WO2020210334A1

WO2020210334A1 - Warning system for a vehicle during bad weather and poor visibility

Info

Publication number: WO2020210334A1
Application number: PCT/US2020/027233
Authority: WO
Inventors: Luis Javier DEL REAL IBANEZ; Ulrich STÄHLIN; Paul D. BINGHAM
Original assignee: Continental Automotive Systems, Inc.
Priority date: 2019-04-12
Filing date: 2020-04-08
Publication date: 2020-10-15
Also published as: CN113692610A

Abstract

A method of providing an early warning message to a driver of a first vehicle that a second vehicle is approaching is provided. The method includes receiving a communication signal from a communication system and determining a warning message based on the communication signal. The method also includes transmitting, to a user interface supported by the first vehicle, instructions to provide the warning message to the driver at a first time. The method includes receiving vehicle system data from one or more vehicle systems supported by the first vehicle. The method also includes determining a surroundings status based on the vehicle system data. The method includes transmitting, to the user interface, instructions to provide the warning message to the driver at a second time being before the first time when the surroundings status is below a predetermined threshold.

Description

Warning System for a Vehicle During Bad Weather and Poor

Visibility

TECHNICAL FIELD

[0001] This disclosure relates to a warning system for a vehicle that provides a warning to a driver during bad meteorological visibility conditions due to bad weather (e.g., heavy rain, snow) and/or environmental conditions (e.g., fog, at sunrise and/or sunset).

BACKGROUND

[0002] Vehicle-to-everything (V2X) communication is the process of transmitting information from a vehicle to any entity that may affect the vehicle, and vice versa. V2X includes several types of communication, such as, but not limited to V2I (vehicle-to- infrastructure), V2N (vehicle-to-network), V2V (vehicle-to-vehicle), V2P (vehicle-to- pedestrian), V2D (vehicle-to-device), and V2G (vehicle-to-grid). V2X allows for communication between the vehicle and other entities which results in road safety, traffic efficiency, and energy savings.

[0003] Currently, V2V applications supported by a vehicle provide a driver of the vehicle with a warning based on a configurable time-to-collision threshold. This threshold is predefined and developed through user experience, reaction time and the vehicle capabilities (for example, braking distance). In some examples, it is desirable, for a vehicle to include an early warning system that warns the driver when another vehicle is approaching the vehicle before the V2V application is configured to provide the warning, for example, during bad meteorological visibility conditions due to bad weather (e.g., heavy rain, snow) and/or environmental conditions (e.g., fog, at sunrise and/or sunset). Therefore, the driver would receive the warning signal at a time before the time the V2V applications are configured to provide the warning signal. SUMMARY

[0004] One aspect of the disclosure provides a method of providing an early warning message to a driver of a first vehicle that a second non-visible vehicle is approaching.

The method includes receiving, at data processing hardware supported by the first vehicle, a communication signal from a communication system. The method includes determining, at the data processing hardware, a warning message based on the communication signal. The method also includes transmitting, from the data processing hardware to a user interface supported by the first vehicle and in communication with the data processing hardware, instructions to provide the warning message to the driver at a first time. The method also includes receiving, at the data processing hardware, vehicle system data from one or more vehicle systems supported by the first vehicle. The method also includes determining, by the data processing hardware, a surroundings status based on the vehicle system data. The method includes transmitting, from the data processing hardware to the user interface, instructions to provide the warning message to the driver at a second time being before the first time when the surroundings status is below a predetermined threshold.

[0005] Implementations of the disclosure may include one or more of the following optional features. In some implementations, the surroundings status includes a surrounding visibility value. In some examples, the surroundings status is below the predetermined threshold when the surrounding visibility value is less than 1000 meters.

In some examples, the method includes receiving, at the data processing hardware, data from at least one of a sensor system supported by the first vehicle or a drive system supported by the first vehicle. The vehicle system data may include at least one of a sensor system data or a drive system data. The sensor system may include at least one of a camera, a light sensor, or a rain sensor. The drive system may include a traction control system (TCS) and an electronic stability controller (ESC).

[0006] In some implementations, the method includes receiving, a road side alert signal from a road side unit positioned along a road. In this case, the surroundings status is also based on the received road side alert.

