DE102021203763A1 - Method and warning device for a vehicle for outputting a warning signal to a user of a vehicle - Google Patents

Abstract

Method for outputting a warning signal to a user of a vehicle (1) to warn of a dangerous situation, in particular a rear-end collision, in relation to a vehicle (2) located in the area (20), in particular in the rear area, of the vehicle (1). :
- Detection of a vehicle (2) located in the area (20), in particular in the rear;
- Determining at least one speed variable which is characteristic of a speed of the detected vehicle (2);
- determination of a warning variable based on the speed variable;
- Provision of a warning signal for outputting the warning variable to the user of the vehicle (1) by means of at least one output device (16), a rear-view mirror (14) of the vehicle (1) being highlighted by the warning signal output by means of the at least one output device (16), in particular to draw the user's attention to the rear-view mirror.

Description

The present invention relates to a method for outputting a warning signal to a user of a vehicle before a dangerous situation with regard to a vehicle in the area, in particular in the rear area, of the vehicle, and a warning device for a vehicle for outputting a warning signal to a user of the vehicle.

Vehicle safety is of crucial importance for the users of vehicles. It is therefore extremely important to functionalize components in the vehicle. This also applies to the rear-view mirror of a vehicle. If a vehicle owner is not concentrating while driving (e.g. on the freeway) and does not keep an eye on the traffic behind them, there can be rear-end collisions caused by approaching vehicles at high speed or by speeders.

In the vehicles known from the prior art, the driver tends to neglect seeing the traffic behind him while driving.

In the DE 37 35 847 A1 describes a rear-view mirror for a motor vehicle with a display area that has a bar graph for signaling a critical distance from an obstacle when maneuvering.

From the DE 202 11 281 U1 a distance warning device for vehicles with an ultrasonic transmission or reception system and a sensor for external attachment to a vehicle part is known. This distance warning device has a display unit in a rearview mirror of the vehicle for the digital distance display of the distance of the vehicle from an obstacle in the collision area in the vehicle driver's field of vision in the mirror.

From the DE 103 30 855 B4 a system for warning the driver of a motor vehicle of critical traffic situations is known. This has a detection device in order to detect the traffic situation that—viewed in the direction of travel—exists in front of the motor vehicle. Furthermore, a warning device is provided, which visually informs the driver about the state of the traffic situation in front of the motor vehicle via a display means located in the driver's field of vision.

The object of the present invention is to overcome the disadvantages known from the prior art and to provide a method for warning the user of a vehicle and a warning device for a vehicle of dangerous driving situations, which further increases vehicle safety.

The object is achieved according to the invention by the subject matter of the independent claims. Advantageous embodiments and developments of the invention are the subject matter of the dependent claims.

A method according to the invention for outputting a warning signal to a user of a vehicle, in particular for warning of a dangerous situation with regard to a (surrounding) vehicle located in the area, in particular in the rear area, of the (own) vehicle (the user) comprises a detection of a (surrounding) vehicle located in the surrounding area, in particular in the rear. The (surrounding) vehicle to be detected is preferably detected with at least one sensor device of the vehicle. The user is preferably the driver of the vehicle.

The (surrounding) vehicle in the surrounding area, in particular in the rear surrounding area, is referred to below in particular as the vehicle to be detected and/or the detected vehicle and/or the (surrounding) vehicle.

The vehicle of the user (to be warned) to which the warning signal is to be output is referred to below in particular as the (ego) vehicle and/or vehicle of the user (to be warned).

According to the invention, at least one speed variable that is characteristic of a speed of the detected vehicle is determined, preferably by means of the at least one sensor device and/or by means of a warning device. Furthermore, a warning quantity is determined on the basis of the speed quantity, in particular by the warning device (of the user's vehicle).

Furthermore, in particular by the warning device of the user's vehicle, (at least) one warning signal is provided for outputting the warning variable to the user of the vehicle by means of at least one output device, with (at least) one rear-view mirror of the vehicle being output by the warning signal output by means of the at least one output device is emphasized (in particular in comparison to a normal operating state of the vehicle without a warning signal being output by the at least one output device) in order in particular to draw the user's attention to the rear-view mirror. The at least one output device or a large number of outputs is preferred means that at least one warning signal and preferably a large number of warning signals are output.

