WO2019038174A1 - AVOIDING DEADLINE WARNINGS THROUGH GISCHT - Google Patents

Abstract

The invention relates to a driver assistance system (12) for monitoring objects (24) in a blind spot (14) on a longitudinal side (16) of a vehicle (10), comprising at least one first ambient sensor (26) for monitoring the blind spot (14). at least one second environmental sensor (28) monitoring a second region (34) at a rear end face (32) of the vehicle (10), and a control unit (36) configured to receive sensor signals from the at least one first environmental sensor (26). and the at least one second environmental sensor (28), wherein the control unit (36) is implemented, an object detection in the blind spot (14) based on the sensor signals of the at least one first environmental sensor (26) and an object recognition in the second region (34 ) based on the sensor signals of the at least one second environmental sensor (28), the control unit (36) is executed, a probability for a Erkennun g of spray (42) based on the object detection in the blind spot (14) and in the second area (34), and the control unit (36) is executed, a blind spot warning upon detection of an approaching object (24) in FIG at the blind spot (14) when the probability of detection of spray (42) is below a threshold. The invention also relates to a vehicle (10) with such a driver assistance system (12). The invention further relates to a corresponding method for monitoring objects (24) in a blind spot (14).

Description

 Prevention of blind spot warnings due to spray

The present invention relates to a driver assistance system for monitoring objects in a blind spot on a longitudinal side of a vehicle, comprising at least one first blind spot environment sensor, at least one second environment sensor monitoring a second area at a rear face of the vehicle, and a vehicle body A control unit configured to receive sensor signals of the at least one first environmental sensor and the at least one second environmental sensor, wherein the

Control unit is executed, an object detection in the blind spot based on the sensor signals of the at least one first environment sensor and a

Object detection in the second area based on the sensor signals of

perform at least a second environmental sensor, and the

Control unit is executed to output a blind spot warning upon detection of an approaching object in the blind spot.

The present invention also relates to a vehicle having an above

Driver assistance system.

The present invention relates to a method of monitoring blind spot objects on a longitudinal side of a vehicle, comprising the steps of monitoring the blind spot with at least one first environmental sensor, monitoring a second region having at least one second environmental sensor, receiving sensor signals of the at least one first Environmental sensor and the at least one second environmental sensor, detecting objects in the blind spot based on the sensor signals of the at least one first

Environmental sensor, and outputting a blind spot warning upon detection of an approaching object in the blind spot.

The present invention also relates to a data processing program with program code means for carrying out the method according to one of the preceding claims by an electronic control unit having at least one

Processor when the program is executed by the electronic control unit. The present invention further relates to a computer program product with

Program code means stored in a computer readable medium to perform the above method when the computer program product is executed on a processor of an electronic control unit.

A blind spot in a vehicle concerns an area laterally adjacent to the vehicle that can not be directly viewed by a driver or is within the field of view of a side mirror. The blind spot is specified in vehicle standard. The dead-angle area correspondingly extends adjacent the vehicle from a driver's position towards the rear to behind the vehicle, typically in an area about 3 meters behind the vehicle. The blind spot has a width of 2.5 meters to 3 meters next to the vehicle. Although a portion of this standard blind spot can be seen in practice, typically this entire area adjacent to and behind the vehicle is included within the dead angle range. A blind spot exists both on a driver side of the vehicle and on a passenger side of the vehicle.

A driver assistance system for blind spot monitoring nowadays comprises one or usually a plurality of environmental sensors which are arranged along one longitudinal side of the vehicle

Vehicle are arranged and capture an approach of objects in this area. If a first environmental sensor detects an object while driving, a blind spot warning can be output accordingly, in particular when the object is approaching. The blind spot monitoring is performed independently for a driver and a passenger side of the vehicle. As environment sensors today usually ultrasonic sensors are used, which are reliable and at the same time inexpensive. In addition, the ultrasonic sensors can be used in common for different driver assistance systems, so that separate ultrasonic sensors do not have to be used for each driver assistance system. By way of example, parking assistance systems may be mentioned here which use ultrasonic sensors for monitoring an environment of the vehicle, in particular on a front and / or rear bumper, that is to say on a front and / or rear end side of the vehicle. A common problem with blind spot monitoring is that the

Ultrasonic sensors spray, i. from a road surface spraying water, capture. This relates in particular to water sprayed by the own vehicle, which is located in the vicinity of the surroundings sensors of the vehicle. If the spray is detected as an approaching object, this will cause a wrong one

Blind spot warning can be issued. This is especially true for one

Blind spot detection at the rear end of the vehicle, since there in particular the occurrence of spray or spray through the own vehicle with a

correspondingly high concentration is to be expected. Although spray is whirled up mainly behind its own vehicle, however, at least part of the spray is usually still visible in the blind spot. Spray, however, also applies in principle to spray through vehicles located next to one's own vehicle, either by vehicles that move in the same direction of travel, ie outdated or overtaken

Vehicles, as well as vehicles that are in an opposite

Move direction.

