DE102022124341A1 - Method for error management for a vehicle, in particular commercial vehicle, computer program and/or computer-readable medium, control device for a vehicle, in particular commercial vehicle, and vehicle, in particular commercial vehicle - Google Patents

Abstract

Method (100) for error management for a vehicle (200a), in particular commercial vehicle (200b), with a communication interface (210) set up for wireless communication, the method having (100). Detecting (110), by a sensor device (220) of the vehicle (200a), in particular commercial vehicle (200b), sensor data relating to a second vehicle (300a), in particular commercial vehicle (300b), comprising a second communication interface (310) set up for wireless communication (260); Classifying (120) the sensor data (260) to determine an error class (270); Creating (130) warning information (275) based on the error class (270); and transmitting (140) the warning information (275) to the second vehicle (300a), in particular commercial vehicle (300b), via the communication interface (210) and the second communication interface (310).

Description

The invention relates to a method for error management for a vehicle, in particular a commercial vehicle, with a communication interface set up for wireless communication. The invention also relates to a method for error management for a second vehicle, in particular a commercial vehicle, with a second communication interface set up for wireless communication, a computer program and/or a computer-readable medium, a control device for a vehicle, in particular a commercial vehicle, and a vehicle, in particular a commercial vehicle.

In other words, the disclosure relates in particular to error detection and an error response in vehicles with a higher degree of automation according to SAE J3016 Levels 2 to 5. In particular, the focus is on vehicles that are vehicle-to-vehicle, V2V, and/or vehicle -to-everything, V2X communication are set up, as well as on vehicles with SAE Level 4 and Level 5. However, the vehicle may also have a different level of automation and the level of automation is not limited to SAE J3016 Levels 2 to 5.

DE 10 2018 107 167 A1 discloses a vehicle having a plurality of exterior lamps each arranged to provide light distribution around the vehicle. The vehicle also includes at least one imaging device configured to capture image data indicative of the environment, including at least one light pattern. The vehicle further includes a controller programmed to cause a variance action by a particular one of the plurality of exterior lights and to monitor the image data for a change in a light pattern associated with the particular exterior light. The controller is also programmed to generate a signal indicating a fault condition associated with the specification of the exterior lights in response to a change in light pattern.

CN 111595562 A2 discloses a dynamic test system for an illumination state of a vehicle headlight. A vehicle records information from the vehicle's headlights to evaluate and diagnose the lighting condition.

A diagnosis of the lighting system is therefore known from the prior art. The diagnosis is carried out by the vehicle comprising the lighting system to be diagnosed.

However, it is not possible to diagnose other components. It is desirable to replace a visual inspection by a driver and/or user of the vehicle and the transmission of warnings, such as those exchanged between drivers of manually driven vehicles, with an automated method. In the case of a manual diagnosis through a visual inspection by the driver and/or user, a defective and/or incorrectly adjusted lighting device can be pointed out and/or, more generally, a visual inspection of a vehicle can be carried out, for example as part of a “departure inspection”.

The invention is therefore based on the object of enriching the prior art and providing an improved method for error management. In particular, the invention can solve the problem of enabling comprehensive diagnosis and management of errors.

The task is solved by a method according to claim 1 and the subjects according to the further independent claims. The subclaims indicate preferred developments of the invention.

According to the invention, a method for error management for a vehicle, in particular a commercial vehicle, is provided with a communication interface set up for wireless communication. The method has: detecting, by a sensor device of the vehicle, in particular commercial vehicle, sensor data relating to a second vehicle, in particular commercial vehicle, comprising a second communication interface set up for wireless communication; Classifying the sensor data to determine an error class; Creating warning information based on the error class; and transmitting the warning information to the second vehicle, in particular commercial vehicle, via the communication interface and the second communication interface.

The vehicle, in particular a commercial vehicle, is referred to below as a vehicle. Analogously, the second vehicle, in particular commercial vehicle, is referred to below as the second vehicle. The vehicle and the second vehicle each have a communication interface in order to be able to exchange information with one another and in particular so that the vehicle can transmit the warning information to the second vehicle. The vehicle also has the sensor device for recording the sensor data. The sensor data relates to the second vehicle, that is, the sensor device has a detection area in which the second vehicle is arranged. The detection area can be, for example, by a Solid angle and / or a distance can be defined relative to the sensor device.