A highlighting of the rear-view mirror is understood in particular to mean that the at least one warning signal is output in such a way that the user's line of sight is directed to the rear-view mirror. For example, the rear-view mirror can have the output device via which the warning signal is output. For example, flashing light-emitting diodes in the rear-view mirror can draw the attention of the user or the driver, so that the driver's line of sight is directed to the rear-view mirror.

This offers the advantage that the output of the warning signal offers the driver or the user a perceptual stimulus through which he intuitively looks at the rearview mirror and thus an approaching vehicle (from behind in relation to the direction of travel of the (ego) vehicle). can perceive. This gives him the opportunity to react quickly to a potentially dangerous situation that is (also) caused by the vehicle to be detected.

The (potential) dangerous situation is understood to mean, in particular, an imminent collision, such as a rear-end collision, between the (surrounding) vehicle (to be detected) and the vehicle of the user. The (potential) hazardous situation can be a hazardous situation caused by the (surrounding) vehicle to be detected and/or a hazardous situation involving the (surrounding) vehicle to be detected.

For example, in the event of a possible rear-end collision, flashing light-emitting diodes (LEDs) in the rear-view mirror and/or an acoustic signal warn the driver. In this case, the acoustic signal is preferably generated via the vehicle's sound system. The driver is thus reminded to look in the rear-view mirror and can decide for himself whether a lane change is necessary to avoid a rear-end collision. As a result, rear-end collisions caused by speeders or in traffic jams are prevented. As a result, the decision-making power to resolve the situation is advantageously left to the driver.

The method preferably relates to warning the user of the vehicle by means of a rear-view mirror that warns, in particular optically and/or acoustically, in order to increase vehicle safety and/or to avoid rear-end collisions.

In other words, the output of the warning signal provides an effective warning function for vehicles, especially approaching vehicles, especially from behind.

The method proposed according to the invention offers the advantage that imminent rear-end collisions can be detected by sensors and this advantageously increases vehicle safety by avoiding rear-end collisions.

The vehicle to be detected or detected is preferably a vehicle (immediately and/or directly) following the vehicle. The vehicle to be detected preferably follows the user's vehicle in the same lane. The vehicle to be detected is preferably the vehicle following next and/or to the side of the user's (ego) vehicle.

Both vehicles are preferably in motion. The speed variable and in particular the warning variable is preferably determined while the (ego) vehicle is driving and in particular also while the (surrounding) vehicle to be detected is moving, i.e. while the (surrounding vehicle) is in motion (Surrounding) vehicle adjacent to the (ego) vehicle and preferably no other vehicle is arranged between these two vehicles.

The at least one sensor device preferably detects, in particular the sensors detect, a (in particular relative and/or absolute) distance from each vehicle, in particular behind (and/or to the side) and preferably a relative change in distance to (their own) (ego) vehicle of the user.

The sensor device preferably records sensor data continuously or continuously and/or generates and/or determines sensor data continuously or continuously, on the basis of which the speed variable and/or the warning variable and/or the warning signal is or is determined, preferably also continuously or continuously . will.

However, it is also conceivable that sensor data is recorded and/or generated at predetermined time intervals, in particular (only) at discrete points in time, and/or the speed variable and/or the warning variable and/or the warning signal at predetermined time intervals, i.e. in particular (only) ) can be determined at discrete points in time. It is conceivable that the specified time intervals are fixed and do not vary. It is also conceivable that the specified time intervals vary from a (particularly absolute) speed of the user's vehicle and/or a (particularly absolute and preferably in relation to the (Ego) vehicle relative) speed of the vehicle to be detected depend.

For example, if the (surrounding) vehicle quickly approaches the (ego) vehicle, the sensor data can be generated and/or determined at shorter time intervals. As a result, the precision of the determination of the speed variable can be increased.

