DE202014003224U1 - Driver assistance system for warning a driver of a collision with another road user - Google Patents

Abstract

Driver assistance system for warning a driver of a vehicle (10) of collisions with other road users, comprising a unit (15) for determining a current traffic situation surrounding the vehicle, an evaluation means (20) for evaluating the current traffic situation with regard to a potential risk of collision of the vehicle ( 10) with another road user (25), and a warning unit (40), with which in a predicted collision with the other road users (25) a warning within the vehicle (10) can be output, wherein the evaluation means (20) is designed in that - based on the detected current traffic situation, a probability value G of a visibility of the other road user (25) for the driver before the collision is predicted, - if G> 0, a time t1 is predicted at which the other road user for the driver (25) is visible, and - depending on the probability its value G and the predicted time t1 a time t2 for the output of the warning is determined, and wherein the warning unit (40) is designed such that the warning is output at the time t2.

Description

The invention relates to a driver assistance system for warning a driver of a vehicle from collisions with other road users and to a vehicle comprising such a driver assistance system.

Driver assistance systems for warning a driver of collisions are known. For example, the disclosure document describes DE 10 2012 009 297 A1 a method for assisting a driver in driving a vehicle, wherein warnings are issued depending on a predicted future potential, real or acute risk of collision and / or subsequent collision between the vehicle and other road users within the vehicle. In this method, maneuver intentions of mutually relative movement of road users are recognized, collision hazards derived from intersections of detected pairs of maneuvering intentions, risk assessments for respective real or acute collision hazards and / or follow-up collision hazards, and the driver of the vehicle informed or warned by warnings, and / or supported by means of an automatic intervention in the longitudinal and / or lateral control of the vehicle.

If there is a risk of collision determined by a driver assistance system, warnings issued in this connection can lead to different scenarios. On the one hand, for example, warnings that are perceived by a driver assistance system with respect to a danger of collision, which is in any case clearly perceived by a respective driver, can be perceived by the driver as superfluous or as information overload. On the other hand, often issued warnings by the further development of the traffic situation unnecessary, for example, if originally located on collision road users leave the collision course by speed and / or direction change. In particular, if a collision warning has been issued in this context with respect to a road user, who was not or not conspicuously visible to the driver at the time of issuing the warning, and then eliminates the cause of the collision warning, a previously warned driver then proves to be groundless Warnings of the driver assistance system as superfluous or untrustworthy feel. The object of the present invention is to provide a driver assistance system which reduces the likelihood of issuing warnings perceived by the respective driver as redundant or unfounded.

The problem is solved by the independent claims. Advantageous developments and refinements are the subject of the dependent claims. Other features, applications and advantages of the invention will become apparent from the following description, as well as the explanation of embodiments of the invention, which are illustrated in the figures.

Accordingly, in a first aspect, a driver assistance system is proposed for warning a driver of a vehicle of collision with other road users, comprising a unit for determining a current traffic situation surrounding the vehicle, an evaluation means for evaluating the current traffic situation with regard to a potential risk of collision of the vehicle another road user, and a warning unit with which a warning within the vehicle can be output in the event of a predicted collision with the other road user, wherein the evaluation means is designed such that on the basis of the detected current traffic situation a probability value G of a visibility of the other road user for the driver is predicted before the collision, and further provided that G> 0, a time t _{1 is} predicted at which the other road users is visible to the driver, and depending on the Wahrscheinl If the value G and the predicted time t _1, a time t ₂ for the output of the warning is determined, and wherein the warning unit is designed such that the warning at the time t _{2 is} output.

The predicted collision can be determined, for example, by a comparison of the position or the movement trajectory of the driver's vehicle with the position or the movement trajectory of the other road user, so that a collision location and a time of the collision can be determined.

The probability value G of the visibility of the other road user can be determined in various ways. According to particular developments, the probability value G is determined on the basis of one or more parameters, for example, the size of the road user and the distance from the driver, the speed of the other road user, the direction of movement of the other road user relative to the driver, the contrast of the other road user compared to his Environment, and / or the presence of obstacles between the other road users and the driver, which restrict the driver's view of the other road users at least partially.