The error class is determined by classifying the sensor data. The sensor data are processed and evaluated in order to detect an error that can be determined from the sensor data, for example a defect in a component of the second vehicle. The error class therefore provides information about the error that can be determined based on the sensor data. The vehicle creates the warning information based on the error class. The warning information can be, for example, an information element and is created in such a way as to be transmitted to the second vehicle via the communication interface of the vehicle and the communication interface of the second vehicle.

It was recognized that errors or defects and/or dangerous states of vehicle components to be detected can also exist in states and situations that cannot be easily recognized by the vehicle's own sensors and/or can only be monitored with significant additional effort. By not only using a vehicle's own sensors, but also using the perception of another vehicle and its sensor device for error diagnosis and corresponding error response, a diagnosis can be carried out efficiently.

Preferably, the sensor device comprises a camera device and the sensor data includes image data. The camera device can cost-effectively capture comparatively high-resolution image data that can be effectively classified. The camera device can also have an advantageous detection range, which can be adjustable using appropriate optics. The camera device can, for example, include a zoom lens in order to capture image data with different image angles.

Alternatively or additionally, the sensor device includes a distance measuring device and the sensor data includes distance data. Based on the distance data, for example, depth information can be recorded, which can, for example, provide information about components of the second vehicle that protrude from the second vehicle. The distance measuring device can advantageously be combined with the camera device in order to exploit the respective advantages.

Preferably, the method comprises: determining normal operation, convoy travel and/or a resting state of the vehicle, in particular commercial vehicle, and/or the second vehicle, in particular commercial vehicle. Normal operation, convoy travel and idle state are states of the vehicle and/or the second vehicle. The states of the vehicle and/or the second vehicle can be determined, for example, by a user input, by information transmitted via the communication interfaces and/or by the sensor data. The states of the vehicle and the second vehicle can be taken into account when classifying the sensor data. The states of the vehicle and the second vehicle may alternatively or additionally be used as a condition to trigger the acquisition and/or classification of the sensor data. In particular, determining the idle state of the second vehicle enables a departure check that can be carried out before the second vehicle switches to normal operation and drives off. In a preferred embodiment, the method can be carried out during normal vehicle operation with vehicles that happen to meet each other.

Preferably, the warning information is created in such a way that a warning message is issued to a driver and/or user of the second vehicle, in particular a commercial vehicle, and/or a risk-minimizing measure is carried out. It was recognized that, in addition to the error class, the warning information can also include information for issuing the warning message and/or for initiating a risk-minimizing measure. The warning message can, for example, include the error class and be issued by the second vehicle to a driver and/or user of the second vehicle so that the latter is informed of an error. The risk-minimizing measure is a measure that can lead to the elimination and/or compensation of the error and/or an associated risk. For example, the risk-minimizing measure includes an automated driving function in which the risk of a damaging event is minimized (minimal risk maneuver). A so-called virtual driver can take the measure by granting the virtual driver, i.e. the automated driving function, control over a component of the second vehicle and/or the second vehicle. The virtual driver can, for example, prevent the second vehicle from driving, brake and/or change lanes. Various types of risk-reducing measures can be taken: In the simplest case, just switching on the hazard warning lights can help reduce the risk. In addition, so-called minimal risk maneuvers can be carried out. Examples of minimal risk maneuvers are: Stop on Target; in which the vehicle is brought to a stop at a certain point, for example at a stop line; Stop on Hard Shoulder, where the vehicle is brought to a stop on the hard shoulder or on the side of the road; Limp Home, in which the vehicle is driven to a parking lot or workshop at reduced speed with the hazard lights on.

Preferably, the method comprises: transmitting danger information corresponding to the warning information to a traffic infrastructure element, another vehicle, and/or a server external to the vehicle. It was recognized that in certain situations in which a defect in the second vehicle poses an increased risk to other road users, for example, the danger information can also be sent to the surrounding traffic and/or a V2X infrastructure. The danger information can also be transmitted from the vehicle to the external server, so that the external server in turn transmits the danger information to the other vehicle and/or the traffic infrastructure element.

The sensor data preferably relate to a lighting device, a door, a window, an attachment, a load, a tire and/or a chassis component of the second vehicle, in particular a commercial vehicle. The sensor data thus effectively relates to components of the second vehicle that can be detected by the sensor device. It was recognized that these components are typically components to be tested during a shutdown inspection. If the sensor device detects the components mentioned or a part thereof, a manual departure control and/or an automated departure control in a checkpoint (gate) is unnecessary. However, in other embodiments, the sensor data can also flexibly include other components of the second vehicle.