A variable characteristic of the speed of the vehicle to be detected is preferably determined, in particular by the warning device (of the vehicle), on the basis of the sensor data detected and/or generated by the at least one sensor device. The characteristic variable can be an absolute speed value and/or a relative speed value in relation to the (ego) vehicle. However, it is also conceivable that a time profile of a (relative and/or absolute) distance or a change in distance between the (ego) vehicle and the (surrounding) vehicle is used as the speed variable.

It is possible for the warning variable to be determined depending on the fact that a (further) vehicle, in particular (following in the direction of travel of the (ego) vehicle and/or to the side of it) is detected and/or determined in the area surrounding the (ego) vehicle becomes. It is possible for a warning signal to be issued (also in any case) if the speed of the (surrounding) vehicle exceeds (and/or falls below) a specified value, for example a maximum permissible speed on the current section of the road and/or a recommended speed.

Preference is given to generating and/or determining sensor data from the vehicle environment, which in particular includes the (surrounding) vehicle, and/or determining the warning variable and/or determining the warning signal from the detection and/or detection of a vehicle in the especially the rear, environment of the user's ego vehicle.

The warning variable and/or a warning signal is preferably determined as a function of a predefined relative speed between the (host) vehicle and the (surrounding) vehicle and/or an absolute speed of the (host) vehicle. It is conceivable that one or more limit values are predefined and/or adjustable, depending on which or depending on which an assessment is made as to whether a warning variable and/or a warning signal is determined.

For example, no warning variable and/or no warning signal can be determined at a very low speed of the (ego) vehicle (e.g. in stationary and/or almost stationary operating state) and at almost low relative speed in relation to a (surrounding) vehicle.

The warning variable and/or the warning signal is preferably determined as a function of whether the relative distance between the (host) vehicle and the (surrounding) vehicle is increasing or decreasing. This determines whether the (surrounding) vehicle is approaching the user's vehicle and, in particular, a forecast is made as to whether this could result in a risk of collision for the user's vehicle.

The rear-view mirror can in particular be an interior mirror of the vehicle, in particular arranged centrally (with respect to a vehicle width) and/or an exterior mirror and/or a side mirror of the vehicle.

It is preferably a rear-view mirror and/or interior mirror arranged centrally (in relation to the vehicle width) if (or in the event that) it is determined that the (surrounding) vehicle is in the same (lane) as the vehicle of the user used.

It is preferably a side and/or exterior mirror if (or in the event that) it is determined that the (surrounding) vehicle is in a different (travel) lane than the user's vehicle, for example one to the side next to the Lane of the user's vehicle arranged and / or subsequent lane used.

At least one rear-view mirror is preferably selected from the plurality of rear-view mirrors of the vehicle for highlighting (by issuing the warning signal), particularly preferably on the basis of a (determined) arrangement of the (surrounding) vehicle relative to the (ego vehicle).

The display device preferably uses a variable characteristic for the (relative) distance and particularly preferably a variable for an (absolute and/or relative) change in distance between the (ego vehicle and the (surrounding) vehicle) and/or the speed variable and/or the Warning size visualized and/or issued.

In a preferred method, a comparison with the speed of the vehicle of the user to be warned is carried out to determine the warning variable on the basis of the determined speed variable. This offers the advantage that this means that any rapid rela tive approach of the vehicles to each other, a resulting (potential) dangerous situation can be assessed.

In a further preferred method, a rear environment of the vehicle is detected by a sensor device of the vehicle and, based on the sensor data detected and/or generated and/or determined by the sensor device (which include the (surrounding) vehicle located in the vehicle environment), the at least a speed variable is determined.

In a further preferred method, the sensor device is selected from a group of sensor devices, which include a sensor device for detecting a vehicle environment, an (image) camera (in particular for detecting visible light), an ultrasonic sensor, a laser scanner (lidar), a radar sensor, a Distance sensor and the like includes.

The sensor device is preferably suitable and intended for detecting and/or detecting a vehicle, in particular a following vehicle and/or to the rear and/or to the side of the user's vehicle, which is more than 1 m, preferably more than 2 m , preferably more than 3 m, preferably more than 5 m, preferably more than 10 m, preferably more than 20 m, preferably more than 50 m and particularly preferably more than 100 m away from the (ego) vehicle and/or at a distance.

