Device for warning a vehicle driver of a vehicle about an object, and vehicle having such a device

Abstract

An apparatus for warning a vehicle driver about an object, including: a) a sensor device having a detection area (DA) extending from a front DA, in front of a vehicle, including the front DA, to a rear end of a side DA, laterally from one vehicle side and whose length corresponds to no more than the vehicle length, the sensor device detecting an object, b) a control device to evaluate the sensor signals for objects and defines a warning area (WA) that is dynamically alterable (DyA) based on the vehicle speed, the WA being alterable within the side DA between a non-zero minimum/maximum WA, c) a warning device generating a warning signal for a detected object, d) the sensor device being such that the DA continues from the side DA into a rear DA behind the vehicle rear, including the rear DA, e) the control device expanding the DyA WA.

Claims

1. An apparatus for warning a vehicle driver of a vehicle about an object, comprising: a) a sensor device having a detection area extending at least from a front detection area, arranged in front of a vehicle front, including the front detection area, to a rear end of a side detection area, arranged laterally from one vehicle side and whose length corresponds to no more than the length of the vehicle, wherein the sensor device detects an object stationary or moving within the detection area, b) a control device interacting with the sensor device and configured so that it evaluates the signals of the sensor device for objects stationary or moving within the detection area and defines a warning area that is dynamically alterable at least based on a speed of the vehicle, said warning area being alterable within the side detection area between a non-zero minimum warning area and a maximum warning area, as seen perpendicular to a longitudinal centerline of the vehicle, wherein the dynamically alterable warning area is smaller than or the same as the detection area, c) a warning device actuated by the control device such that it generates a warning signal to warn the vehicle driver only when the sensor device detects the object in the dynamically alterable warning area, wherein d) the sensor device is furthermore arranged and configured such that the detection area continues from the side detection area into a rear detection area behind the vehicle rear, including the rear detection area, and in that e) the control device is furthermore configured so that it expands the dynamically alterable warning area, as seen in the direction of the longitudinal centerline of the vehicle, e1) into the rear detection area if the sensor device detects the object in the rear detection area, and/or expands it into the front detection area if the sensor device detects the object in the front detection area, if e2) the sensor device detects that the vehicle and the object are moving toward one another.

2. The apparatus of claim 1, wherein the control device is configured so that it can receive signals representing an actual or intended turning of the vehicle and laterally widens the dynamically alterable warning area, as seen transversely with respect to the longitudinal centerline of the vehicle, within the side detection area on the vehicle side toward which the turning of the vehicle actually takes place or is intended.

3. The apparatus of claim 1, wherein the control device is configured so that it defines the dynamically alterable warning area based on the speed of the vehicle, the speed of the detected object, a relative speed between the vehicle and the detected object, a distance between the vehicle and the detected object and based on a geometry of the vehicle.

4. The apparatus of claim 1, wherein the side detection area of the detection area is arranged laterally from the vehicle side that is the vehicle side facing away from a driver's seat of the vehicle.

5. The apparatus of claim 1, wherein the side detection area of the detection area is arranged laterally from the vehicle side that is the vehicle side facing a driver's seat of the vehicle.

6. The apparatus of claim 1, wherein the warning device is configured so that it generates a cascade of warning signals based on a hazard level of a driving situation brought about by the detected object and/or by the vehicle.

7. The apparatus of claim 6, wherein the warning signals are visible signals with respective different colors and/or audible signals with respective different sounds and/or sound sequences.