If G> 0, a time t ₁ is now predicted at which the other road user is visible to the driver. Visibility is understood to mean that the other road user is at least partially visible to the driver due to their distance-related size and / or due to occlusion which may be partially present due to an obstruction between the other road user and the driver of the vehicle. For the determination of the time t ₁ , one or more of the parameters exemplified above are also used according to a further development. For example, based on the data collected by the unit for determining the current traffic situation surrounding the vehicle, a position or movement trajectory of the other road user can be determined. In the evaluation means, this is correlated with a field of vision of the driver, for example an underlying standard field of view or a current field of vision of the driver determined using a measured head and / or eye position of the driver. In further refinements, it is provided that for determining the time t _1, the position of the other road user of the driver within the field of view is correlated by the evaluation means with stored in databases values at which, for example, a position of the other road user, which would be in the peripheral field of vision of the driver , or a low contrast of the other road user with respect to its surroundings, or a road user at least partially hidden other road users each lead at a later time t ₁ as a position in the driver's central field of vision or high contrast of the other road user or a consistently visible to other road users.

After the determination of the time t ₁ , a time t ₂ for the output of the warning is determined depending on the probability value G and the predicted time t ₁ . According to a proposed development, the time t ₂ is the earlier, the later the time t ₁ lies. Correspondingly, the warning is issued to the driver at an early time t ₂ when, based on a later point in time t ₁ predicted as a function of the probability value G, at which the other road user is visible to the driver. Advantageously, the driver is thus warned earlier and can thus adjust to the predicted collision and take appropriate countermeasures.

The evaluation means can be any means for evaluating data, for example vehicle electronics or a vehicle computer, such as a vehicle central computer, in which vehicle data and / or data in any case converge and are processed to a current traffic situation surrounding the vehicle.

The warning may be output in the usual way, for example via a text output or symbol output on a screen or display element of the vehicle, for example in the area of the steering wheel or the dashboard, via a head-up display or a voice output. Examples of warning units are accordingly screens, output elements such as light panels, light-emitting diodes or the like, head-up displays and voice outputs.

According to one embodiment, it is proposed that the warning unit be designed in such a way that the warning is output immediately if G is equal to zero (G = 0). In such a case, it is impossible for the driver to see the other road user from a predicted collision. Accordingly, it can be advantageously informed by the immediately issued warning on the predicted collision and has a maximum period available to take appropriate countermeasures.

According to a further development, it is proposed that in the case of G = 0, the warning unit is designed in such a way that the warning is output a predetermined time Δt before a time of the collision determined by the evaluation means. By the predetermined time .DELTA.t is advantageously made possible a flexible response to the predicted collision. If, for example, the determined point in time of the collision is comparatively far in the future, for example more than 20 seconds, then a correspondingly large predetermined time, for example 10 seconds, ensures that the driver is not already warned at an unnecessarily early point in time which, after issuing the warning with regard to the predicted collision, this could be unnecessary, for example by changing the speed of the other road user. With the exemplary output 10 seconds before the collision time, the driver would still have enough time to respond to the warning and take countermeasures. The predetermined time can be set, for example, ex-works, selected by the driver at his own discretion, or autonomously selected by the driver assistance system as a function of vehicle parameters or traffic conditions. For example, drivers who due to age or, for example due to an already traveled longer distance fatigue-based have worse response times, higher values for .DELTA.t select as younger drivers or drivers who have just started their journey. As another example, the driver assistance system may set higher values for At if the vehicle is moving at high speed or is driven in adverse road conditions such as wet or snowy conditions, which require about a longer braking distance. In such cases, comparatively high values for Δt are particularly advantageous since an early reaction of the driver to a predicted collision can take place.

Furthermore, a driver assistance system is proposed, in which the warning unit is designed in such a way that the warning includes an indication of a direction from which the other road user approaches the vehicle. The information regarding the direction is displayed according to a development by means of a voice output of the vehicle, according to another development on signal lights in the field of the dashboard, with different signal lights are assigned to different directions, and according to yet another development via an indicator on a head-up display of vehicle. Advantageously, the driver's attention can thus be directed more specifically to the area of the traffic situation surrounding him, in which the predicted collision would take place, so that the driver can accordingly take better coordinated countermeasures.

Furthermore, a driver assistance system is proposed in which the warning unit is designed in such a way that the warning includes an indication of the type of the other road user. Such instructions allow advantageously better coordinated countermeasures of the driver. If, for example, the driver receives an indication that a road user with whom a collision is predicted is a heavy vehicle, such as a truck, the driver can estimate that this road user himself is responsible for his high mass or comparatively low maneuverability has more limited options to avoid the predicted collision than, for example, a passenger car. Accordingly, the driver, in turn, can take better action, coordinated with this predicted collision, to avoid a collision or minimize its consequences.