The sensor device is preferably suitable and intended for generating and/or determining a spatially resolved image.

The sensor device is preferably used (also and in particular independently of determining a speed variable and/or a warning variable) by a parking aid and/or a blind spot assistance system and/or a reversing assistance system and/or a lane change assistance system. However, it is also possible for a parking aid and/or a blind spot assistance system and/or a reversing assistance system and/or a lane change assistance system to use the determined speed variable and/or warning variable (e.g. by using an operating and/or control parameter based on the determined speed variable and/or Determine warning size).

In a further preferred method, the at least one sensor device is arranged in a rear area of the vehicle (in relation to a forward direction of travel of the vehicle) and/or in the rear and/or in the rear apron of the vehicle. This offers the advantage that a preferably rear and/or lateral vehicle environment can be detected.

In a further preferred method, the warning signal is selected from a group that includes visual warning signals, acoustic warning signals, silent warning signals, haptic warning signals, and combinations thereof.

In particular, a warning rear-view mirror is proposed, which optically and/or acoustically warns the driver when vehicles are approaching from behind at a high overall speed using sensors installed in the vehicle.

The warning device is preferably suitable and intended for providing a large number of different types of warning signals (optical warning signals, acoustic warning signals, silent warning signals, haptic warning signals). The warning device is preferably configured in such a way that at least one warning signal is selected from a large number of different types of warning signals suitable for warning the user on the basis of a user status, in particular a user's level of alertness and/or a viewing direction of the user. A warning signal that is best adapted to the current user status can thus be selected.

In a further preferred method, the warning signal is output via a visual display device, via an acoustic output device, via a contact element of the vehicle, in particular a steering wheel, a seat and/or a belt tensioner and/or via a mobile terminal device. A vibrating steering wheel is conceivable.

In a further preferred method, the at least one output device is arranged in and/or on a rearview mirror and/or an interior mirror and/or an exterior mirror, in particular in a side mirror. This offers the advantage that the output signal is output exactly where the user's line of sight is to be directed. As a result, the rear-view mirror is advantageously functionalized.

It is conceivable that the output device is arranged directly below and/or above the mirror surface of the rear-view mirror. It is conceivable that the output device is arranged in or on the mirror housing of the rear-view mirror.

The rear-view mirror preferably has a display on which the warning signal is output or displayed.

In a further preferred method, an optical warning signal by means of at least one issued optical output device, which is selected from a group comprising a head-up display, an augmented reality head-up display, a multifunction display device, a display device in infotainment, a mobile terminal and the like. This offers the advantage that these (preferably already existing) output devices can direct the user's line of sight to a rear-view mirror, for example by the warning signal being output near the rear-view mirror and/or near or in the line of sight of the user and the user's line of sight can be directed to the rear-view mirror through a locally varying output of the warning signal.

It is conceivable that the warning signal is output as a hologram and/or as a virtual element or symbol.

A detection device is preferably provided, by means of which at least one variable characteristic of a direction of perception, in particular a viewing direction, of the user to be warned is detected and/or determined. The warning signal is preferably output on the basis of the characteristic variable determined for the direction of perception.

In a further preferred method, an optical warning signal that varies at least temporarily in time at least in one output area of at least one output device is output, which is output over time along an, in particular virtual or imaginary, output path in different areas of at least one output device. Different areas, which are arranged along the output path, are preferably passed through one after the other in accordance with the sequence or order or arrangement predetermined by the output path. As a result, the user's gaze can be guided in the direction of the rear-view mirror.

It is conceivable that, for example, a light bar and/or a light strip that moves in the direction of the rear-view mirror is output.

Preferably, a continuously (locally) moving output signal is output which is output for at least one second, at least two seconds and at least three seconds.

A warning signal that varies (over time) in terms of brightness and/or contrast and/or in at least one color value and/or another varying output mode (e.g. varying flashing rate, varying shape, varying symbol) is preferably output.