In this context, DE 10 2010 033 207 A1 discloses a method and device for monitoring the surroundings of a vehicle. In the method is at predetermined measuring times of at least one ultrasonic sensor

Transmission signal emitted and at least one in response to the transmission signal

Receive echo signal, wherein for each received echo signal by evaluating a corresponding propagation time distance information to a possible object is determined. In order to enable an analysis of the received echo signals for the detection of real objects and / or interference sources as possible objects, a distance pattern of the received echo signals for the corresponding measurement time is determined from the distance information determined at a time of measurement, wherein for detecting a real object and / or an interference source as a possible object parameters of distance patterns are compared with each other, which are detected at least two consecutive measurement times.

Furthermore, DE 19843563 A1 discloses a device for detecting moisture on a substrate. The device comprises a body movable on the ground for stirring up spray from the ground and a sensor for detecting the spray. The device is used to detect Roadway wetness used in motor vehicles, the motor vehicle itself may be the moving body.

From DE 10 2005 023 696 A1 a monitoring device for a vehicle with ultrasonic sensors is known. Ultrasonic signals are used to measure distances to obstacles around the vehicle. The ultrasonic sensors also serve to detect whether it is raining. For this purpose, an excitation of the ultrasonic sensors is evaluated with respect to incident raindrops.

DE 10 2010 021 053 B3 relates to a method for detecting disturbances of the measuring operation of an ultrasonic measuring arrangement of a motor vehicle at high

Speeds, in particular speeds from 50 km / h. The ultrasound measuring arrangement comprising at least one ultrasound sensor as output data comprises at least one radius describing the distance to the nearest object lying within the detection range of the at least one sensor used for measuring the radius, wherein a disturbance of the measuring operation depends on at least one comparison of the radius 'is determined with a particular speed-dependent minimum radius.

Furthermore, from EP 2 388 618 B1 a method for detecting disturbances of the measuring operation of an ultrasonic measuring arrangement of a motor vehicle is provided

Speeds from 50 km / h known. The ultrasonic measuring arrangement comprising at least one ultrasonic sensor comprises as output data at least one radius describing the distance to the nearest object lying in the detection range of the at least one sensor used for the measurement with respect to the radius. A malfunction of the measuring operation becomes dependent on at least one

Comparison of the radius determined with a speed-dependent minimum radius, the minimum radius increases with the speed.

Based on the above-mentioned prior art, the invention is therefore based on the object, a driver assistance system for monitoring objects in a blind spot on a longitudinal side of a vehicle, a vehicle with such a driver assistance system, a method for monitoring objects in a blind spot a longitudinal side of a vehicle, a data processing program with program code means for carrying out the above method, and a Specify computer program product with program code means for carrying out the above method, which ensure reliable detection of objects located in a blind spot of the vehicle and avoiding false alarms in the blind spot monitoring in particular by spray.

The object is achieved by the features of the invention

independent claims. Advantageous embodiments of the invention are specified in the subclaims.

The invention thus provides a driver assistance system for monitoring objects in a blind spot on a longitudinal side of a vehicle, comprising at least one first blind spot environmental sensor, at least one second environmental sensor monitoring a second area at a rearward face of the vehicle, and A control unit configured to receive sensor signals of the at least one first environmental sensor and the at least one second environmental sensor, wherein the

Control unit is executed, an object detection in the blind spot based on the sensor signals of the at least one first environment sensor and a

Object detection in the second area based on the sensor signals of

performing at least a second environmental sensor, the control unit is configured to determine a probability of detection of spray based on the object detection in the blind spot and in the second area, and the control unit is executed, a blind spot warning upon detection of an approaching object in FIG to spend the blind spot when the

Probability detection of spray is below a threshold.

According to the invention, a vehicle is also specified with an above driver assistance system.

Further, according to the present invention, there is provided a method for monitoring blind spot objects on a vehicle longitudinal side, comprising the steps of monitoring the blind spot with at least a first environmental sensor, monitoring a second region having at least one second environmental sensor, receiving sensor signals of the at least one first Environment sensor and the at least one second environmental sensor, detecting objects in the blind spot based on the sensor signals of the at least one first

Environmental sensor, determining a probability of detection of spray based on the object detection in the blind spot and in the second area, and outputting a blind spot warning upon detection of an approaching object in the blind spot when the probability of detection of spray below a threshold lies.