8. An apparatus for warning a vehicle driver of a vehicle about an object, comprising: a) a sensor device having a detection area, wherein the sensor device can detect an object stationary or moving within the detection area, b) a control device interacting with the sensor device and configured so that it evaluates the signals of the sensor device for objects stationary or moving within the detection area and defines a warning area that is dynamically alterable at least on the basis of speed, said warning area being smaller than the detection area or no more than the same size as the detection area, c) a warning device actuated by the control device such that it generates a warning signal to warn the vehicle driver, wherein d) the warning device is configured so that it generates a cascade of warning signals based on a hazard level of a driving situation brought about by the detected object and/or by the vehicle, wherein e) the control device is furthermore configured so that, on detection of an object moving along an object trajectory in a manner laterally offset from the vehicle within the detection area, it defines a hazard area, wherein e1) the definition of the hazard area is based on the hypothetical situation that the vehicle turns in the direction of the object trajectory at a particular time and it comes to a fictitious point of intersection between the then fictitious vehicle trajectory and the object trajectory, and wherein e2) the hazard area is in triangular form, with a first corner point, arranged on the vehicle, as a reference point, a second corner point arranged on the object trajectory and a third corner point arranged on the object trajectory, wherein the second corner point and the third corner point are defined such that a collision between the object and the vehicle is assumed if the object is on the object trajectory on a connecting line between the second corner point and the third corner point at the particular time, otherwise no collision is assumed, and in that f) the control device is furthermore configured so that it takes a detection of an object within or outside the warning area and within or outside the hazard area as a basis for determining an existing hazard level and generates a warning signal corresponding to the respective hazard level within the cascade of warning signals.

9. The apparatus of claim 8, wherein the control device is furthermore configured so that, if the sensor device f1) detects the object outside the warning area and outside the hazard area but within the detection area, it generates a first warning signal or does not generate a warning signal, or f2) detects the object within the hazard area and outside the warning area or within the warning area and outside the hazard area, it generates a second warning signal, or f3) detects the object outside the warning area but within the hazard area and that the vehicle and the object are moving relative to one another, or detects the object within the warning area and the hazard area and that the vehicle and the object are not moving relative to one another, it generates a third warning signal, or f4) detects the object within the warning area and within the hazard area and that the vehicle and that the object are moving relative to one another, it generates a fourth warning signal, wherein g) the hazard level rises from the first warning signal to the fourth warning signal.

10. The apparatus of claim 8, wherein the control device is furthermore configured so that it defines the hazard area based on time in time steps, at least based on the object trajectory and/or the speed of the vehicle that currently exists at the respective time step.

11. The apparatus of claim 8, wherein the first corner point or reference point is a spot or an area on the vehicle at which at least one sensor of the sensor device is arranged that detects the object.

12. The apparatus of claim 8, wherein the control device is configured so that it defines the second corner point and the third corner point at least based on a smallest possible radius that the with a vehicle 1 traveling at a particular speed at the time can still travel on safely if it fictitiously turns in the direction of the object trajectory at a maximum possible transverse acceleration.

13. The apparatus of claim 8, wherein the warning signals are visible signals with respective different colors and/or audible signals with respective different sounds and/or sound sequences.

14. The apparatus of claim 8, wherein the control device defines the detection area such that it extends at least from a front detection area, arranged in front of a vehicle front, including the front detection area, via a side detection area, arranged laterally from a vehicle side, to a rear detection area in front of a vehicle rear, including the rear detection area.

15. The apparatus of claim 14, wherein the warning area is alterable within the side detection area between a non-zero minimum warning area and a maximum warning area, as seen perpendicular to a longitudinal centerline of the vehicle.

16. The apparatus of claim 14, wherein the warning area is dynamically alterable in a direction of the longitudinal centerline of the vehicle within the rear detection area and/or within the front detection area.

17. The apparatus of claim 14, wherein the control device is configured so that it can receive signals representing an actual or intended turning of the vehicle and laterally widens the dynamically alterable warning area, as seen transversely with respect to the longitudinal centerline of the vehicle, on that vehicle side within the side detection area toward which turning of the vehicle actually takes place or is intended.

18. The apparatus of claim 14, wherein the side detection area of the detection area is arranged laterally from the vehicle side that is the vehicle side facing away from a driver's seat of the vehicle.

19. The apparatus of claim 14, wherein the side detection area of the detection area is arranged laterally from the vehicle side that is the vehicle side facing the driver's seat of the vehicle.