Preferably, the sensor device for detecting a vehicle environment of the (ego vehicle (of the user), in particular for detecting the (surrounding) vehicle, determines current sensor data (at a current time), in particular while the vehicle is driving) by detecting the vehicle environment of the ( ego) vehicle (of the user).

The (surrounding) vehicle is preferably determined and/or recorded from the sensor data, in particular using a processor device and/or data processing device, by using at least one (computer-implemented) computer vision method in which (computer-implemented) perception - and/or detection tasks are performed, for example (computer-implemented) 2D and/or 3D object recognition methods and/or (computer-implemented) methods for semantic segmentation and/or (computer-implemented) object classification ("image classification") and /or (computer-implemented) object localization and/or (computer-implemented) edge detection.

In the object classification, the object detected and/or represented in the sensor data, in particular the vehicle, is assigned to a (previously learned and/or predetermined) class. In the case of an object localization, in particular in addition to an object classification, a location of an object (vehicle) recorded and/or represented in the sensor data is determined or ascertained (in particular with regard to the sensor data), which is marked and/or highlighted in particular by a so-called bounding box . In the case of semantic segmentation, in particular each pixel of the sensor data is assigned a class (for classifying an object) (in particular from a particularly predetermined multiplicity of classes) (class annotation).

The classes can be, for example (among other things), various objects such as a vehicle, lane markings and/or guidelines, traffic signs, information signs, speed limits and the like.

The determination of the at least one (surrounding) vehicle is preferably based on the (raw) sensor data generated by the sensor device or data derived therefrom (and in particular the execution of computer vision methods or perception methods is based on (computer-implemented) methods of machine learning, preferably on at least one (artificial) neural network-based machine learning methods. Such a neural network can be designed, for example, as a deep neural network (DNN) and/or a so-called convolutional neural network (CNN) and/or a recurrent neural network (RNN). be.

The warning device can be arranged in the (ego) vehicle or outside of the (ego) vehicle or externally and can in particular be on an (external) storage device, which can in particular be a backend server of an OEM or a service provider , access. The particularly intelligent warning device is preferably able to use algorithms (KI, i.e. artificial intelligence, machine learning (machine learning), deep learning, etc.) to assess the current situation with regard to the existence or emergence of a potentially dangerous situation (such as a rear-end collision) based on the sensor data. The warning device preferably has a processor and/or a memory device.

The speed variable is preferably determined from the sensor data generated by the sensor device.

However, it is also conceivable for the (surrounding) vehicle to be detected and/or determined and/or the speed variable to be determined by means of data exchange via an (at least temporarily) at least indirect and preferably direct, preferably wireless, communication link between the (ego) vehicle and the (surrounding) vehicle (e.g. via Car2Car communication, C2C communication and/or Car2x communication and/or Car21 communication).

A variable that is characteristic of the detection of the (surrounding) vehicle and/or the speed of the (surrounding) vehicle can be transmitted from the (surrounding) vehicle to the (host) vehicle via the communication link.

The present invention is also directed to a warning device for an (ego) vehicle for outputting a warning signal to a user of the (ego) vehicle, in particular to warn of a dangerous situation, in particular a rear-end collision, with regard to a surrounding area, in particular in the rear Environment of the (ego) vehicle (of the user to be warned) located (surrounding) vehicle.The warning device is suitable and intended for a (surrounding) vehicle located in the, in particular rear, environment of the (host) vehicle capture.

According to the invention, the warning device is suitable, determined and/or configured to determine at least one speed variable that is characteristic of a speed of the detected vehicle, and to determine a warning variable based on the speed variable. The warning device is suitable and intended for providing a warning signal for outputting the warning variable to the user of the (host) vehicle by means of at least one output device, by means of the warning signal output by the at least one output device a rear-view mirror of the (host) vehicle is highlighted, in particular to draw the user's attention to the rear-view mirror.

The output device can be arranged in the area of the rear-view mirror and preferably in the rear-view mirror and/or inside the housing of the rear-view mirror.