According to a further development, the other road user is a motor vehicle, with optional distinction between different types of motor vehicles, such as passenger cars, trucks, or buses to a rail vehicle, such as a tram or a locomotive with optionally attached passenger cars or Freight wagons, to a motorcyclist, to a cyclist, or to a pedestrian.

The identification of the other road user takes place in a manner known per se. Examples of this are image acquisition, wherein the other road users are detected via corresponding sensors, such as ultrasound sensors, radar sensors or optical image sensors, for example, and are identified after evaluation of the acquired image data, for example due to the contours or the absolute magnitudes. The detection of the surrounding current traffic situation is carried out according to a development on the basis of such sensors, which are installed anyway in newer vehicles anyway, to be used for example in the context of parking aids, lane departure warning or collision warning systems.

Furthermore, a driver assistance system is proposed in which the unit for detecting the current traffic situation takes into account data from environmental sensors of the vehicle and C2X data. Examples of such environmental sensors are the abovementioned ultrasonic sensors, radar sensors or optical image sensors with which other road users and possibly their movement trajectories can be detected, and furthermore position sensors, for example those based on the "Global Positioning System", the Galileo system or the GLONASS system or other satellite-based positioning systems with which the positions of other road users and possibly their movement trajectories, in particular when linked to digitally stored map material, are detectable. The principle of C2X communication is known in the art and includes, for example, the so-called "car-to-car communication" in which vehicles exchange data with each other, and the so-called "car-to-infrastructure communication", the vehicles with other components of a data infrastructure, such as smart beacons or a central traffic management system exchange data, for example via the standard according to the OTS system (Open Traffic System), whereby mobile networks or wireless networks are used. By means of the incoming data in this way in the driver assistance system data in particular the current positions and possibly the movement trajectories of the other road users to the driver assistance system can be communicated so that this can predict a potential risk of collision, taking into account the position and possibly the movement trajectory of the own vehicle. Advantageously, the driver assistance system thus obtains data that is provided by the other road users themselves and can therefore predict the danger of potential collision risks.

In a further development, it is proposed that the data also contain dimensions of the other road user. If these data are detected by environmental sensors of the vehicle, it is possible to obtain information on the dimensions of the other road user by means of image evaluation, for example by evaluating the outlines of a detected road user, taking into account their distance from the driver's vehicle. In the case of C2X data, in this case it is foreseen that they contain corresponding details of the dimensions of the road user which transmits the C2X data. In the present case, dimensions are to be understood as meaning, in particular, the spatial dimensions of the other road user, but in a further development mass dimensions are included which allow the evaluation device to infer the acceleration or braking capacity of the other road user unless such information is transmitted in the context of the C2X data anyway become. Advantageously, the data with details of dimensions of the other road user can better predict potential collision risks.

Furthermore, a driver assistance system is proposed, in which the evaluation means is designed in such a way that, after issuing the warning at time t _2, the traffic situation currently detected by the unit for detecting the traffic situation surrounding the vehicle continuously with a view to persisting the risk of collision with the other Road users is evaluated. If it is determined that the cause of the warning already issued has subsequently disappeared and the predicted probability value G was less than a predefined limit value G2 before the warning was issued, ie G <G2, information about the elimination of the cause is output by the vehicle the warning issued. The output means is identical according to a development identical to the warning unit, according to another embodiment thereof. The predefinable limit value G2, which can either be preset at the factory or can be selected by the respective driver at his own discretion, is advantageously selected so that for probability limit values G which are less than G2, the other road users concerned are presumably not visible to the driver, whereas with probability limits G reaching at least G2, the other road users concerned are likely to become visible to the driver. If, in a given case, the predicted probability value G is below a predefined limit value G2, and if a warning is issued at time t ₂ whose cause is subsequently omitted, the driver might have doubts as to the sense or the accuracy of the driver assistance system, despite the output Warning in the further course of the journey no danger of collision becomes apparent. However, by the information for omitting the cause of the warning issued by an output means, if G <G2, the driver is advised that although a potential collision danger has been detected that was barely visible to him due to a low probability value G, but in the further course of the journey accounted for. Advantageously, the driver had thus the assurance that the driver assistance system warning was issued with respect to another road user, which was originally justified, but the cause was already eliminated, while the other road users due to a low probability value G for the driver was still bad or not visible.