20. A vehicle, comprising: an apparatus for warning a vehicle driver of a vehicle about an object, including: a) a sensor device having a detection area extending at least from a front detection area, arranged in front of a vehicle front, including the front detection area, to a rear end of a side detection area, arranged laterally from one vehicle side and whose length corresponds to no more than the length of the vehicle, wherein the sensor device detects an object stationary or moving within the detection area, b) a control device interacting with the sensor device and configured so that it evaluates the signals of the sensor device for objects stationary or moving within the detection area and defines a warning area that is dynamically alterable at least based on a speed of the vehicle, said warning area being alterable within the side detection area between a non-zero minimum warning area and a maximum warning area, as seen perpendicular to a longitudinal centerline of the vehicle, wherein the dynamically alterable warning area is smaller than or the same as the detection area, c) a warning device actuated by the control device such that it generates a warning signal to warn the vehicle driver only when the sensor device detects the object in the dynamically alterable warning area, wherein d) the sensor device is furthermore arranged and configured such that the detection area continues from the side detection area into a rear detection area behind the vehicle rear, including the rear detection area, and in that e) the control device is furthermore configured so that it expands the dynamically alterable warning area, as seen in the direction of the longitudinal centerline of the vehicle, e1) into the rear detection area if the sensor device detects the object in the rear detection area, and/or expands it into the front detection area if the sensor device detects the object in the front detection area, if e2) the sensor device detects that the vehicle and the object are moving toward one another.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 shows a front portion of a side view of a vehicle having an apparatus for warning a vehicle driver of a vehicle about an object according to an embodiment of the invention.

(2) FIG. 2 shows a plan view of the vehicle from FIG. 1 with a symbolically depicted detection area of a sensor device of the apparatus.

(3) FIG. 3 shows a highly schematized plan view of the vehicle from FIG. 1 with a symbolically depicted dynamically alterable warning area of the apparatus.

(4) FIG. 4 shows a highly schematized plan view of the vehicle from FIG. 1 with a symbolically depicted dynamically alterable warning area and a symbolically depicted hazard area of the apparatus.

(5) FIG. 5 shows a traffic situation between the vehicle from FIG. 1 and an object for which the apparatus generates a lowest level of warning signal.

(6) FIG. 6 shows a traffic situation between the vehicle from FIG. 1 and an object for which the apparatus generates a higher level of warning signal in comparison with the lowest level.

(7) FIG. 7 shows a traffic situation between the vehicle from FIG. 1 and an object for which the apparatus generates a higher level of warning signal in comparison with the lowest level.

(8) FIG. 8 shows a traffic situation between the vehicle from FIG. 1 and an object for which the apparatus generates a higher level of warning signal in comparison with the lowest level.

(9) FIG. 9 shows a traffic situation between the vehicle from FIG. 1 and an object for which the apparatus generates a highest level of warning signal.

DETAILED DESCRIPTION

(10) FIG. 1 shows a front portion of a side view of an, in this case, by way of example, left-hand drive vehicle 1, in particular a towing vehicle of a towing-vehicle/trailer combination, having an apparatus 2 for warning a vehicle driver of the vehicle about an object 4 according to an embodiment of the invention.

(11) The apparatus 2 contains a sensor device 6 having a detection area 8 extending at least from a front detection area 12, arranged in front of a vehicle front 10, to a side detection area 16, arranged laterally from an, in this case, by way of example, right-hand vehicle side 14. Furthermore, the detection area 8 also comprises a rear detection area 18 behind the vehicle rear 20, extending from a rear end of the side detection area 16 to an end of the rear detection area 18 pointing away from the side detection area 16. (FIG. 2).

(12) The detection area 8 is in this case depicted rectangularly in an idealized manner, but can have any shape depending on the type of the sensor device 6. The sensor device 6 can detect an object 4 stationary or moving within the detection area 8 and also the speed v_target at which this object moves and in which direction.

(13) In FIG. 1 and FIG. 2, it is possible to see, from the sensor device 6, a first sensor 22 on the right-hand front edge of a driver's cab 24 and a second sensor 26 at the rear end of a longitudinal frame support, on the right in the direction of travel, of a ladder frame of the towing vehicle. Beyond that, the sensor device 6 can also include further sensors that then widen the detection area 8, for example also to the other side detection area on the other vehicle side 28. The sensor or sensors is/are for example radar sensors, laser sensors or else cameras.

(14) Furthermore, the apparatus 2 also includes a control device 30, interacting with the sensor device 6, that is configured so that it evaluates the signals of the sensor device 6 for whether an object 4 and/or what type of object 4 (stationary or moving) is situated within the detection area 8 and in which direction this object 4 moves. Outside the detection area 8, no detection of objects 4 is meant to be possible.