[0007] The method may also include receiving the communication signal one or more other vehicles. The communication system may be a vehicle-to-X (V2X) system. [0008] In some examples, the message to the driver includes a visual warning displayed on a display supported by the first vehicle. Additionally or alternatively, the message to the driver may include an audible warning outputted from an audio system of the first vehicle. In some examples, the method also includes transmitting to an autonomous drive controller, the surroundings status and the communication signal causing the autonomous drive controller to adjust one or more drive behaviors of the first vehicle.

[0009] Another aspect of the disclosure provides a system that includes data processing hardware supported by a first vehicle and memory hardware in

communication with the data processing hardware. The memory hardware stores instructions that when executed on the data processing hardware to perform operations. These operations include the method described above.

[0010] The details of one or more implementations of the disclosure are set forth in the accompanying drawings and the description below. Other aspects, features, and advantages will be apparent from the description and drawings, and from the claims.

DESCRIPTION OF DRAWINGS

[0011] FIG. 1 is a schematic view of an exemplary overview of a two vehicle along an intersection.

[0012] FIG. 2 is a schematic view of an exemplary overview of a vehicle having a vehicle warning system.

[0013] FIG. 3 is a schematic view of an exemplary arrangement of operations for a method of providing an early warning to a driver of a first vehicle that a second non- visible vehicle is approaching.

[0014] Like reference symbols in the various drawings indicate like elements. DETAILED DESCRIPTION

[0015] Referring to FIGS. 1 and 2, in some implementations, a first vehicle 100, 100a and a second vehicle 100, 100b are both equipped with a vehicle communication system 110. The communication system 110 allows the vehicles 100 to communicate with other entities and with each other. The communication system 110 may include a V2X communication system. The V2X communication system may use one or more of the following connection classes to send and/or receive messages and/or information: WLAN connection, e.g. based on IEEE 802.11, ISM (Industrial, Scientific, Medical Band) connection, Bluetooth® connection, ZigBee connection, UWB (ultrawide band) connection, WiMax® (Worldwide Interoperability for Microwave Access) connection, LTE-V2X, Dedicated Short Range Communications (DSRC), infrared connection, mobile radio connection, and/or radar-based communication. In some examples, the vehicle communication system 110 receives one or more road side alert (RSA) signals 202 from one or more road side units (RSU) 200. The RSUs 200 are positioned along the road, and provide roadside information relating to the road infrastructure, weather conditions, accidents, construction zones, or any other information relating to the current road.

[0016] In some examples, the communication system 110 includes an antenna 112 for receiving and transmitting messages/signals, data processing hardware, and memory hardware capable of storing instructions that cause the data processing hardware to perform one or more operations. The communication system 110 may be part of the controller 150. The vehicle 100 may include a user interface 120. In some examples, the user interface 120 is a touch screen display 124 the provides the driver with a displayed warning message. In other examples, the user interface 120 includes a rotary knob or a mouse to make a selection by the driver. The user interface 120 may display one or more warning messages 172, 182, 192 to the driver. In some examples, the user interface 120 receives one or more user commands from the driver via one or more input mechanisms or a touch screen display 124 and/or displays one or more notifications to the driver, the driver input is for example, an acknowledgement of the received warning. In some examples, the user interface 120 includes an audio system 126 that outputs an audible warning message 172, 182, 192.

[0017] The vehicle 100 includes a sensor system 130 to provide reliable and robust driving. The sensor system 130 may include different types of sensors that may be used separately or with one another to create a perception of the environment of the vehicle 100 that is used for the vehicle 100 to drive and aid the driver in make intelligent decisions based on objects and obstacles detected by the sensor system 130. The sensor system 130 may include the one or more cameras 132.

[0018] In some implementations, the sensor system 130 may also include light sensors 134 configured to cause the vehicle headlights to turn on when the measured environment light is at a first predetermined threshold and turn the vehicle headlights off when the measures environment light is at a second predetermined threshold. In addition, the sensor system 130 may include rain sensors 136 that sense when the rain is falling.