According to further developments, it is proposed that the values for G2 be 10%, 20%, 30%, 40% or 50%. Accordingly, even at the highest value, advantageously, the probability of visibility of the other road user is only 50%, so that issuing information for omitting the cause of the warning is appropriate to inform the driver that the original warning has not been issued unfounded.

The output of information to omit the cause of a warning is carried out according to a development even if originally a probability value G = 0 was determined.

In another embodiment, it is proposed that the evaluation means is designed such that, if it is determined that the cause for the already issued warning is subsequently omitted and the predicted probability value G before the warning was equal to the limit G2 or greater than the limit G2 in the vehicle from the output means, no information is output to omit the cause of the warning. In the case of such a limit value G2, it is assumed that the other road user was presumably already visible to the driver anyway, so that the driver himself was able to recognize the potential collision danger on which the warning issued by the driver assistance system was based. In view of such a visibility of the other road user, which corresponded to at least the limit G2, it can be assumed that the elimination of the potential risk of collision with the other road users and thus the elimination of the cause of the warning to the driver is apparent. Advantageously, therefore, dispensed with the output of information to omit the cause of the warning so as not to burden the driver with an obviously superfluous information.

It will be apparent to those skilled in the art that the foregoing description of the Driver assistance system also implicitly describes a method for warning a driver of a vehicle from collisions with other road users.

A further aspect accordingly relates to a method for warning a driver of a vehicle from collisions with other road users. This method comprises the determination of a current traffic situation surrounding the vehicle, for example by means of a unit for determining a current traffic situation surrounding the vehicle, and furthermore comprises an evaluation of the current traffic situation with regard to a potential risk of collision of the vehicle with another road user, for example via an evaluation means , And further comprises the output of a warning within the vehicle in a predicted collision with the other road user, the warning can be output, for example via a warning unit. The evaluation is designed such that on the basis of the detected current traffic situation, a probability value G of visibility of the other road user for the driver before the collision is predicted, and if G> 0, a time t _{1 is} predicted at the for the driver the other road user is visible, and further a time t ₂ for the output of the warning is determined depending on the probability value G and the predicted time t ₁ , wherein the warning at the time t _{2 is} output.

According to one embodiment, the warning is issued immediately if G = 0.

According to a development, if G = 0, the warning is issued a predetermined time .DELTA.t before a time determined by the evaluation means time of the collision.

According to one embodiment, the warning is output with an indication of a direction from which the other road user approaches the vehicle.

According to one embodiment, the warning is issued with an indication of the nature of the other road user. According to a particular development, the warning is issued with an indication that the other road user is a motor vehicle, a rail vehicle, a motorcyclist, a cyclist, or a pedestrian.

According to one embodiment, when the current traffic situation is detected, data from environmental sensors of the vehicle and C2X data are taken into account. According to a further development, data which include information on dimensions of the other road user are also taken into account.

According to one embodiment, after issuing the warning at time t _2, the traffic situation currently detected by the unit is continuously analyzed with regard to persisting the risk of collision with the other road user, and if it is determined that the cause of the warning already issued subsequently has been omitted and the predicted probability value G before issuing the warning was less than a predetermined limit value G2, ie G <G2, information in the vehicle to omit the cause of the warning output, for example, from an output means, which may be identical or different from a warning unit that issues a warning. In further developments, values for G2 are suggested which are 10% or 20% or 30% or 40% or 50%. It is assumed that G, G1 and G2 are percentages, so that, for example, G can be in the range of [0%, 100%].

According to a development, it is proposed that if it is determined that the cause for the warning already issued has subsequently been dropped and the predicted probability value G was equal to the limit value G2 or greater than the limit value G2 before the warning was issued, no information is available in the vehicle from the output device is issued to omit the cause of the warning.

In a further aspect, a vehicle is proposed which comprises a driver assistance system as described above or in which a method as described above is carried out.

Further advantages, features and details will become apparent from the following description in which - where appropriate, with reference to the drawings - at least one embodiment is described in detail. The same, similar and / or functionally identical parts are provided with the same reference numerals.