(15) The control device 30 is also configured so that it defines a warning area A_info, depicted in a dashed line in FIG. 3, that is dynamically alterable on the basis of the speed v_ego of the vehicle 1. Dynamically alterable warning area A_info means that the outer limits or edges of the warning area A_info are alterable. The dynamically alterable warning area A_Info is always smaller than or the same as the detection area 8, i.e. it cannot generally be larger than the detection area 8. The dynamically alterable warning area A_info is defined or calculated by the control device 30 on the basis of the speed v_ego of the vehicle 1.

(16) The dynamically alterable warning area A_info may become smaller as the speed of the vehicle decreases, the minimum warning area A_info_min being a lower limit. The background is that at a relatively low speed e.g. in city traffic and given a relatively large warning area A_info owing to the numerous objects normally present e.g. at a junction, a correspondingly large number of warning signals would be generated that would overwhelm the vehicle driver. A warning area A_info that is then smaller then ensures that the number of warning signals is advantageously reduced. Conversely, the dynamically alterable warning area A_info becomes larger as the speed of the vehicle increases, with the maximum warning area e.g. in the form of the detection area 8 being an upper limit.

(17) Furthermore, the apparatus 2 also has a warning device 32 that is actuated by the control device such that it generates a warning signal to warn the vehicle driver only if the sensor device detects an object in the dynamically variable warning area.

(18) FIG. 3 shows a highly schematized plan view of the vehicle from FIG. 1 with the dynamically alterable warning area A_info depicted symbolically therein by rectangles drawn in dashed lines. As FIG. 3 reveals, the warning area A_info is firstly alterable between the non-zero minimum warning area A_info_min and a maximum warning area A_info_max within the side detection area 8, as seen perpendicular to a longitudinal centerline 34 of the vehicle. The length of the minimum warning area A_info_min is in this case identical to the length L of the vehicle 1, for example, and is congruent therewith. The width of the minimum warning area A_info_min is dy_min in FIG. 3.

(19) Furthermore, the warning area A_info can also expand into the rear detection area 18, as seen in the direction of the longitudinal centerline 34 of the vehicle 1, if the sensor device 6 detects an object 4 in the rear detection area 18, for example a cyclist riding a bicycle who is moving from the rear right toward the vehicle 1 and parallel thereto. In that case, for example, the speed v_target of the cyclist 4 is greater than the speed v_ego of the vehicle 1, e.g. because the vehicle 1 is stationary at a junction and the cyclist 4 is traveling from the rear right toward the vehicle 1, for example in order to come to a standstill beside the, in FIG. 3, right-hand vehicle side 14 of the vehicle 1. This situation is characterized by v_Rel>0 in FIG. 3, because it is then assumed that the relative speed v_Rel or the difference between the speed v_target of the object 4 and the speed v_ego of the vehicle 1 is greater than 0. The widening of the warning area A_info into the rear detection area 18 that is then prompted by the control device 30 as a result is depicted in the lower portion of FIG. 3.

(20) Furthermore, the dynamically alterable warning area A_info can also expand into the front detection area 12 of the detection area 8 if the sensor device 6 detects an object 4 in the front detection area 12, for example again a cyclist riding a bicycle who is moving from the front right in front of the vehicle 1 and for example parallel thereto. Since for example the speed v_target of the cyclist is less than the speed v_ego of the vehicle, the cyclist 4 is moving toward the vehicle more or less from in front. This situation is characterized by v_Rel<0 in FIG. 3, because it is then assumed that the relative speed or the difference between the speed v_ego of the vehicle and the speed v_target of the object is less than 0. The widening of the dynamically alterable warning area A_info into the front detection area 12 that is then prompted by the control device 30 as a result is depicted in the upper portion of FIG. 3.

(21) FIG. 2 and FIG. 3 furthermore depict a coordinate system X-Y with the zero point at the right-hand front edge of the vehicle 1, the Y direction (positive values starting from the zero point to the right) running perpendicular to the longitudinal centerline 34 of the vehicle 1 and the X direction (positive values starting from the zero point to the front, negative values starting from the zero point to the rear) running parallel to the longitudinal centerline 34 of the vehicle 1.