[0019] The sensor system 130 may include other sensors such as, but not limited to, radar, sonar, LIDAR (Light Detection and Ranging, which can entail optical remote sensing that measures properties of scattered light to find range and/or other information of a distant target), LADAR (Laser Detection and Ranging), etc. Additional sensors may also be used.

[0020] The vehicle 100 also includes a drive system 140. The drive system 140 includes a traction control system (TCS) 142 and an electronic stability controller (ESC) 144. The TCS 142 is a system designed to prevent loss of traction of driven road wheels.

The TCS 142 is activated when throttle input and engine torque are mismatched to road surface conditions. The ESC 144 is a computerized system that improves a vehicle’s stability by detecting and reducing loss of traction. When the ESC 144 detects loss of steering control, the ESC 144 automatically applies the brakes to help steer the vehicle where the driver intends to go. Therefore, braking is applied to individual wheels to control the vehicle.

[0021] In some examples, the vehicle 100 includes a controller 150. The vehicle controller 150 includes a computing device (or processor) 152 (e.g., central processing unit having one or more computing processors) in communication with non-transitory memory 154 (e.g., a hard disk, flash memory, random-access memory) capable of storing instructions executable on the computing processor(s) 152.

[0022] The controller 150 executes one or more applications 158 that include, but are not limited to, Intersection Movement Assist (IMA) 170, Forward Collision Warning (FCW) 180, and Do Not Pass Warning (DNPW) 190. These applications 170, 180, 190 receive one or more communication signals 114 by way of the communication system

110 and analyze these communication signals 114 to provide the driver with information or warning messages 172, 182, 192 relating to the road ahead, the other vehicles, and the current vehicle. The IMA 170 allows the vehicle 100a to receive messages/signals 114 from other vehicles 100b approaching an intersection from all directions. The IMA 170 calculates the potential of a collision and provides the driver with an IMA warning message 172 that advises the driver with progressive urgency. Therefore, the IMA allows the first vehicle 100a to be aware of the second vehicle 100b even though the driver of the first vehicle 100a does not see the second vehicle 100b. The FCW 180 calculates the potential of an impending rear-end collision with another vehicle 100 ahead in traffic, in the same lane moving in the same direction. The FCW 180 provides the driver with an FCW warning message 182 that advises the driver with progressive urgency. The DNPW 190 provides the driver of the first vehicle 100a with a DNPW warning message 192 during a passing maneuver attempt when a slower-moving vehicle 100 ahead cannot be passed safely using a passing zone, due to the passing zone being occupied by vehicles 100 moving in the opposite direction. In some examples, the DNPW 190 provides the information even though the driver is not attempting to pass the vehicle 100 in front of him/her. Therefore, when one of the applications 170, 180, 190 receives a communication signal 114 and determines that a warning message 172, 182, 192 should be sent to the driver, then the application 170, 180, 190 sends instructions 158 to the user interface 120 to provide the warning message 172, 182, 192 to the driver at a first time. The first time may be a predetermined time from the time of receiving the communication signal 114.

[0023] In addition, the controller 150 executes an early warning system 160 that analyzes sensor system data 131, drive system data 141, and/or RSA signals 202 from RSU 200 to determine if one of the applications 170, 180 should send the warning message 172, 182, 192 to the driver by way of the user interface 120 at a second time being before the first time, i.e., the second time being earlier than the first predetermined time. Thus, the early warning system 160 determines if the IMA 170, the FCW 180, and the DNPW 190 should provide the driver of the first vehicle 100a with the warning message 172, 182, 192 at the second time that is earlier than the first predetermined time during bad weather conditions because the driver of the first vehicle 100a may not be able to see the approaching second vehicle 100b or vehicles due to fog, snow storm, rain, and/or the road conditions will not allow normal braking (e.g., snow or ice).

[0024] The early warning system 160 determines a vehicle surroundings status 162 that includes weather information. The early warning system 160 may determine the weather information by analyzing the RSA signals 202, rain sensor data 137, and camera data 133. In addition, the early warning system 160 may also determine the weather information by analyzing the RSA signals 202, the TCS data 143 and the ESC data 145. In some examples, the vehicle surroundings status 162 includes visibility conditions due to bad weather (e.g., heavy rain, snow) and/or visibility conditions due to environmental conditions (e.g., fog, night time, sunrise/sunset) based on the light sensors data 135 and/or cameras 132.