It is therefore also proposed within the scope of the warning device according to the invention that a warning which the driver can perceive can be given by outputting the warning signal, for example by means of optical and/or acoustic signals.

Such an implementation is technically easy to implement, since the products (or devices and sensors) already exist individually (in the vehicle), but not in this combination (and control and configuration).

The warning device is preferably set up, suitable and/or intended to carry out the method described above and all the method steps already described above in connection with the method individually or in combination with one another. Conversely, the method can be equipped with all of the features described in connection with the warning device, either individually or in combination with one another.

The (in particular entire) warning device and/or the output device (fixed and in particular not detachable without destruction) is preferably a component of a rear-view mirror for a vehicle.

The proposed warning rear-view mirror preferably recognizes vehicles that are approaching, in particular at high speed, via sensors installed in the vehicle, and advantageously warns the driver or user by means of optical and/or acoustic signals. This offers the advantage that the driver or the user can or does change lanes and prevents a rear-end collision.

The present invention is also directed to a vehicle, in particular a motor vehicle craft comprising a warning device for a vehicle described above according to an embodiment. The vehicle can in particular be a (motorized) road vehicle.

The output device is preferably arranged on and/or in the rear-view mirror.

An output device for outputting the warning signal to the user is preferably provided in each rear-view mirror of the vehicle.

The at least one sensor device and/or the at least one output device and/or the warning device (in particular a fixed component and in particular one that cannot be removed without destroying it) is preferably a component of the vehicle.

A vehicle can be a motor vehicle which, in particular, is a motor vehicle controlled by the driver himself (“driver only”), a semi-autonomous, autonomous (e.g. autonomy level 3 or 4 or 5 (of the SAE J3016 standard)) or self-driving motor vehicle is. Autonomy Level 5 designates fully automated vehicles. The vehicle can also be a driverless transport system. The vehicle can be controlled by a driver or drive autonomously. In addition to a road vehicle, the vehicle can also be an air taxi, an airplane and another means of transportation or another type of vehicle, for example an air vehicle, water vehicle or rail vehicle.

The present invention is also aimed at a computer program or computer program product, comprising program means, in particular a program code, which represents or encodes at least the method steps of the method according to the invention and preferably one of the preferred embodiments described and is designed to be executed by a processor device.

The present invention is also aimed at a data memory on which at least one embodiment of the computer program according to the invention or a preferred embodiment of the computer program is stored.

• Darin zeigen:
  • 1 eine schematische Darstellung eines erfindungsgemäßen Fahrzeugs gemäß einer Ausführungsform.

Further advantages and embodiments result from the attached drawings:

• Show in it:
  • 1 a schematic representation of a vehicle according to the invention according to one embodiment.

1 shows a schematic representation of a vehicle 1 according to the invention according to an embodiment with a warning device 10.

this in here 1 The (ego) vehicle 1 shown has at least one sensor device 12, for example an (image) camera, which can be installed in the rear or in the rear apron. The (image) camera captures another vehicle 2 (surrounding vehicle) located in rear surroundings 20 of vehicle 1, which is driving behind vehicle 1 and preferably follows directly behind it.

Preferably, the sensor device 12 of the (ego) vehicle 1 detects a, in particular relative, distance to the detected (here the following) (surrounding) vehicle 2, preferably at several points in time and particularly preferably continuously. The sensors or the at least one sensor device 12 can thus measure a relative time distance (or measure a time profile of a relative distance) (and a time change in the distance can preferably be calculated from this).

The warning device 10 ascertains, in particular, by ascertaining and/or receiving a speed variable that is characteristic of the speed of the following (surrounding) vehicle. This can be determined, for example (by the warning device) from the time profile of the (relative) distance between the vehicle 2 following here and the vehicle 1 .

On the basis of the speed parameter, warning device 10 assesses whether the speed of the (surrounding) vehicle results or can result in a (potential) dangerous situation for the (ego vehicle) and/or the user of the (ego) vehicle and determines in particular a warning variable that is characteristic of this assessment or the result of the assessment.