(22) Starting from the zero point each time, dy_info denotes the width of the dynamically alterable warning area A_info in the Y direction, dy_min denotes the minimum width of the minimum warning area A_info_min in the Y direction, v_ego denotes the speed of the vehicle and vy_Rel denotes the relative speed between the detected object 4 and the vehicle 1 in the Y direction.

(23) The following is then true of the surface area of the minimum warning area A_Info_min laterally from the vehicle 1 (right-hand side in this case):
A_Info_min=dy_min*I_truck(1)
where I_truck is the length L of the vehicle 1 or of the vehicle/trailer combination.

(24) Furthermore, the following is true of the width dy_info of the dynamically alterable warning area A_info on the basis of the relative speed vy_Rel in the Y direction:
dy_info=dy_min+coeff_vx1*v_ego.sup.2+coeff_vx2*v_ego+coeff_vy*vy_rel(2)
where coeff_vx1, coeff_vx2 and coeff_vy are coefficients that are dependent on the vehicle speed v_ego in X and Y directions and on the geometry of the vehicle 1.

(25) If there is a relative movement between the vehicle 1 and the detected object 4 in the rear detection area 18 behind, the following is true, as already explained above:
v_Rel>0(3)

(26) In that case, the following is true of the change dx_max in the length L of the warning area A_info starting from the zero point toward the front:
dx_max=0(4)

(27) In other words, no lengthening dx_max of the warning area A_info toward the front is then necessary because an object 4 is not approaching the vehicle 1 from the front or an object 4 has not been detected in front of the vehicle 1.

(28) By contrast, the following is then true of the change dx_min in the length of the warning area A_info starting from the zero point to the rear:
dx_min=I_truckcoeff_vRel*vRel(5)
where I_truck is the length L of the vehicle 1 or of the vehicle train and coeff_vRel is a constant coefficient.

(29) In other words, a lengthening dx_min of the warning area A_info toward the rear is then necessary because an object 4 is approaching the vehicle 1 from behind.

(30) If there is a relative movement between the vehicle 1 and the detected object 4 in the front detection area 12 in front, the following is true, as already explained above:
v_Rel<0(6)

(31) The following is then true of the change dx_max in the length of the warning area A_info starting from the zero point toward the front:
dx_max=coeff_vRel*vRel(7)
where coeff_vRel is a constant coefficient.

(32) The following is then true of the change dx_min in the length of the warning area A_info starting from the zero point toward the rear:
dx_min=I_truck(8)

(33) Consequently, the warning area A_info is not lengthened toward the rear because an object 4 has not been detected there.

(34) Accordingly, it is also possible to take into consideration situations in which objects 4 move substantially in the same direction as the vehicle 1, i.e. the trajectory of the objects 4 is parallel to the longitudinal centerline 34 of the vehicle 1 and the objects 4 are situated, in relation to the longitudinal centerline 34 of the vehicle 1, not just laterally from the vehicle 1 but rather additionally also either in front of or behind the vehicle 1, i.e. in front of the vehicle front 10 or behind the vehicle rear 20; furthermore, also situations in which the object 4 is stationary and the traveling vehicle 1 moves toward the object 4 from in front or behind.

(35) The widening of the dynamically alterable warning area A_info in the front and/or rear area of the vehicle 1 warns the driver, by warning signals, about objects 4 approaching the vehicle 1 from behind or from in front, relative to the vehicle 1, but not yet situated in the dynamically alterable warning area A_info arranged within the side detection area 16, but being expected to be there soon, before his actual intended turning in the direction of the monitored vehicle side 14 of the vehicle 1. The reason is that specifically such objects 4 carry the risk of being overlooked by the driver when the vehicle 1 turns, in this case right, and a collision then occurring.

(36) The dynamically alterable warning area A_info may become smaller as the speed v_ego of the vehicle 1 decreases, with the minimum warning area A_Info_min being a lower limit. Conversely, which may be the dynamically alterable warning area A_info becomes larger as the speed v_ego of the vehicle 1 increases, with the maximum warning area A_Info_max e.g. in the form of the detection area 8 being an upper limit.