[0025] The early warning system 160 analyzes the received vehicle system data 131, 141, and the RSA signal(s) 202 and based on the analyzed data determines if the driver has poor visibility and/or the road conditions has a low“mu” (m) coefficient value (i.e., if the road is slippery). Visibility is a measure of the distance at which an object or light can be clearly recognized. In some examples, visibility is reported by way of surface weather observations and METAR code either in meters or statute miles, depending on the country. Fog has a visibility of less than 3,300 feet, mist has a visibility of between 0.62 miles and 1.2 miles, and haze has a visibility from 1.2 miles to 3.1 miles. Fog and mist mainly include water droplets, while haze and smoke may be of smaller particle size. Visibility of less than 330 feet is usually reported as zero. At zero visibility, roads may be closed to avoid vehicle collisions. Therefore, poor visibility may range from a visibility between 330 feet and 3281 feet (approximately 1000 meters).

[0026] Therefore, when one of the applications 170, 180, 190 receives the

communication signal 114, the early warning system 160 determines if the driver should get the warning message 172, 182, 192 at a second time before the first time. For example, if the early warning system 160 determines that the driver has good visibility, i.e., a surroundings status 162 is above a predetermined threshold, then the application 170, 180, 190 sends the user interface 120 instructions 158 to provide the warning message 172, 182, 192 to the driver at the first time. The surroundings status 162 is above the predetermined threshold when the surrounding visibility value is greater than a preset visibility value. The preset visibility value may be 1000 meters, or any other preset value. However, if the early warning system 160 determines that the surroundings status is below the predetermined threshold, i.e., the driver has poor visibility, the early warning system 160 instructs the user interface 120 to provide the warning message 172, 182, 192 at the second time being earlier than the first time. In some examples, if one of the applications 170, 180, 190 includes a warning message 172, 182, 192 and the surroundings status 162 is below the predetermined threshold, then the driver is warned about the second vehicle 100b at a time earlier than the time the driver would have been notified if the surroundings status 162 was above the predetermined threshold. In some examples, if none of the applications 170, 180, 190 include a warning message 172, 182, 192, but the road status is below the predetermined threshold, the early warning system 160 would not have any messages 172, 182, 192 to warn the driver.

[0027] In some implementations, in addition to instructing the user interface 120 to display the warning message 172, 182, 192 to the driver and/or generate an audible warning sound, the early warning system 160 updates a TTC (time-to-collision) signal, which is indicative of the time it will take the first vehicle 100a to collide with the second vehicle 100b if both vehicles maintain their current heading, speed, acceleration, etc. The TTC signal may be used by one of the applications 170, 180, 190 of the early warning system 160 to instruct the drive system 140 of the vehicle or an autonomous system of the vehicle to adjust one or more vehicle behaviors to avoid a collision.

[0028] FIG. 3 provides an example arrangement of operations for a method 300 providing an early warning message to a driver of a first vehicle 100a that a second non- visible vehicle 110b is approaching the first vehicle 100a using the early warning system 160 of FIGS. 1 and 2. At block 302, the method 300 includes receiving, at data processing hardware 152 (executing an early warning system 160) supported by the first vehicle 100a, a communication signal 114 from a communication system 110. The communication system 110 may be a V2X system that includes an antenna 112 receiving the communication signal 114 from one or more other vehicles 110b. The early warning system 160 including one or more applications 170, 180, 190, such as, but not limited to, an Intersection Movement Assist (IMA) 170, a Forward Collision Warning (FCW) 180, or a Do Not Pass Warning (DNPW) 190. The communication system 110 may include other applications.

[0029] At block 304, the method 300 includes determining, at the data processing hardware 152, a warning message 172, 182, 192 based on the communication signal 114. In other words, the one or more applications 170, 180, 190 analyses the communication signal 114 and determine if one or more warning messages 172, 182, 192 should be sent to the driver.

