SE539618C2

SE539618C2 - System and method for driving assistance of a vehicle capable of transporting a plurality of passengers

Info

Publication number: SE539618C2
Application number: SE1650217A
Authority: SE
Inventors: Claesson André
Original assignee: Scania Cv Ab
Priority date: 2016-02-19
Filing date: 2016-02-19
Publication date: 2017-10-17
Also published as: SE1650217A1; DE102017001052A1

Abstract

19 Abstract A system and a method for driver assistance of a vehicle (1) capable oftransporting a plurality of passengers. The system (2) includes at least onedetector unit (7) configured to detect passenger data oi of one or severalpassengers of the vehicle (1 ), and to generate a passenger data signal with thepassenger data d; a processing unit (5) configured to receive the passenger datasignal, determine passenger situation data indicating the passenger situationbased on the passenger data oi, receive position data p about a position of thevehicle (1 ), and to determine a driving recommendation ß for the vehicle (1) basedon the passenger situation data, the position data p of the vehicle (1) and at leastone rule considering passenger safety and/or comfort.

Description

System and method for driving assistance of a vehicle capable of transporting a plurality of passengers Technical field The present disclosure relates to a system and a method for driving assistance of avehicle capable of transporting a plurality of passengers. The disclosure alsorelates to a computer program and a computer program product.

BackgroundA driver of a vehicle carrying many passengers has a more complex driving task than a driver of a vehicle with none of very few passengers. For example may adriver of a bus have both seated passengers and passengers standing. A busmay also carry extra-ordinary equipage such as baby carriages and disabled orelderly persons mobility equipment. Standing passengers and extra-ordinaryequipage are more vulnerable for accelerations and rotations, and the driver hasto take care such that the ride becomes comfortable and safe depending for allpassengers on the bus. A driver in heavy traffic may be very focused on the trafficsituation, and has little possibility to continuously oversee the overall situation,including the passenger situation inside the bus.

Several systems have been disclosed in order to aid the driver when driving thebus. For example, US20030014166A1 discloses a safety system and method forbuses, in particular school buses. Sensors are located such that they can sense ifa person is occupying a seat, if the person is using seatbelt etc. A display visibleto the driver shows the condition of each seat. An alarm may be activated if acondition is not fulfilled. Further, in US20070035632A1 a mobile digital videorecording system is installed within a public transit vehicle to record, store andmanage an integrated data stream of data captured within and exterior to thetransit vehicle. The data is used in transit security, liability and evidentiaryprocesses. Some activities may be recorded and reported upon.

Summary 2 Driving comfortable and safe often depends on the experience level of the driver,and if the driver is new to the bus and/or to the route. lt is thus an object of the disclosure to provide a method that may aid the driver inmanaging a vehicle with capacity for many passengers along a certain route suchthat the ride becomes safe and comfortable for the passengers. lt is a further object to alleviate any drawbacks with the prior art.

These objects and others are at least partly achieved by a method, a system anda vehicle according to the independent claims, and by the embodiments according to the dependent claims.

The system for driver assistance of a vehicle capable of transporting a plurality ofpassengers includes at least one detector unit. The detector unit is configured todetect passenger data oi of one or several passengers of the vehicle, and togenerate a passenger data signal with the passenger data oi. The system furtherincludes a processing unit configured to receive the passenger data signal and todetermine passenger situation data indicating the passenger situation based onthe passenger data oi. The processing unit is further configured to receive positiondata p about a position of the vehicle and to determine a driving recommendationß for the vehicle based on the passenger situation data, the position data p for the vehicle and at least one rule considering passenger safety and/or comfort.

The method for driver assistance of a vehicle capable of transporting a plurality ofpassengers includes: detecting passenger data of one or several passengers ofthe vehicle, determining passenger situation data indicating the passengersituation based on the passenger data, receiving position data about a position ofthe vehicle and determining a driving recommendation ß for the vehicle based onthe passenger situation data, the position data p for the vehicle and at least one rule considering passenger safety and/or comfort 3 The system and method monitors the passenger situation in the vehicle anddetermines how the passengers are influenced or determines how the passengersare predicted to be influenced during the ride on the vehicle. Based on thedetermination, a driving recommendation is determined to provide safety andcomfort to the passengers. The method and system thus provides for anincreased comfort and security for the passengers.