Show it:

1 a schematic traffic situation

2 another schematic traffic situation

3 a schematic representation of the operation of the driver assistance system

1 shows a schematic traffic situation in which a vehicle 10 located. The vehicle 10 has a unit 15 for investigation one the vehicle 10 surrounding traffic situation. This unit 15 in the present example comprises two optical sensors 15a and 15b by means of which the environment in front of and next to the vehicle 10 is detectable, as well as a communication module 15c receiving the C2X data of another road user 25 allows. The data obtained by means of optical sensors 15a and 15b and / or via the communication module 15c are received, are from an evaluation 20 evaluated. The evaluation of the data shows that another road user 25 here exemplified as another vehicle, approaching from the right on a transverse road, by means of the optical sensors 15a and 15b stereoscopically the distance of the other road user 25 is determined. About the evaluation device 20 By comparing the distances changing over time, a movement trajectory of the other road user can be determined 25 determine. Alternatively or additionally, the movement trajectory of the other road user 25 via a communication module 30 of the other road user 25 be determined with which of these at a C2X communication, in this case at a C2C communication with the vehicle 10 participates. By comparison of the movement trajectory of the other road user 25 with the vehicle's own movement trajectory 10 determines the evaluation means 20 whether there is a potential risk of collision between the vehicle 10 and the other road user 25 is present.

In the in 1 shown traffic situation is now assumed that due to the two current, symbolized by dashed arrows movement trajectories is a risk of collision. About those of the optical sensors 15a and 15b supplied data determines the evaluation 20 a probability value G of the visibility of the other road user 20 for the driver of the vehicle 10 , In the traffic situation shown are located between the vehicle 10 and the other road user 25 two visual obstacles 35a and 35b in the form of two vehicles parked in a parking bay, which at least temporarily provide a view of the driver of the vehicle 10 on the other road users 25 prevent and / or at least partially hamper its view of the other road user. Taking into account the probability value G, a time t _{1 is} predicted to which the other road user 25 for the driver of the vehicle 10 is visible. In the present case, given the obstruction caused by the obstruction 35a and 35b predicts that the other road users 25 for the driver of the vehicle 10 is only visible when he is at the in 1 located with X symbolized position representing the position that the other road user 25 at the time t ₁ , ie P (t ₁ ). The evaluation means 20 determines that at this time t ₁ for the driver of the vehicle 10 Inadequate response options on the road users on a collision course 25 consist. Depending on the probability value G and the predicted time t ₁ is therefore the evaluation 20 a time t _{2 determined} for the output of the warning. Accordingly, on a warning unit 40 the warning issued at time t ₂ , to which the vehicle 10 in 1 is located at the Y symbolized position P (t ₂ ). The driver of the vehicle 10 is thus despite the visual obstructions due to the obstruction 35a and 35b early, namely at time t ₂ , on the other road users 25 made aware and can take measures to avoid the potential collision.

In 2 is now shown a schematic traffic situation in which the cause for the time t ₂ issued warning is subsequently omitted. The other road user 25 has continued its journey for a short period according to the originally determined movement trajectory, but then stopped, so that there is no longer any current movement trajectory and by the evaluation means 20 no potential risk of collision of the road user 25 with the vehicle 10 more is forecasted. Since the originally predicted probability value G was less than a predetermined limit value G2, which is responsible for a still acceptable visibility of the other road user 25 stands, causes the evaluation 20 now via an output device 45 , which in the present case is identical to the warning unit 40 , the output of information. With this information, the driver of the vehicle 10 Notifies that the reason for the originally issued warning has been removed.

3 shows a schematic sequence of a control of a driver assistance system. This is done in one step 100 about a unit 15 To determine the traffic situation, a determination of the vehicle 10 surrounding current traffic situation, in one step 200 via an evaluation means 20 an evaluation of the current traffic situation with regard to a potential risk of collision of the vehicle 10 with another road user 25 , and in one step 300 the prognosis of a probability value G of a visibility of the other road user 25 for the driver of the vehicle 10 before the predicted collision, wherein a time t _{1 is still} forecast, at which for the driver of the other road users 25 is visible. In one step 400 it is determined whether the probability value G is greater than 0% or 0%. In the former case, in one step 430 a time t ₁ predicts where the other road user 25 for the driver of the vehicle 10 becomes visible. Depending on the probability value G and the predicted time t ₁ , a time t ₂ for the output of the warning is determined, wherein the time t ₂ is selected the earlier the later the time t ₁ lies and the lower the probability value G is. Subsequently, in one step 460 the warning is issued at time t ₂ . In the second case, with a probability value G of 0%, the output of a warning via a warning unit takes place 40 immediately.