[0030] At block 306, the method 300 includes transmitting, from the data processing hardware 152, i.e., one of the applications 170, 180, 190, to a user interface 120 supported by the first vehicle 100a and in communication with the data processing hardware 152, instructions 158 to provide the one or more warning messages 172, 182, 192 to the driver at a first time. The user interface 120 may include a display 124 and/or an audio system 126. Therefore, the warning message 172, 182, 192 may be displayed on the display 124. Additionally or alternatively, the warning message 172, 182, 192 may be outputted by way of the audio system 126.

[0031] At block 308, the method 300 includes receiving, at the data processing hardware 152, vehicle system data 131, 141 from one or more vehicle systems 130, 140 supported by the first vehicle 100a. The one or more vehicle systems 130, 140 may include a sensor system 130 the provides the processor 152 (i.e., the early warning system 160) with sensor system data 131. In some examples, the sensor system 130 includes one or more cameras 132, one or more light sensors 134, and/or rain sensor(s) 136. Therefore, the sensor system data 131 may include camera data 133, light sensor data 135, and/or rain sensor data 137. Additionally or alternatively, the one or more vehicle systems 130, 140 may include a drive system 140 that provides the processor 152 (i.e., the early warning system 160) with drive system data 141. In some examples, the drive system 140 includes a traction control system (TCS) 142 and an electronic stability controller (ESC) 144. Therefore, the drive system data 141 may include TCS data 143 and/or ESC data 145. The one or more vehicle systems 130, 140 may include other vehicle systems configured to detect a road or weather condition. In some

implementations, the method 300 also includes receiving a road side alert signal 202 from a road side unit 200 positioned along a road. The communication system 110 receives the road side signal 202 and provides the signal 202 to the early warning system 160.

[0032] At block 310, the method 300 includes determining, by the data processing hardware 152, a surroundings status 162 based on the vehicle system data 131, 141. In some examples, the surroundings status 162 is also based on the received road side alert signal 202.

[0033] At block 312, the method 300 includes transmitting, from the data processing hardware 152 to the user interface 120, instructions 158 to provide the one or more warning messages 172, 182, 192 to the driver at a second time being before the first time when the surroundings status 162 is below a predetermined threshold. In some examples, the surroundings status 162 includes a surrounding visibility value. The surroundings status 162 is below the predetermined threshold when the surrounding visibility value is less than a preset visibility value. The preset visibility value may be 1000 meters, or any other preset value.

[0034] In some examples, the first vehicle 100a is an autonomous or semi- autonomous vehicle that includes an autonomous drive controller (not shown) configured to execute one or more vehicle behaviors to autonomously or semi-autonomously drive the vehicle. In this case, the method 300 may include transmitting to the autonomous drive controller, the surroundings status 162 and the one or more warning messages 172, 182, 192 causing the autonomous drive controller to adjust one or more drive behaviors of the first vehicle 100a.

[0035] Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, specially designed ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0036] These computer programs (also known as programs, software, software applications or code) include machine instructions for a programmable processor, and can be implemented in a high-level procedural and/or object-oriented programming language, and/or in assembly/machine language. As used herein, the terms“machine-readable medium” and“computer-readable medium” refer to any computer program product, apparatus and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a

programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term“machine-readable signal” refers to any signal used to provide machine instructions and/or data to a programmable processor.

[0037] Implementations of the subject matter and the functional operations described in this specification can be implemented in digital electronic circuitry, or in computer software, firmware, or hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them. Moreover, subject matter described in this specification can be implemented as one or more computer program products, i.e., one or more modules of computer program instructions encoded on a computer readable medium for execution by, or to control the operation of, data processing apparatus. The computer readable medium can be a machine-readable storage device, a machine-readable storage substrate, a memory device, a composition of matter effecting a machine-readable propagated signal, or a combination of one or more of them. The terms“data processing apparatus”,“computing device” and“computing processor” encompass all apparatus, devices, and machines for processing data, including by way of example a programmable processor, a computer, or multiple processors or computers. The apparatus can include, in addition to hardware, code that creates an execution environment for the computer program in question, e.g., code that constitutes processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more of them. A propagated signal is an artificially generated signal, e.g., a machine-generated electrical, optical, or electromagnetic signal that is generated to encode information for transmission to suitable receiver apparatus.