According to one embodiment, the driving recommendation ß includes a desiredvelocity of the vehicle. The desired velocity is preferably related to a position ofthe road, or a certain segment of the road.

According to embodiment, the method includes: receiving driving data s about adriving situation of the vehicle, and wherein the determining a drivingrecommendation step also comprises to determining the driving recommendation based also on the driving data s of the vehicle.

According to one embodiment, the method comprising receiving driving data sincluding road topography data of the upcoming trajectory of the vehicle.According to one embodiment, the driving data s is the current velocity of thevehicle.

According to one embodiment, the at least rule is defining a limitation of a velocityand/or a direction change of the vehicle, wherein the limitation is depending on atleast one restriction of an allowed amount of force acting upon at least onepassenger.

According to one embodiment, the at least one rule is based on at least oneprevious experience of driving with a similar passenger situation, at the sameposition and/or with the same velocity. According to one embodiment, the methodcomprises using the determined driving recommendation ß for enhancing an existing rule or creating a new rule. 4 According to one embodiment, the method comprising presenting the driving recommendation ß to the driver. According to one further embodiment, the drivingrecommendation ß includes control parameters for the vehicle along the upcomingtrajectory of the vehicle. According to another embodiment, the method comprises controlling the vehicle according to the driving recommendation ß.

According to a further aspect, the disclosure relates to a computer program P,wherein the computer program P comprises a computer program code to cause aprocessing unit, or a computer unit connected to the processing unit, to perform the method according to any of the steps disclosed herein.

According to a still further aspect, the disclosure relates to a computer programproduct comprising a computer program code stored on a computer-readablemedium to perform the method according to any of the steps herein, when saidcomputer program code is executed by a processing unit or by a computer unitconnected to the processing unit.

Brief description of the drawinqs Fig. 1 shows a bus arranged with a system for driver assistance according to oneembodiment of the disclosure.

Fig. 2 shows the system in Fig. 1 in more detail.

Fig. 3 shows a method for driver assistance according to one embodiment of thedisclosure.

Fig. 4 illustrates use of the system and method according to one embodiment.

Detailed descriptionFig. 1 illustrates a vehicle 1 in the shape of a bus with the capability of transporting a plurality of passengers. A regular bus may have seating capacityfor about 10 to 60 passengers, and standing capacity for about 20 to 60passengers. Some buses may have a total capacity of up to 300 passengers. lnmany busses there are one or several areas for extra-ordinary equipage such as disabled or elderly persons mobility equipment, baby carriages etc. The bus may 5 be a public transport bus used e.g. in towns, or a coach for long distancetravelling. The bus may be a single-decker bus or a double-decker bus. The busmay also be an articulated bus, with at least two rigid sections linked by a pivotingjoint. The bus may also be autonomously driven without a human driver. The busmay be autonomously driven independently, or be part of a road train where onlythe first vehicle has a human driver. The road train may include only busses oralso other kinds of vehicles.

The vehicle 1 shown in Fig. 1 is arranged with a system 2 for assisting the driverthat will be described in the following. Part of the system 2 may be located in aremote computer unit or server as illustrated in Fig. 1 denoted with the referencenumber 4B. The system 2 may determine a driving recommendation ß for thevehicle 1 that may be transmitted to an electronic control unit (ECU) 3 in thevehicle 1 for further control of a function in the vehicle 1 in accordance with the determined driving recommendation ß. ln Fig. 2 the system 2 is shown in greater detail, and will now be explained withreference to that figure. The system 2 includes at least one detector unit 7configured to detect passenger data oi of one or several passengers of the vehicle1, and to generate a passenger data signal with the passenger data oi. Thedetector unit 7 may include a camera unit, a video recording unit, a laser unit, aCCD-unit (Charge Coupled Device), a heat sensor, an lR-sensor (lnfra Red), aload detector unit such as a pressure unit and/or a seat belt detector unit.Passenger data oi may thus be photos or video streams of one or severalpassengers, number of passengers or other kind of detection input. According toone embodiment the system 2 comprises a plurality of detector units 7 arrangedto monitor the passengers inside the vehicle 1. The passenger or passengers maythus be continuously monitored in the vehicle 1.

The system 2 further comprises a processing unit 5 and a memory unit 6 that arearranged to communicate with each other. The processing unit 5 and the memory 6 unit 6 may be arranged in an electronic control unit 4A of the vehicle, or in the computer unit or server 4B remote from the vehicle 1.