(37) The control device 30 may be configured so that it can receive signals representing an actual or intended turning of the vehicle 1 and laterally widens the dynamically alterable warning area A_info, as seen transversely with respect to the direction of travel (X-direction) or the longitudinal centerline 34 of the vehicle 1, on the vehicle side 14 toward which the turning of the vehicle 1 actually takes place or is intended. These signals can come for example from operation of a direction of travel indicator (turn signal) and/or a steering wheel angle sensor that senses a rotational movement of the steering wheel. The side detection area 16 of the detection area 8 may be arranged on the outside laterally from the vehicle side 14 that is the vehicle side facing away from a driver's seat of the vehicle. It is then possible to avoid critical situations particularly for left-hand control vehicles 1 when turning right. Alternatively, the side detection area 16 of the detection area 8 can also be arranged laterally from the other vehicle side 28, which is the vehicle side facing the driver's seat of the vehicle. In this case, it is possible to avoid critical situations particularly for right-hand control vehicles 1 when turning left.

(38) The above measures naturally also apply to right-hand drive vehicles, with the sides transposed each time.

(39) The warning device 32 may be configured so that it generates a cascade of warning signals on the basis of a hazard level of the driving situation brought about by the detected object 4 and/or by the vehicle 1. The warning signals can be for example visible signals with respective different colors and/or audible signals with respective different sounds and/or sound sequences.

(40) A cascade of warning signals can in this case include for example colors of a visible signal that are dependent on the hazard level and/or an audible signal that is dependent on the hazard level. By way of example, the warning device can generate a visible green warning signal when there is a negligible hazard level, a visible yellow warning signal when there is a low hazard level, a visible red visible warning signal when there is a medium hazard level and a visible red signal and additionally an audible signal when there is a high hazard level. It is also possible for the frequency and/or sound sequence of the audible signal to be varied on the basis of the hazard level.

(41) FIG. 4 shows a highly schematized plan view of the vehicle 1 from FIG. 1 with a symbolically depicted dynamically alterable warning area A_info as has already been described above. Additionally, a hazard area A_hazard is symbolically depicted in this case.

(42) As in FIG. 3, FIG. 4 also depicts a coordinate system X-Y with the zero point at the for example right-hand front edge of the vehicle 1, the Y direction (positive values starting from the zero point to the right) running perpendicular to the longitudinal centerline 34 of the vehicle 1 and the X direction (positive values starting from the zero point to the front, negative values starting from the zero point to the rear) running parallel to the longitudinal centerline 34 of the vehicle 1.

(43) As in the exemplary embodiment described previously, the warning area A_info is, in this case too, meant to be dynamically variable at least on the basis of the speed v_ego of the vehicle, with the warning area A_info likewise becoming larger, starting from a minimum warning area A_info_min, as the speed v_ego increases.

(44) A first arrow in FIG. 4 symbolizes the object trajectory 36 of an object 4, for example a cyclist, that is moving to the right of the vehicle 1 at a speed v_target and is detected within the detection area 8 by the sensor device 6. The object 4 in FIG. 4 thus moves along the object trajectory 36 for example approximately parallel to the vehicle 1, but in a manner laterally offset therefrom, in relation to the longitudinal centerline 34 of the vehicle 1. A second arrow in FIG. 4 symbolizes the vehicle trajectory 38 of the vehicle, which is hypothetically or fictitiously assumed to turn right at a particular time t0.

(45) The control device 30 is then configured so that, on detection of the object 4, it defines the hazard area A_hazard, the hazard area A_hazard being based on the hypothetical or fictitious situation in which the vehicle 1 turns in the direction of object trajectory 36 at the time t0 such that the then fictitious vehicle trajectory 38 and the object trajectory 36 intersect at a fictitious point of intersection 40. The actual vehicle trajectory 38 continued from the time t0 of the fictitious turning is denoted by a dotted line in FIG. 4.

(46) The vehicle trajectory 38, 38 and the object trajectory 36 are set for example in relation to an X-Y coordinate system that has its origin for example at the location of the arrangement of the first sensor 22 of the sensor device 6 on the vehicle 1, namely at the edge between the vehicle front 10 and the right-hand vehicle side at the front right.