According to the invention, a method for error management for a second vehicle, in particular a commercial vehicle, is also provided with a second communication interface set up for wireless communication. The method has: receiving warning information from a vehicle comprising a communication interface set up for wireless communication, in particular a commercial vehicle, via the communication interface and the second communication interface, the warning information being created based on an error class, the error class being determined by classifying sensor data , and wherein the sensor data was recorded by a sensor device of the vehicle, in particular a commercial vehicle; and processing the warning information to issue a warning message and/or take a risk-minimizing measure.

It was recognized that the method described above is suitable for the vehicle both for warning a driver and/or user and for initiating measures by an automated system (virtual driver). The method for the second vehicle can advantageously have the features described with reference to the method for the vehicle, in particular for creating the warning information.

In other words, the core of the invention is a device and a method of a vehicle or vehicle system that is designed to detect a defect and/or a dangerous condition in another vehicle using a vehicle's own sensor device or environmental sensor system (e.g. camera, radar, lidar). to sense, carry out an appropriate error classification and send appropriate warning information to the vehicle in question via a radio interface (V2V). Analogously, the core of the invention is to receive a defect or a dangerous condition of one's own vehicle detected by the vehicle's own environmental sensors (e.g. camera, radar, lidar) of another vehicle in the form of dedicated warning information and to process and/or react in such a way that Risk-minimizing measures are taken for each error classification of the corresponding situation.

According to a further aspect of the invention, a computer program and/or computer-readable medium is provided. The computer program and/or computer-readable medium comprises instructions which, when the program or the instructions are executed by a computer, cause the computer to carry out the method described here and/or the steps of the method described here. The computer program and/or computer-readable medium can comprise instructions to carry out steps of the method described as optional and/or advantageous in order to achieve a corresponding technical effect.

According to a further aspect of the invention, a control device for a vehicle, in particular a commercial vehicle, is provided. The control unit is set up to carry out the procedure described here. The control device can be set up to carry out steps of the method described as optional and/or advantageous in order to achieve a corresponding technical effect.

According to a further aspect of the invention, a vehicle, in particular a commercial vehicle, provided. The vehicle includes the control unit described here, a sensor device and a communication interface for wireless communication. The vehicle and/or the control unit can be set up to carry out steps of the method described as optional and/or advantageous in order to achieve a corresponding technical effect. The vehicle is thus set up to carry out the method described above for the vehicle and/or the method described above for the second vehicle. In order for the vehicle to be able to carry out the method described above for the second vehicle, a sensor device is unnecessary.

• 1 eine schematische Darstellung eines Fahrzeugs, insbesondere Nutzfahrzeugs, und eines zweiten Fahrzeugs, insbesondere Nutzfahrzeugs, je gemäß einer Ausführungsform der Erfindung;
• 2 eine schematische Darstellung eines Fahrzeugs, insbesondere Nutzfahrzeugs, und eines zweiten Fahrzeugs, insbesondere Nutzfahrzeugs, je gemäß einer Ausführungsform der Erfindung;
• 3 eine schematische Darstellung eines Ablaufs eines Verfahrens gemäß einer Ausführungsform der Erfindung; und
• 4 eine schematische Darstellung eines Ablaufs eines Verfahrens gemäß einer anderen Ausführungsform der Erfindung.

Further advantages and features of the invention as well as their technical effects result from the figures and the description of the preferred embodiments shown in the figures. Show it

• 1 a schematic representation of a vehicle, in particular a commercial vehicle, and a second vehicle, in particular a commercial vehicle, each according to an embodiment of the invention;
• 2 a schematic representation of a vehicle, in particular a commercial vehicle, and a second vehicle, in particular a commercial vehicle, each according to an embodiment of the invention;
• 3 a schematic representation of a sequence of a method according to an embodiment of the invention; and
• 4 a schematic representation of a sequence of a method according to another embodiment of the invention.

1 shows a schematic representation of a vehicle 200a, in particular commercial vehicle 200b, and a second vehicle 300a, in particular commercial vehicle 300b, each according to an embodiment of the invention.

The vehicle 200a, in particular commercial vehicle 200b, is referred to below as vehicle 200a, 200b. The second vehicle 300a, in particular commercial vehicle 300b, is referred to below as second vehicle 300a, 300b. Each of the vehicles 200a, 200b, 300a, 300b is a land vehicle.

The vehicle 200a, 200b is set up to do this with reference to 3 to carry out the procedure 100 described. For this purpose, the vehicle 200a, 200b has a sensor device 220, a control device 250 and a communication interface 210.