The processing unit 5 is configured to receive the passenger data signal and todetermine passenger situation data indicating the passenger situation based onthe passenger data oi. The processing unit 5 is configured to determine passengersituation data such as: a number of passengers inside the vehicle 1, a number ofstanding passengers inside the vehicle 1, a number of sitting passengers insidethe vehicle 1, a number of passengers inside the vehicle 1 using security belt, anumber of extra-ordinary equipage such as baby carriages, wheel chairs, walkingframes, bikes, etc. inside the vehicle 1. lnformation from one or several detectorunits 7 may thus be used to create an actual picture of the passenger situation.The passenger situation data may also include passenger expressions such asfrightened faces, how much the passengers are leaning, falling passengers and/oralready fallen passengers, orientation of the passengers or mobility equipment,height of passengers etc. Any of the determination of passenger data oi explainedabove may partly or instead be made in the one or several detector units 7. Thedetermination may include to compare detected passenger data at one time todetected passenger data at another time to determine differences in e.g. behaviorof the passenger or passengers.

The determination of the passenger data oi may be performed by means of acalculation model of passenger distribution that calculates a probable distributionof passengers in the vehicle 1, based on input data from one or several detectorunits 7 arranged to e.g. count passengers, ticket system data, information aboutavailable seats, cultural habits such as the probability that a passenger will standup, sit down, walk around etc. in the vehicle 1. The calculation model mayaccording to one embodiment determine a probable distribution of the passengersin the vehicle 1, based on statistical data of passenger distribution and passengercharacteristics. The determination may of course combine any of the describedmethods in order to determine a more robust actual passenger situation. 7 The processing unit 5 is further configured to receive position data p about aposition of the vehicle 1. The vehicle 1 may for that purpose be equipped with apositioning unit 8 configured to determine the position of the vehicle 1. Thepositioning unit 8 may be configured to receive signals from a global positioningsystem such as GNSS (Global Navigation Satellite System), for example GPS(Global Positioning System), GLONASS, Galileo or Compass. Alternatively thepositioning unit 8 may be configured to receive signals from for example one orseveral distance detectors in the vehicle 1 that measure relative distances to forexample a road side unit, nearby vehicles or similar with a known position. Basedon the relative distance or distances the positioning unit 8 may determine theposition of the own vehicle 1. A detector (not shown) may also be configured todetect a signature in for example a road side unit, whereby the signaturerepresents a certain position. The positioning unit 8 may then be configured todetermine its own position via detection of the signature. The positioning unit 8may instead be configured to determine the signal strength in one or a plurality ofsignals from a base station or road side unit with known position, and therebydetermine the position of the vehicle 1 by using triangulation. Some of the abovementioned technologies may of course be combined to ensure a correct positiondetermination of the vehicle 1. The positioning unit 8 is configured to generate aposition signal with the position p of the vehicle 1, and to send it to the processingunit 5. Together with road topography data and destination information, theprocessor unit 5 may be configured to determine the upcoming trajectory of thevehicle 1 with topography information. Of course, also the current topography ofthe road at the position of the vehicle 1 may be determined. The topography of theupcoming road, or the trajectory itself, may be referred to as driving data s, andmay thus be information of coming driving circumstances of the vehicle 1. Thus,the driving data s may be road information such as road radius of a curve, road radius of a roundabout, a traffic stop etc.

The vehicle 1 may be provided with one or several detector units 9 arranged todetect driving data s about driving situations of the vehicle 1. Such a detector unit9 may e.g. be configured to detect vehicle velocity, acceleration, deceleration or 8 inclination. The processing unit 5 may be configured to receive the driving data sabout the driving situation of the vehicle 1. The processing unit 5 may also beconfigured to receive driving data s from road topography data of the upcomingroad of the vehicle 1 from a map unit 10.

The processing unit 5 is further configured to determine a driving recommendationß for the vehicle 1 based on the passenger situation data, the position data p ofthe vehicle 1 and at least one rule considering passenger safety and/or passengercomfort. This determination step may also comprise to determine the drivingrecommendation based on also the driving data s of the vehicle 1. A rule maystipulate e.g. that if a passenger is falling when the vehicle 1 is turning in aroundabout, then the velocity of the vehicle 1 in the roundabout was too high.