(47) Other positions for the origin of the coordinate system are also conceivable, however. Consequently, the object trajectory 36 is substantially parallel to the X direction of the X-Y coordinate system in this case.

(48) The hazard area A_hazard is in substantially triangular form, with a first corner point, arranged on the vehicle, as a reference point reference_hazard, a second corner point x_hazard_front arranged on the object trajectory and a third corner point x_hazard_rear arranged on the object trajectory. Since it is assumed in this case by way of example that the object 4, e.g. a cyclist, moves with its object trajectory 36 approximately parallel to the longitudinal centerline 34 of the vehicle 1 and thus parallel to the X direction, the front second corner point x_hazard_front and the rear third corner point x_hazard_rear differ only in their value in the X direction in this case, for example.

(49) The first corner point or reference point referenz_hazard of the hazard area A_hazard is thus arranged on the vehicle 1 and may be determined by the position of the in this case first sensor 22 or of the sensors on the vehicle 1 that detect or have detected the object 4. In the present case, the first corner point referenz_hazard is thus for example the spot at which the first sensor 22 is defined on the vehicle 1 and then also detects the object 4. Detects means that the first sensor 22 detects at least the position of the object 4 in relation to the first sensor 22 or vehicle 1, the speed v_target of the object 4 and also the current direction of movement of the object 4, i.e. the respective current object trajectory 36, the object trajectory 36 naturally being able to change over time.

(50) The second corner point x_hazard_front and the third corner point x_hazard_rear of the hazard area A_hazard are defined by the control device 30 such that calculations performed by the control device 30 are taken as a basis for assuming a collision between the object 4 and the vehicle 1 if the object 4 is on the object trajectory 36 on the connecting line between the second corner point x_hazard_front and the third corner point x_hazard_rear at the time t0, otherwise no collision is assumed. If the object is thus on the object trajectory 36 outside the connecting line between the second corner point x_hazard_front and the third corner point x_hazard_rear, it can be assumed that there is no risk of collision. This assessment is provided based on time in each case, however, because, as already explained above, the object trajectory 36 can change over time, in this case for example as a result of the object 4 turning in the direction of the vehicle or away from it.

(51) The position of the second corner point x_hazard_front and the position of the third corner point x_hazard_rear of the hazard area A_hazard on the object trajectory 36, i.e. in this case for example parallel to the X direction, are then calculated as follows:

(52) Based on the speed v_ego of the vehicle 1 and a maximum possible transverse acceleration a_max_lat of the vehicle 1 during its fictitious turning, a smallest possible radius r_min is determined that the vehicle 1 can still travel on safely. The control device 30 then uses the smallest possible or minimum radius r_min in order to calculate the different paths of movement of the wheels of the vehicle 1.

(53) Together with the information about the intervention time, which is made up of the sum of the reaction time of the driver t_driver_react and the time t_system_delay+t_brake/2 that the brake system of the vehicle needs before a braking reaction takes place, the distance dx_intervention in the longitudinal direction or in the X direction before the vehicle 1 is stationary is then calculated as follows:
dx_intervention=v_ego*(t_driver_react+t_system_delay+t_brake/2))(9)

(54) This distance dx_intervention can then be quantified, as can the path of movement of the cyclist dx_target in the same direction, who is moving at the speed v_target:
dx_target=v_target*(t_driver_react+t_system_delay+t_brake))(10)

(55) The second front corner x_hazard_front of the hazard area A_hazard in the X direction is then the difference between the values calculated in formulae (9) and (10):
x_hazard_front=dx_interventiondx_target(11)

(56) The third rear corner x_hazard_rear is calculated by deducting from the X value of the second front corner x_hazard_front the distance that the object 4 moving at the object speed v_target covers during the time t_cross that the vehicle 1 needs in order to reach the fictitious point of intersection 40 with the object trajectory 36 on the fictitious vehicle trajectory 38 of said vehicle and to which the distance dx_crossing_delta is added, which corresponds to the difference between the distance covered by the wheels of the front axle and the wheels of the rear axle of the vehicle 1, which is dependent on the wheelbase.
x_hazard_rear=x_hazard_frontt_cross*v_target+dx_crossing_delta(12)

(57) The warning area A_hazard may be not constant, but rather is defined or calculated afresh in each case on the basis of time, for example in discrete time steps, because in particular the object trajectory 36 can change over time. The control device 30 thus may define the warning area A_hazard on the basis of time in time steps, at least on the basis of the object trajectory 36 that currently exists at the respective time step, which object trajectory is determined at least by the object speed v_target prevailing at that time and the direction of movement of the object 4 prevailing at that time, and also on the basis of the vehicle speed v_ego, which can likewise change.