Although at least one exemplary embodiment has been further illustrated and described in the foregoing description and detail by way of preferred embodiments, there is no limitation to the disclosed examples, and other variations can be derived therefrom without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exists. It is also to be understood that exemplified embodiments are really only examples that are not to be construed in any way as limiting the scope, applicability, or configuration of the invention. Rather, the foregoing description and description of the figures enable one skilled in the art to practice the exemplary embodiments, and those skilled in the art having the benefit of the disclosure herein can make various changes, for example, to the function or arrangement of particular elements recited in an exemplary embodiment without to leave the scope of protection defined by the claims and their legal equivalents, such as further explanation in the description.

LIST OF REFERENCE NUMBERS

10

vehicle

15

Unit for determining the traffic situation

20

evaluation

25

other road users

30

communication module

35

obstruction

40

warning unit

45

output means

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been 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 102012009297 A1 [0002]

Claims (12)

Driver assistance system for warning a driver of a vehicle ( 10 ) before collisions with other road users, comprising a unit ( 15 ) for determining a current traffic situation surrounding the vehicle, an evaluation means ( 20 ) for evaluating the current traffic situation with regard to a potential risk of collision of the vehicle ( 10 ) with another road user ( 25 ), and a warning unit ( 40 ) with which, in the event of a predicted collision with the other road user ( 25 ) a warning inside the vehicle ( 10 ) can be output, wherein the evaluation means ( 20 ) is designed such that - on the basis of the detected current traffic situation, a probability value G of a visibility of the other road user ( 25 ) is predicted for the driver before the collision, if G> 0, a time t _{1 is} predicted at which for the driver of the other road users ( 25 ) is visible, and - depending on the probability value G and the predicted time t _1, a time t ₂ for the output of the warning is determined, and wherein the warning unit ( 40 ) is designed such that the warning at the time t _{2 is} output. Driver assistance system according to claim 1, in which, if G = 0, the warning unit ( 40 ) is designed so that the warning is issued immediately. Driver assistance system according to claim 1, in which, if G = 0, the warning unit ( 40 ) is designed such that the warning a predetermined time .DELTA.t before one of the evaluation ( 20 ) time of the collision is output. Driver assistance system according to one of Claims 1 to 3, in which the warning unit ( 40 ) is designed such that the warning includes an indication of a direction from which the other road user ( 25 ) the vehicle ( 10 ) approaches. Driver assistance system according to one of claims 1 to 4, in which the warning unit ( 40 ) is designed such that the warning gives an indication of the nature of the other road user ( 25 ). Driver assistance system according to one of claims 1 to 6, in which the other road user ( 25 ) is a motor vehicle, a rail vehicle, a motorcyclist, a cyclist, or a pedestrian. Driver assistance system according to one of claims 1 to 5, wherein the unit for detecting the current traffic situation, data from environmental sensors of the vehicle ( 10 ) and C2X data. Driver assistance system according to claim 7, wherein this data also includes information on dimensions of the other road user ( 25 ). Driver assistance system according to one of Claims 1 to 9, in which the evaluation means ( 20 ) is designed in such a way that - after the warning has been issued at the time t _2, that of the unit ( 15 ) each currently detected traffic situation continuously with a view to a persistence of the risk of collision with the other road users ( 25 ) and, if it is determined that the cause for the warning already issued has subsequently been omitted and the predicted probability value G before the warning was issued was less than a predefined limit value G2, such that G <G2, in the vehicle ( 10 ) from an output means ( 45 ) information is output to omit the cause of the warning. Driver assistance system according to claim 9, wherein G2 = 10% or G2 = 20% or G2 = 30% or G2 = 40% or G2 = 50%. Driver assistance system according to Claim 9 or 10, in which the evaluation means ( 20 ) is designed so that if it is determined that the cause of the warning already issued has been omitted subsequently and the predicted probability value G was equal to the limit value G2 or greater than the limit value G2 before the warning was issued, in the vehicle ( 10 ) from the output means ( 45 ) no information is output to remove the cause of the warning. Vehicle ( 10 ) with a driver assistance system according to claims 1 to 11.

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