The at least rule may be configured to define a limitation of a velocity and/or adirection change of the vehicle, and the limitation to be dependent upon at leastone restriction of an allowed amount of force acting upon at least one passenger.An allowed amount of force may be read out e.g. from force detectors (not shown)monitoring forces in different directions in the vehicle 1, while at the same timemonitoring the passengers to determine how they are influenced by the force orforces. An allowed amount of force may also implicitly be read out from thepassenger situation data. lf for example a passenger has fallen, the velocity maybe considered to have been too high without having to involve any explicit forcemeasurements. A rule considering passenger safety and/or comfort may thus beformulated to be dependent on the passenger situation data, characteristics of thecurrent road segment or upcoming trajectory and/or vehicle characteristics. Therule may give as output a driving recommendation ß as a recommended velocityof the vehicle 1 at the road segment, or a recommended amount of directionchange of the vehicle 1 at the road segment.

For example, the driving recommendation ß may be a desired velocity of thevehicle 1 when driving in that roundabout having that passenger situation. Thus, if a passenger was falling or leaning when the vehicle 1 was turning in the 9 roundabout, then the driving recommendation ß may be a lower velocity than thevelocity the vehicle 1 had in the roundabout. Another result of the determinationmay be that if there are standing passengers in the vehicle 1, and the vehicle 1will, according to the upcoming trajectory, travel in a roundabout, then the velocityof the vehicle 1 should be at most a certain maximum velocity to ascertain safetyand comfort for the standing passengers. Thus, the determination may take intoaccount both present behavior of the vehicle 1 based on the passenger situationdata and give recommendations after driving the road segment, and give drivingrecommendations for the upcoming trajectory of the vehicle 1 based on previousexperiences of driving the same road segment.

The driving recommendation ß may also include a limitation on an allowed changeof velocity of the vehicle 1, such as a maximum acceleration and/or a maximumdeceleration. This or these limitation(s) may be sent to the velocity controller 3 ora braking controller (not shown), respectively, whereby the acceleration ordeceleration of the vehicle 1 is controlled accordingly at the intended roadsegment or position.

This driving recommendation ß may be sent to other vehicles or to the remotecomputer unit 4B via wireless communication. The determination may also havebeen made in the remote computer 4B, and the driving recommendation ß maythen be sent to the vehicle 1, or to any other vehicle that will drive the same roadsegment and has a similar passenger situation. The vehicle 1 may be equippedwith communication means for wireless communication between vehicles, e.g.vehicle to vehicle communication (V2V), and between vehicles and road nodese.g. vehicle to infrastructure communication (V21). The wireless communicationmay also be performed via mobile communication servers, via an application in acommunication unit or via a server. The vehicle 1 is for the purpose of wirelesscommunication equipped with a unit for wireless communication (not shown). Theremote computer unit 4B is of course also arranged with a unit for wireless communication (not shown). lO The at least one rule may be based on at least one previous experience of drivingwith a similar passenger situation, at the same position or positions and/or withthe same velocity. Further, the determined driving recommendation ß may beused for enhancing an existing rule or creating a new rule. A database withrecommended driving parameters such as velocity of the vehicle 1 may then becreated by adding driving recommendations from several vehicles 1 driving thesame route. The route may then partly or entirely have recommended drivingparameters along the route, depending on the passenger situation, saved in thedatabase. ln that way, passenger comfort and safety may be optimal at everyposition along the route. The database is according to one embodiment created inthe remote computer unit 4B. The database may e.g. be downloaded to theelectronic control unit 4A in the vehicle 1.

