight 3.1 and the center point MP in from the camera 2 generated camera images. The angle β ₂ results from an angle sum with the two angles α ₂ and γ ₂ according to the formula β ₂ = 180 ° - (α ₂ + γ ₂ ). A length of a second edge b _{2 of} the second triangle D2 corresponds to a distance from the center point MP to the headlight position P _{S1 of} the first headlight 3.1 . The length of the second edge b ₂ thus corresponds to half the headlight spacing y. As already mentioned, there can be a fixed value for the headlight distance y. It is also possible to determine the headlight distance y. This can be estimated through a size comparison with objects recognized in camera images, the dimensions of which are known. Such an object includes, for example, a license plate. A vehicle type, in particular a vehicle manufacturer's brand and / or a model type, can also be recognized by image recognition and known distance information linked to this can be read out from a corresponding database.

The headlight positions P _S1 and P _S2 correspond to a headlight center point in the examples shown in the figures. In general, it is also conceivable that any desired section of a headlight, for example a lateral edge, is used as a geometric reference for determining distances.

Since the third edge c _{1 of} the first triangle D1 the first edge a _{2 of} the second triangle D2 corresponds, can now be determined from the known length of the first edge a _{2 of} the second triangle D2 with the help of the first triangle D1 also calculate the lateral offset LV. A determination of the wanted sizes of the respective triangles D1 , D2 is also possible, for example, by using the law of cosines. However, this is more complex.

If the lateral offset LV is equal to or smaller than the threshold value, an acoustic, visual and / or haptic warning can be issued to a person driving the host vehicle 1.1 are issued. In order to be able to react more quickly to an impending collision, the computing unit is 4th of the host vehicle 1.1 in particular set up to output control signals in order to carry out an automatic intervention in a vehicle longitudinal and / or transverse guidance. This in particular makes the host vehicle 1.1 to another vehicle 1.2 positioned sideways so that it hits the side of the host vehicle in the event of an impending collision 1.1 impacts. This allows damage to at least the host vehicle to be manifested 1.1 to reduce.

QUOTES INCLUDED IN THE DESCRIPTION

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Patent literature cited

• DE 102010028122 A1 [0005]

Claims (8)

A method for detecting an impending head-on collision between two vehicles (1.1, 1.2), at least one first headlight (3.1) of an external vehicle (1.2) approaching the host vehicle (1.1) being detected by means of a camera (2) of a host vehicle (1.1), characterized in that that in order to calculate a lateral offset (LV) of the external vehicle (1.2) to the host vehicle (1.1) in a direction (Q) transverse to the direction of travel (F) of the host vehicle (1.1) at least the following method steps are carried out: - Detecting the at least one headlight ( 3.1) of the foreign vehicle (1.2) and determining a headlight position (P _S1 ) of the headlight (3.1); - Calculate angles (α ₁ , β ₁ , γ ₁ ) and edge lengths of a first triangle (D1) using trigonometric functions, whereby a camera position (P _K ) of the camera (2) of the host vehicle (1.1), the headlight position (P _S1 ) and a point of intersection (SP) form corner points of the first triangle (D1), the point of intersection (SP _{) corresponding to a point of contact of a first (a 1} ) and second edge (b ₁ ) of the first triangle (D1), and the first Edge (a ₁ ) corresponds to a distance from the camera position (P _K ) to the headlight position (P _S1 ) in the direction of travel (F) of the host vehicle (1.1) and the second edge (b ₁ ) corresponds to the lateral offset (LV). Procedure according to Claim 1 , characterized in that a length of a third edge (c ₁ ) of the first triangle (D1) is determined by evaluating a sensor signal generated by at least one distance sensor. Procedure according to Claim 2 , characterized in that a lidar, ultrasonic sensor, radar sensor and / or a camera (2), in particular a stereo camera, is used as the distance sensor. Procedure according to Claim 1 , characterized in that at least one second headlight (3.2) of the foreign vehicle (1.2) detects a headlight position (P _S2 ) of the second headlight (3.2) and a center position (P _MP ) of a center point (MP) between the first (3.1) and second headlight (3.2) is determined, and for calculating a length of a third edge (c ₁ ) of the first triangle (D1), angles (α ₂ , β ₂ , γ ₂ ) and edge lengths of a second triangle (D2) using the sine law , Cosine theorem and / or the angle sum of the second triangle (D2) can be calculated, with the headlight position (P _S1 ) of the first headlight (3.1) of the foreign vehicle (1.2), the center position (P _MP ) and the camera position (P _K ) corner points of the form the second triangle (D2). Method according to one of the Claims 1 to 4th , characterized in that the lateral offset (LV) is compared with a threshold value. Procedure according to Claim 5 , characterized in that in the case of a lateral offset (LV) which is less than or equal to the threshold value, an acoustic, visual and / or haptic warning is output and / or automatic intervention in longitudinal and / or lateral guidance takes place. Procedure according to Claim 6 , characterized in that by intervening in at least the transverse vehicle guidance, the host vehicle (1.1) is positioned transversely to the external vehicle (1.2), so that in the event of an impending head-on collision between the external vehicle (1.2) and the host vehicle (1.1), there is instead a side impact on the host vehicle ( 1.1) is coming. Vehicle with at least one camera (2) and at least one computing unit (4), characterized in that the computing unit (4) is set up for a method according to one of the Claims 1 to 7th to execute.

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