On the basis of the warning variable, the warning device 10 determines a warning signal which is to be output using the output device 16 and is provided for this purpose (in particular to the output device 16). The output device 16 can be implemented as one or more light-emitting diodes and is preferably arranged in a rearview mirror 14, which can be an interior mirror and/or a side mirror shown here.

The driver is warned by the output signal being output by the output device 16, for example by flashing light-emitting diodes in the rear-view mirror and/or an acoustic signal which can be output by a sound system of the vehicle 1.

The applicant reserves the right to claim all features disclosed in the application documents as essential to the invention, provided they are new compared to the prior art, either individually or in combination. It is also pointed out that the individual figures also describe features which can be advantageous in and of themselves. The person skilled in the art recognizes immediately that a specific feature described in a figure can also be advantageous without adopting further features from this figure. Furthermore, the person skilled in the art recognizes that advantages can also result from a combination of several features shown in individual figures or in different figures.

Reference List

1

vehicle

2

vehicle

10

warning device

12

sensor device

14

rearview mirror

16

output device

20

Surroundings

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 3735847 A1 [0004]
• DE 20211281 U1 [0005]
• DE 10330855 B4 [0006]

Claims (10)

Method for outputting a warning signal to a user of a vehicle (1) to warn of a dangerous situation, in particular a rear-end collision, in relation to a vehicle (2) located in the area (20), in particular in the rear area, of the vehicle (1). : - Detection of a vehicle (2) located in the area (20), in particular in the rear; - Determining at least one speed variable which is characteristic of a speed of the detected vehicle (2); - determination of a warning variable based on the speed variable; - Provision of a warning signal for outputting the warning variable to the user of the vehicle (1) by means of at least one output device (16), a rear-view mirror (14) of the vehicle (1) being highlighted by the warning signal output by means of the at least one output device (16), in particular to draw the user's attention to the rear-view mirror. procedure after claim 1 , characterized in that a comparison with the speed of the vehicle (1) of the user to be warned is carried out to determine the warning variable on the basis of the determined speed variable. Method according to one of the preceding claims, characterized in that a sensor device (12) of the vehicle (1) detects the surroundings (20) to the rear of the vehicle and the at least one speed variable is determined on the basis of the sensor data recorded by the sensor device (12). Method according to one of the preceding claims, characterized in that the sensor device (12) is selected from a group of sensor devices which includes a camera, an ultrasonic sensor, a laser scanner, a distance sensor and the like. Method according to one of the preceding claims, characterized in that the at least one sensor device (16) is arranged in the rear and/or in the rear apron of the vehicle (1). Method according to one of the preceding claims, characterized in that the warning signal is selected from a group comprising optical warning signals, acoustic warning signals, silent warning signals, haptic warning signals and combinations thereof. Method according to one of the preceding claims, characterized in that the at least one output device (16) is arranged in and/or on a rearview mirror (14) and/or an interior mirror and/or an exterior mirror, in particular in a side mirror. Method according to one of the preceding claims, characterized in that an optical warning signal which varies at least temporarily in time at least in one output area of at least one output device is output, which over time along an, in particular virtual, output path at different areas of at least one output device ( 16) is issued. Warning device (10) for a vehicle (1) for outputting a warning signal to a user of the vehicle (1) to warn of a dangerous situation, in particular a rear-end collision, in relation to an area (20), in particular in the rear area, of the vehicle ( 1) located vehicle (2), wherein the warning device (10) is suitable and intended to detect a vehicle (2) located in, in particular rear, environment (20) of the vehicle (1), characterized in that the warning device ( 10) is suitable, intended and configured to determine at least one speed variable which is characteristic of a speed of the detected vehicle (2) and to determine a warning variable based on the speed variable, the warning device (10) being suitable and intended for this purpose , Provide a warning signal for outputting the warning size to the user of the vehicle (1) by means of at least one output device (16), wherein by means of the a rear-view mirror (14) of the vehicle (1) is highlighted by at least one output device (16) in order in particular to draw the user's attention to the rear-view mirror. Vehicle (1), in particular a motor vehicle, comprising a warning device according to the preceding claim.

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