The processing unit 5 may be configured to generate a signal with the drivingrecommendation ß and send it to a presentation unit 11 for presentation of thedriving recommendation ß to the driver. The presentation unit 11 may be a displayin the instrument panel of the vehicle 1, a load speaker, arranged as a head updisplay or another kind of human-machine-interface (Hl\/ll). The drivingrecommendation ß may be communicated as an audio signal, a visual signal or atactile signal via the presentation unit. The processing unit 5 may instead or alsobe configured to send the driving recommendation ß to a controller 3 of thevehicle 1, whereby the vehicle 1 is controlled according to the drivingrecommendation ß at correct positions along the trajectory. The ECU 3 may be avelocity controller arranged to limit the velocity of the vehicle 1 according to amaximum velocity, i.e. a driving recommended velocity. The velocity controller 3may be a dynamic velocity limiter arranged to limit the velocity of the vehicle 1.The velocity controller 3 may instead be a cruise controller arranged to determinea set-velocity for the vehicle. The velocity controller 3 may e.g. restrict the motortorque to an engine (not shown) of the vehicle 1 such that the vehicle 1 cannotachieve a greater velocity than the maximum velocity. lf the engine is an electricengine, then the electrical power to the engine may be restricted 1 such that thevehicle 1 cannot achieve a greater velocity than the maximum velocity. The ll controller 3 may instead be a steering controller configured to control the directionof the vehicle 1. The driving recommendation ß in the shape of a recommendedamount of direction change may be sent to the steering controller, whereby theamount of change of the direction is restricted to the recommended amount.

The vehicle 1 may communicate internally between its apparatuses, units,devices, sensors, detectors etc. via a communication bus, for example a CAN-bus(Controller Area Network) which uses a message based protocol. Examples ofother communication protocols that may be used are TTP (Time-TriggeredProtocol), Flexray, etc. ln that way signals and data described herein may beexchanged between different units, devices, sensors and/or detectors in thevehicle 1. Signals and data may instead be transferred wirelessly between the different apparatuses, units, devices, sensors and/or detectors.

The processing unit 5 of Fig. 2 may be made up of one or more CentralProcessing Units (CPU). The memory unit 6 may be made up of one or morememory units. A memory unit may include a volatile and/or a non-volatile memory,such as a flash memory or Random Access l\/lemory (RAIVI). The memory unit 6further includes a computer program P including a computer program code tocause the system 2, or a computer unit 4B connected or included to the system 2,to perform any of the method steps that will be described in the following. ln Fig. 3 a flowchart of the method for driver assistance of a vehicle 1 is illustrated.The method will now be explained with reference to the flowchart. The methodincludes: detecting passenger data of one or several passengers of the vehicle 1(A1). The passenger data may be detected with the described detector unit 7including a camera unit, a laser unit, a CCD-unit (Charge Coupled Device), a heatsensor, an lR-sensor (lnfra Red), a pressure unit and/or a seat belt detector unitor any other detector as disclosed herein. Thereafter passenger situation dataindicating the passenger situation is determined (A2). Passenger situation datamay be any of a number of passengers inside the vehicle 1, a number of standingpassengers inside the vehicle 1, a number of sitting passengers inside the vehicle 12 1, a number of passengers inside the vehicle 1 using seat belt, a number of extra-ordinary equipage such as baby carriages, wheel chairs, walking frames, bikes,etc. inside the vehicle 1. The passenger situation data may also includepassenger expressions such as frightened faces, how much the passengers areleaning, falling passengers and/or already fallen passengers, height ofpassengers, orientation of the passengers or mobility equipment etc. Position dataabout a position of the vehicle 1 is received (A3), and driving data s about adriving situation of the vehicle 1 may also be received. The driving data s aboutthe driving situation of the vehicle 1 may come from road topography data of theupcoming road of the vehicle 1. For example, the driving data s may be atrajectory of the vehicle 1 with topography data. The driving data s may also bethe current velocity of the vehicle 1, or any other parameter as disclosed herein. Adriving recommendation ß for the vehicle 1 is determined based on the passengersituation data, the position data p for the vehicle 1 and at least one ruleconsidering passenger safety and/or passenger comfort (A4). lf driving data s ofthe vehicle 1 is received, this data may also be used to determine a drivingrecommendation ß for the vehicle 1.The driving recommendation ß may be a desired velocity of the vehicle 1.