[0038] Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multi-tasking and parallel processing may be advantageous. Moreover, the separation of various system components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0039] A number of implementations have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the disclosure. Accordingly, other implementations are within the scope of the following claims.

Claims

WHAT IS CLAIMED IS:

1. A method of providing an early warning message to a driver of a first vehicle that a second vehicle is approaching, the method comprising:

receiving, at data processing hardware supported by the first vehicle, a communication signal from a communication system;

determining, at the data processing hardware, a warning message based on the communication signal;

transmitting, from the data processing hardware to a user interface supported by the first vehicle and in communication with the data processing hardware, instructions to provide the warning message to the driver at a first time;

receiving, at the data processing hardware, vehicle system data from one or more vehicle systems supported by the first vehicle;

determining, by the data processing hardware, a surroundings status based on the vehicle system data; and

transmitting, from the data processing hardware to the user interface, instructions to provide the warning message to the driver at a second time being before the first time when the surroundings status is below a predetermined threshold.

2. The method according to claim 1, wherein the surroundings status includes a surrounding visibility value, wherein the surroundings status is below the predetermined threshold when the surrounding visibility value is less than a preset visibility value.

3. The method according to claim 2, further comprising: receiving, at the data processing hardware, data from at least one of a sensor system supported by the first vehicle or a drive system supported by the first vehicle, wherein the vehicle system data includes at least one of a sensor system data or a drive system data.

4. The method according to claim 3, wherein the sensor system includes at least one of a camera, a light sensor, or a rain sensor.

5. The method according to claim 3, wherein the drive system includes a traction control system (TCS) and an electronic stability controller (ESC).

6. The method according to at least one of the preceding claims, further comprising receiving, a road side alert signal from a road side unit positioned along a road, the surroundings status is also based on the received road side alert.

7. The method according to at least one of the preceding claims, further comprising receiving the communication signal from one or more other vehicles.

8. The method according to at least one of the preceding claims, wherein the communication system is a vehicle-to-X (V2X) system.

9. The method according to at least one of the preceding claims, wherein the warning message to the driver includes a visual warning displayed on a display supported by the first vehicle.

10. The method according to at least one of the preceding claims, wherein the warning message to the driver includes an audible warning outputted from an audio system of the first vehicle.

11. The method according to at least one of the preceding claims, further comprising transmitting to an autonomous drive controller, the surroundings status and the communication signal causing the autonomous drive controller to adjust one or more drive behaviors of the first vehicle.

12. A system for providing an early warning message to a driver of a first vehicle that a second vehicle is approaching, the system comprising:

data processing hardware supported by the first vehicle; and memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:

receiving a warning signal from a communication system; determining a warning message based on the communication signal; transmitting to a user interface supported by the first vehicle, instructions to provide the warning message to the driver at a first time;

receiving vehicle system data from one or more vehicle systems supported by the first vehicle;

determining a surroundings status based on the vehicle system data; and transmitting to the user interface, instructions to provide the warning message to the driver at a second time being before the first time, when the surroundings status is below a predetermined threshold.

13. The system according to claim 12, wherein the surroundings status includes a surrounding visibility value and wherein the surroundings status is below the

predetermined threshold when the surrounding visibility value is less than a preset visibility value.

14. The system according to at least one of claims 12 or 13, wherein the operations further include receiving data from at least one of a sensor system supported by the first vehicle or a drive system supported by the first vehicle, wherein the vehicle system data includes at least one of a sensor system data or a drive system data.

15. The system according to at least one of claims 12 to 14, wherein the operations further include receiving a road side alert signal from a road side unit positioned along a road, the surroundings status is also based on the received road side alert.

16. The system according to at least one of claims 12 to 15, wherein the

communication system is a vehicle-to-X (V2X) system, and wherein the operations further include receiving the communication signal from one or more other vehicles.

17. The system according to at least one of claims 12 to 16, wherein the warning message to the driver includes a visual warning displayed on a display supported by the first vehicle and/or the message to the driver includes an audible warning outputted from an audio system of the first vehicle.

18. The system according to at least one of claims 12 to 17, wherein the operations further include transmitting, to an autonomous drive controller, the surroundings status causing the autonomous drive controller to adjust one or more drive behaviors of the first vehicle.