The second vehicle 300a, 300b according to 1 is set up to do that with reference to 4 carry out procedure 400 described. For this purpose, the vehicle 300a, 300b has a sensor device 320, a control device 350 and a second communication interface 310. The sensor device 320 of the second vehicle 300a, 300b is in the embodiment according to 1 optional.

The sensor device 220 of the vehicle 200a, 200b includes a camera device 221 and a distance measuring device 222. The camera device 221 has, for example, a sensor with a plurality of pixels in order to capture image data 261 in an environment of the vehicle 200a, 200b. The distance measuring device 222 is based, for example, on LI DAR, RADAR and/or ultrasonic sensors to detect a distance between the distance measuring device 222 and an object in the surroundings of the vehicle 200a, 200b. If the second vehicle 300a, 300b is arranged in the surroundings of the vehicle 200a, 200b, for example in a detection area defined by the sensor device 220, the sensor device 220 can detect sensor data 220 relating to the second vehicle 300a, 300b. In particular, the sensor data 260 includes image data 261 and distance data 262. Depending on the arrangement of the second vehicle 300a, 300b relative to the sensor device 220, the sensor data 260 relate to a lighting device 301, a door 302, a window 303, an attachment 304, a load 305 , a tire 306 and/or a chassis component 307 of the second vehicle 300a, 300b. Optionally, the sensor data 220 may include further components of the second vehicle 300a, 300b.

The control device 250 includes a processor 251 and a memory 252. The processor 251 is set up to process information such as the sensor data 260, and the memory 252 is set up to store and/or buffer information such as the sensor data 260 for further processing.

The control unit 250 is set up to determine whether the vehicle 200a, 200b and the second vehicle 300a, 300b are each in a normal operating state - N, a convoy trip - K and / or a rest state R. The state of the vehicle 200a, 200b can be determined by the control unit 250 itself. In normal operation N, the vehicle 200a, 200b and/or the second vehicle 300a, 300b is driving. When driving in a convoy K drive this first vehicle 200a, 200b and the second vehicle 300a, 300b together in a convoy, for example in front of or behind one another, at a certain speed and / or at a certain distance. As part of an automated driving task, the vehicles 200a, 200b, 300a, 300b can drive together in a convoy and the vehicles 200a, 200b, 300a, 300b can monitor each other with the respective sensor device 260, 360, particularly in certain driving tasks. In a resting state of the vehicle 200a, 200b, 300a, 300b, the respective vehicle 200a, 200b, 300a, 300b is at rest and is therefore in one place.

The control unit 250 is set up to classify the sensor data 260 to determine an error class 270. The classification is carried out, for example, with the support of machine learning. Objects are recognized in the sensor data 260. The objects can correspond to a component and/or an error in a component of the second vehicle 300a, 300b and are classified after detection in order to determine the error class 270. The error class 270 can include information that identifies the component of the second vehicle 300a, 300b and indicates the error in the component. Alternatively or additionally, the error class 270 can include information on how serious a detected error in a component of the second vehicle 300a, 300b is. For example, the error class 270 can be used to determine whether a warning message 280 is sufficient, a risk-minimizing measure 285 must be taken and/or hazard information 290 must be sent.

The control unit 250 is set up to create warning information 275 based on error class 270. The warning information 275 is created in such a way that a warning message 280 is issued to a driver and/or user of the second vehicle 300a, commercial vehicle 300b and/or a risk-minimizing measure 285 is carried out.

The communication interface 210 is set up to transmit the warning information 275 to the second vehicle 300a, 300b via the second communication interface 310. Furthermore, the communication interface 210 is set up to transmit danger information 290 corresponding to the warning information 275 to a traffic infrastructure element 500, another vehicle 505 and to a server 510 external to the vehicle. The communication interface 210 of the vehicle 200a, 200b is set up for wireless communication. For example, the communication interface 210 may be a vehicle-to-vehicle interface and/or vehicle-to-everything interface. The communication interface 210 can be set up to communicate via a wireless local network (WLAN) and/or a mobile network (3G, LTE, 5G).

The vehicle-external server 510 can be, for example, a server 510 of a fleet operator and/or a manufacturer. The vehicle-external server 510 can be set up to initiate maintenance and/or repair of the second vehicle 300a, 300b after receiving danger information 290. The vehicle-external server 510 can transmit the danger information 290 to the traffic infrastructure element 500 and to the other vehicle 505. The danger information 290 can cause an output on an output device of the additional vehicle 505 so that a user and/or driver of the additional vehicle is warned.