The at least one rule may be based on at least one previous experience of drivingwith similar passenger data, driving at the same position and/or driving with thesame velocity. The determined driving recommendation ß may be used forenhancing an existing rule or creating a new rule. The driving recommendation ßmay be presented to the driver. ln that way the driver may be taught how to drivethe route in a more correct way. The vehicle 1 may also be controlled automatically according to the driving recommendation ß. ln conjunction with Fig. 4 illustrating a roundabout 13, the method will now beexplained. ln the figure two busses are shown, a first bus A and a second bus B,driving the same route. The system 2 that has been explained above is installed inboth busses. The first bus A has already been driving in the roundabout 13 andhas now left the roundabout 13 and is driving on a segment 14 of the road after 13 the roundabout 13, while the second bus B is driving on a segment 12 of the roadbefore the roundabout 13 and will soon enter the roundabout 13. The first bus Ahas a passenger situation of 30 sitting passengers and 5 standing passengers. ltalso has one passenger sitting in a wheelchair. The vehicle 1 had the velocity of30 km/h in the roundabout 13. From the passenger situation as determined by thesystem 2, the system 2 determined that this velocity was too high for the standingpassengers and the passenger in the wheelchair. The system 2 determined thatthe standing passengers were |eaning too much in the roundabout, they seemedto loose their balance, and the passenger in the wheelchair was determined bythe system 2 to be unpleased as he had a scared face. Thus, the drivingrecommendation is by the system 2 determined to be a velocity in the roundaboutof instead at most 20 km/h. This driving recommendation is together with otherkind of information such as road segment, passenger situation etc. sent to theremote computer unit 4B. The second bus B will soon enter the roundabout 13,and has a current passenger situation of 25 sitting passengers and 7 standingpassengers. lt also has a baby carriage on board. The passenger situation is thusvery similar to the passenger situation of the first bus A. The passenger situationand the road trajectory are determined by the system 2 and communicated to theremote computer unit 4B. The remote computer unit 4B makes an analysis anddetermines that the second bus B has a similar passenger situation as the firstbus A and will drive in the same roundabout. A driving recommendation isdetermined by the system 2 and communicated to the second bus B as controlparameters in the shape of the desired velocity of 20 km/h in a plurality ofpositions p1, p2, p3, p4 in the roundabout 13. The position p1 is the positionwhere the second bus B will enter the roundabout 13 and the positions p2-p4 arepositions in the roundabout 13. The control parameters are communicated to acontrol unit 3 of the vehicle 1 which will control the vehicle 1 to have a maximumvelocity of 20 km/h throughout the positions p1-p4.

The present invention is not limited to the above-described preferred embodiments. Various alternatives, modifications and equivalents may be used. 14 Therefore, the above embodiments should not be taken as Iimiting the scope ofthe invention, which is defined by the appending claims.

Claims

1. ïL laims

2. A system (2) for driver assistance of a vehicle (1) capable oftransporting a plurality of passengers c h a racte r i z e d in that the system(2) includes- at least one detector unit (7) configured to detect passenger data oi of one or several passengers of the vehicle (1 ), and to generate a passenger datasignal with the passenger data oi;- a processing unit (5) configured to - receive the passenger data signal; - determine passenger situation data indicating the passenger situation based on the passenger data oi; - receive position data p about a position of the vehicle (1 ); and to - determine a driving recommendation ß for the vehicle (1) based on the passenger situation data, the position data p of the vehicle (1) and atleast one rule considering passenger safety and/or passenger comfort.

3. The system (2) according to claim 1, wherein the drivingrecommendation ß is a desired velocity of the vehicle (1 ).

4. The system (2) according to claim 1 or 2, wherein the processing unit(5) is configured to- receive driving data s about a driving situation of the vehicle (1 ); wherein the determining a driving recommendation step also comprises to- determine the driving recommendation based on also the driving data s ofthe vehicle (1 ).

5. The system (2) according to claim 3, wherein the processing unit (5)is configured to receive driving data s including road topography data of theupcoming trajectory of the vehicle (1 ).

6. The system (2) according to claim 4, wherein the processing unit (5)is configured to determine a driving recommendation ß including controlparameters for the vehicle (1) along the upcoming trajectory of the vehicle (1 ).The system (2) according to any of the preceding claims, wherein the at leastgﬁgïfmrule is configured to define a limitation of a velocity and/or a direction 2 change of the vehicle (1), wherein the limitation is depending on at least onerestriction of an allowed amount of force acting upon at least one passenger.

7. The system (2) according to any of the preceding claims, wherein thedetector unit (7) includes a camera unit, a laser unit, a CCD-unit (ChargeCoupled Device), a heat sensor, an lR-sensor (lnfra Red), a pressure unitand/or a seat belt detector unit.