(58) The control device 30 is thus configured so that it generates or defines the hazard area A_hazard fundamentally at least on the basis of the speed of the vehicle v_ego, the speed of a detected object v_obj, the relative speed between the vehicle 1 and the detected object v_Rel and the distance between the vehicle 1 and the detected object 4. In this case, the hazard area A_hazard is again smaller than the detection area 8 or no more than the size of the detection area 8.

(59) The calculations cited above may be performed for all detected objects 4 in parallel, and only the most critical object 4 of the detected objects 4 is used to generate a warning signal.

(60) The control device 30 is for example furthermore configured so that, if the sensor device 6 detects an object 4 moving e.g. in the direction of travel to the right behind the vehicle 1 outside the warning area A_info and outside the hazard area A_hazard but within the detection area 8, it generates a first warning signal. This situation is shown in FIG. 5. The first warning signal can consist for example in a visible green signal displayed on a display arranged in the driver's cab or in a cab of the vehicle 1. This first warning signal is then the lowest level of warning signal and thus actually not a warning signal in the narrow sense, because there is no need for a warning.

(61) If an object 4 is detected within the warning area A_info, but outside the hazard area A_hazard, in the event of assumed fictitious turning of the vehicle 1 in the direction of an object 4, then a second warning signal is generated, which is the next highest level of warning signal in the warning signal cascade from the first warning signal, for example. The second warning signal can consist for example in a visible yellow signal that is displayed on the display. This situation is shown in FIG. 6.

(62) FIG. 7 shows a situation in which, in the event of assumed fictitious turning of the vehicle 1 in the direction of an object 4, the object 4 is within the hazard area A_hazard, but outside the warning area A_info. In that case, a the second warning signal is again generated in the form of the visible yellow signal and displayed on the display.

(63) FIG. 8 shows a situation in which an object 4 outside the warning area A_Info but within the hazard area A_hazard, and also the vehicle 1 and the object 4 actually moving relative to one another, is detected, or expected (as a result of operation of the direction of travel indicator) movement in relation to one another by virtue of fictitious turning of the vehicle 1 in the direction of the object 4 is assumed. The relative movement is symbolized by the movement vectors of the vehicle 1 and the object 4, wherein the trajectories 36, 38 have a point of intersection, suggesting an imminent collision. A third warning signal for example in the form of a visible red warning signal is then generated on the display, said third warning signal being the next highest level of warning signal in the warning signal cascade from the second warning signal.

(64) Finally, FIG. 9 shows a situation in which the object within the warning area A_info and within the hazard area A_hazard, and the vehicle 1 and the object 4 actually moving relative to one another, is detected, or expected (e.g. as a result of operation of the direction of travel indicator) movement in relation to one another by virtue of fictitious turning of the vehicle 1 in the direction of the object 4 is assumed. In this case too, the relative movement is symbolized by the movement vectors of the vehicle and the object, wherein the trajectories have a fictitious point of intersection, likewise suggesting an imminent collision. In that case, a fourth warning signal for example in the form of a visible red warning signal is generated on the display, and also an audible signal, for example, alongside this.

(65) Generally, the hazard level thus rises from the first warning signal to the fourth warning signal in the warning signal cascade. Any visible and/or audible warning signals by which such a warning signal cascade is realizable are conceivable in this case.

(66) The list of reference signs is as follows: 1 Vehicle 2 Apparatus 4 Object 6 Sensor device 8 Detection area 10 Vehicle front 12 Front detection area 14 Vehicle side 16 Side detection area 18 Rear detection area 20 Vehicle rear 22 First sensor 24 Driver's cab 26 Second sensor 28 Vehicle side 30 Control device 32 Warning device 34 Longitudinal centerline 36 Object trajectory 38, 38 Vehicle trajectory 40 Point of intersection