The second vehicle 300a, 300b receives the warning information 275 transmitted via the communication interface 210 of the vehicle 200a, 200b through the second communication interface 310. The second vehicle 300a, 300b or the control unit 350 of the second vehicle 300a, 300b is set up to receive the warning information 275 to process. A warning message 280 is output to an output device of the second vehicle 300a, 300b. This allows a driver and/or user of the second vehicle 300a, 300b to be informed about an error in the second vehicle 300a, 300b. Alternatively or additionally, the control device 350 can take a risk-minimizing measure 285. In particular, if the second vehicle 300a, 300b is set up to carry out an automated driving function by a so-called virtual driver, effective risk-minimizing measures 285 can be taken.
Various types of risk-reducing measures can be taken: In the simplest case, just switching on the hazard warning lights can help reduce the risk. In addition, so-called minimal risk maneuvers can be carried out. Examples of minimal risk maneuvers are: Stop on Target; in which the vehicle is brought to a stop in the same lane at a certain point, for example at a stop line; Stop on Hard Shoulder, where the vehicle is brought to a stop on the hard shoulder or on the side of the road; Limp Home, in which the vehicle is driven to a parking lot or workshop at reduced speed with the hazard lights on.

2 shows a schematic representation of a vehicle 200a, in particular commercial vehicle 200b, and a second vehicle 300a, in particular commercial vehicle 300b, each according to an embodiment Form of the invention. 2 is related to 1 described.

2 illustrates an example of error management. An example of this is an incorrectly adjusted, dirty and/or otherwise blocked part of the lighting device 301. The part of the lighting device 301 is therefore faulty, which is schematically illustrated by a flash. Assuming that a light source of the lighting device 301 is still functioning, no error can be detected electrically by the self-diagnosis of the second vehicle 300a, 300b, although, for example, a dirty and/or fogged-up indicator may no longer be sufficiently visible from the outside. However, the vehicle 200a, 200b detects the error through the sensor device 220. Further examples are: a general state of the lighting device 301, open/broken doors 302 or windows 303, loose components or attachments 304 on the second vehicle 300a, 300b and/or its load 305, in particular a blind spot of the vehicle's own sensor device 320, a state of the tires 306 and wheel suspension as well as other chassis components 307, porosity and other signs of wear and tear, etc.

3 shows a schematic representation of a sequence of a method 100 according to an embodiment of the invention. The method 100 is a method 100 for error management for a vehicle 200a, 200b, with a communication interface 210 set up for wireless communication. Such a vehicle 200a, 200b is with reference to 1 and 2 described. When describing the 3 will be on 1 and 2 and their description are referred to.

According to 3 a determination 105 of a normal operation N, a convoy journey K and/or a rest state R of the vehicle 200a, 200b and/or the second vehicle 300a, 300b takes place.

A sensor data 260 relating to a second vehicle 300a, 300b comprising a second communication interface 310 set up for wireless communication is detected 110 by a sensor device 220 of the vehicle 200a, 200b.

The sensor data 260 is classified 120 to determine an error class 270.

Warning information 275 is created 130 based on error class 270.

The warning information 275 is transmitted 140 to the second vehicle 300a, in particular commercial vehicle 300b, via the communication interface 210 and the second communication interface 310.

A hazard information 290 corresponding to the warning information 275 is transmitted 145 to a traffic infrastructure element 500 and/or a vehicle-external server 510.

The determination 105 and the transmission 145 of the danger information 290 are optional steps of the method 100. The person skilled in the art will recognize that steps of the method 100 can be carried out in a different order and/or permanently. For example, the acquisition 110 of the sensor data 260 can take place permanently.

4 shows a schematic representation of a sequence of a method 400 according to an embodiment of the invention. The method 400 is a method 400 for error management for a second vehicle 300a, 300b with a second communication interface 310 set up for wireless communication. Such a vehicle 300a, 300b is with reference to 1 and 2 described. When describing the 4 will be on 1 to 3 and their description are referred to.

According to 4 a warning information 275 is received 410 from a vehicle 200a, in particular commercial vehicle 200b, comprising a communication interface 210 set up for wireless communication, via the communication interface 210 and the second communication interface 310, the warning information 275 being created on the basis of an error class 270, the error class 270 being caused by a classification of sensor data 260 was determined, and the sensor data 260 were detected by a sensor device 210 of the vehicle 200a, in particular commercial vehicle 200b.