8. The system (2) according to any of the preceding claims, wherein theprocessing unit (5) is configured to determine passenger situation data suchas: a number of passengers inside the vehicle (1 ), a number of standingpassengers inside the vehicle (1 ), a number of sitting passengers inside thevehicle (1 ), a number of passengers inside the vehicle (1) using seat belt, anumber of extra-ordinary equipage such as baby carriages, wheel chairs,walking frames, bikes, etc. inside the vehicle (1).

9. The system (2) according to any--af--t-he-praeedi-ng--e-i-aimsçlgtimmïå,wherein the driving data s includes the current velocity of the vehicle (1 ).

10. The system (2) according to any of the preceding claims, wherein theat least one rule is based on at least one previous experience of driving with asimilar passenger situation, at the same position and/or with the same velocity.

11. The system (2) according to any of the preceding claims, wherein thedetermined driving recommendation ß is used for enhancing an existing rule orcreating a new rule.

12. The system (2) according to any of the preceding claims, wherein theprocessing unit (5) is configured to generate a signal with the drivingrecommendation ß and send it to a presentation unit (11) for presentation ofthe driving recommendation ß to the driver.

13. The system (2) according to any of the preceding claims, wherein theprocessing unit (5) is configured to send the driving recommendation ß to acontroller (3) of the vehicle (1 ), whereby the vehicle (1) is controlled accordingto the driving recommendation ß.

14. A method for driver assistance of a vehicle (1) capable of transportinga plurality of passengers c h a racte rized in that the method includes- detecting passenger data of one or several passengers of the vehicle (1 ); 3 - determining passenger situation data indicating the passenger situationbased on the passenger data; - receiving position data about a position of the vehicle (1 ); - determining a driving recommendation ß for the vehicle (1) based on thepassenger situation data, the position data p of the vehicle (1) and at leastone rule considering passenger safety and/or passenger comfort. _

15. The method according to claim 14, wherein the drivingrecommendation ß includes a desired velocity of the vehicle (1 ).

16. The method according to claim 14 or 15, including- receiving driving data s about a driving situation of the vehicle (1 ); wherein the determining a driving recommendation step also comprises - determining the driving recommendation based on also the driving data s ofthe vehicle (1 ).

17. The method according to claim 16, comprising receiving driving data sincluding road topography data of the upcoming trajectory of the vehicle (1 ).

18. The method according to claim 17, wherein the drivingrecommendation ß includes control parameters for the vehicle (1) along theupcoming trajectory of the vehicle (1 ).

19. The method according to any of claims 14 to 18, wherein the at leastrule is defining a limitation of a velocity and/or a direction change of the vehicle(1), wherein the limitation is depending on at least one restriction of an allowedamount of force acting upon at least one passenger.

20. The method according to any of the claims 14 to 19, wherein thepassenger data is detected with a detector unit (7) including a camera unit, alaser unit, a CCD-unit (Charge Coupled Device), a heat sensor, an lR-sensor(lnfra Red), a pressure unit and/or a seat belt detector unit.

21. The method according to any of the claims 14 to 20, comprisingdetermining passenger situation data such as: a number of passengers insidethe vehicle (1 ), a number of standing passengers inside the vehicle (1 ), anumber of sitting passengers inside the vehicle (1 ), a number of passengersinside the vehicle (1) using seat belt, a number of extra-ordinary equipage 4 such as baby carriages, wheel chairs, walking frames, bikes, etc. inside thevehicle (1 ).

22. The method according to any of the c|aims -t-ai-ííjzmto 21, wherein thedriving data s is the current velocity of the vehicle (1 ).

23. The method according to any of the c|aims 14 to 22, wherein the at least one rule is based on at least one previous experience of driving with a similar passenger situation, at the same position and/or with the same velocity.

24. The method according to any of the c|aims 14 to 23, comprising usingthe driving recommendation ß for enhancing an existing rule or creating a newrule.

25. The method according to any of the c|aims 14 to 24, comprisingpresenting the driving recommendation ß to the driver.

26. The method according to any of the c|aims 14 to 25, comprisingcontrolling the vehicle (1) according to the driving recommendation ß.

27. A computer program P, wherein said computer program P comprisesa computer program code to cause a processing unit (5), or a computerconnected to said processing unit (5), to perform the method according to anyof c|aims 14-26.

28. A computer program product comprising a computer program codestored on a computer-readable medium to perform the method according toany of the c|aims 14-26, when said computer program code is executed by a processing unit (5) or by a computer connected to said processing unit (5).