The warning information 275 is processed 420 to issue a warning message 280 and/or take a risk-minimizing measure 285.

Reference symbols (part of the description):

100

Procedure for a vehicle

105

Notice

110

Capturing sensor data

120

Classifying the sensor data

130

Creating a warning information

140

Transmitting the warning information

145

Transmitting hazard information

200a

vehicle

200b

Commercial vehicle

210

Communication interface

220

Sensor device

221

Camera device

222

Distance measuring device

250

Control unit

251

processor

252

Storage

260

Sensor data

261

Image data

262

Distance data

270

Error class

275

Warning information

280

Warning message

285

measure

290

Hazard information

300a

second vehicle

300b

second commercial vehicle

301

lighting device

302

door

303

Window

304

Attachment part

305

loading

306

Tires

307

Chassis component

310

second communication interface

320

Sensor device

350

Control unit

400

Procedure for a second vehicle

410

Receiving warning information

420

Processing the warning information

500

Transport infrastructure element

505

another vehicle

510

server

N

Normal operation

K

Convoy ride

R

Hibernate state

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102018107167 A1 [0003]
• CN 111595562 A2 [0004]

Claims (10)

Method (100) for error management for a vehicle (200a), in particular commercial vehicle (200b), with a communication interface (210) set up for wireless communication, the method having (100). - Detecting (110), by a sensor device (220) of the vehicle (200a), in particular commercial vehicle (200b), of a second vehicle (300a), in particular commercial vehicle (300b), comprising a second communication interface (310) set up for wireless communication Sensor data (260) ; - Classifying (120) the sensor data (260) to determine an error class (270); - Creating (130) warning information (275) based on the error class (270); and - Transmitting (140) the warning information (275) to the second vehicle (300a), in particular commercial vehicle (300b), via the communication interface (210) and the second communication interface (310). Procedure according to Claim 1 , wherein the sensor device (220) comprises a camera device (221) and the sensor data (260) comprises image data (261) and/or the sensor device (210) comprises a distance measuring device (222) and the sensor data (260) comprises distance data (262). Procedure according to Claim 1 or 2 , wherein the method (100) comprises: - determining (105) a normal operation (N), a convoy trip (K) and / or a rest state (R) of the vehicle (200a), in particular commercial vehicle (200b) and / or the second vehicle (300a), especially commercial vehicle (300b). Method according to one of the preceding claims, wherein the warning information (275) is created in such a way that a warning message (280) and/or a risk-minimizing measure is issued to a driver and/or user of the second vehicle (300a), in particular commercial vehicle (300b). (285) takes place. Method according to one of the preceding claims, wherein the method (100) comprises: - Transmitting (145) danger information (290) corresponding to the warning information (275) to a traffic infrastructure element (500), another vehicle (505) and/or a server (510) external to the vehicle. Method according to one of the preceding claims, wherein the sensor data (260) comprises a lighting device (301), a door (302), a window (303), an attachment (304), a load (305), a tire (306) and / or relate to a chassis component (307) of the second vehicle (300a), in particular commercial vehicle (300b). Method (400) for error management for a second vehicle (300a), in particular a commercial vehicle (300b), with a second communication interface (310) set up for wireless communication, the method (300) comprising: - receiving (410) a warning information (275) from a vehicle (200a), in particular a commercial vehicle (200b), comprising a communication interface (210) set up for wireless communication, via the communication interface (210) and the second communication interface (310), the warning information (275) being created based on an error class (270), the error class (270) being determined by classifying sensor data (260), and the sensor data (260) being recorded by a sensor device (210) of the vehicle (200a), in particular the commercial vehicle (200b); and - processing (420) the warning information (275) to issue a warning message (280) and/or take a risk-minimizing measure (285). Computer program and/or computer-readable medium, comprising commands which, when the program or commands are executed by a computer, cause the computer to carry out the method (100, 400) and/or the steps of the method (100, 300) according to one of Claims 1 until 7 to carry out. Control device (250, 350) for a vehicle (200a, 300a), in particular a commercial vehicle (200b, 300b), the control device (250, 350) being set up to carry out the method (100, 400) according to one of Claims 1 until 7 to carry out. Vehicle (200a, 300a), in particular commercial vehicle (200b 300b), comprising the control unit (250, 350). Claim 9 , a sensor device (220, 320) and a communication interface (210, 310) for wireless communication.

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