The invention likewise provides a data processing program with program code means for carrying out the method according to one of the preceding claims by an electronic control unit having at least one

Processor when the program is executed by the electronic control unit.

According to the invention, a computer program product is further indicated with

Program code means stored in a computer readable medium to perform the above method when the computer program product is executed on a processor of an electronic control unit.

The basic idea of the present invention is therefore false alarms in the

Reduce blind spot detection by improved detection of spray, wherein the detection of spray is improved in that the sensor data from the at least one first environment sensor for monitoring the blind spot additionally sensor data from the at least one second

Ambient sensor used to monitor the at least one second area. This allows the detection of spray with increased reliability. While the at least one second environmental sensor does not include the blind spot, it provides additional clues as to the presence of spray in the blind spot. The object recognition provides information on the occurrence of spray both for the blind spot and for the second area, so that it can be determined from a probability that the object detected by the at least one first environmental sensor is spray and not an object for which Blind spot warning must be issued. In this case, for example, a probability of the occurrence of spray in the area of the blind spot is thereby increased, even if spray is detected in the second area, as will be explained in more detail below. The sensor information of the At least one first and at least one second environmental sensor can be incorporated differently in the calculation of the probability of detection of spray in the area of the blind spot and, for example, weighted. The second area typically does not belong to the blind spot.

The at least one first blind spot ambient sensor is typically located on the longitudinal side of the vehicle to monitor the blind spot. Preferably, the driver assistance system comprises a plurality of first environmental sensors, which are arranged along the longitudinal side of the vehicle. Since spray typically occurs behind the driver's own vehicle, in the case of a plurality of first environmental sensors, in particular, a vehicle is behind first

Monitor environmental sensor for an occurrence of spray. Spray, however, also applies to spray in principle by vehicles located next to one's own vehicle, either by vehicles that move in the same direction of travel, ie outdated or overtaking vehicles, as well as by vehicles that move in an opposite direction of travel.

Accordingly, a second environmental sensor may be provided, or a plurality of second environmental sensors, for monitoring the second region and detecting objects in the second region. The second area may, for example, connect to the blind spot, or be positioned in another area.

The control unit is a computing unit with a processor and a memory, as is typically used in vehicles for control. The

Control unit is connected via a vehicle bus, which may be, for example, a CAN bus or other common data in vehicles data bus, with the environmental sensors, and receives the corresponding sensor signals from them. The control unit is also connected via the vehicle bus with an output device for outputting the blind spot warning.

The object recognition in the blind spot or in the second area may be in the control unit itself based on the corresponding sensor signals

be performed. Alternatively, but already in the corresponding

Environmental sensor processing or at least a preprocessing of

Sensor signals are performed to detect objects in the area. The corresponding functionality of the control unit is then to the respective

Outsourced environmental sensor.

In an advantageous embodiment of the invention, the control unit is designed to carry out a probability of detection of spray based on the object recognition in the blind spot and in the second area based on pattern recognition from the sensor signals of the at least one first environmental sensor and the at least one second environmental sensor , Accordingly, the step of determining a probability for detection of spray comprises pattern recognition based on the sensor signals of the at least one first environmental sensor and the at least one second one

Ambient sensor. Pattern recognition can be based on various patterns that can display or even exclude spray. The probability of the detection of spray can therefore be increased or reduced by the pattern recognition. When detecting spray, a density of

Object registrations take place. The object acquisition concerns in the case of one

Ultrasonic sensor is a received reflection of a radiated signal pulse. In another environment sensor, the object detection is a signal indicating presence of an object. With a high density of object detections in an area, i. Object detections in temporal proximity are spatially close, i. at similar distances from the environmental sensor, is with a high

Probability to assume that the first environmental sensor did not detect any spray, but a real object. The pattern recognition may include a determination of a standard deviation of sensor signals. This can be used in particular to detect spray. Spray is typically characterized by the sensor signals containing object detections that change in a short time sequence, i. Object surveys in temporal proximity take place with little spatial proximity. The sensor signals thus contain information that is similar to noise, for example, and can be identified as such. The pattern recognition can also be vehicle-dependent. So can

In particular, spray of one's own vehicle may be different in different vehicles. This can cause the spray in the

Differentiate sensor information differently. In an advantageous embodiment of the invention, the control unit is designed to perform the pattern recognition in the blind spot based on a pattern for spray. Accordingly, the pattern recognition step includes a

Pattern recognition in the blind spot based on a spray pattern. Spray is characterized by a corresponding pattern in the sensor signals of the at least one first environmental sensor, which can be recognized as such. Simultaneous detection of spray with multiple first environmental sensors, such as right and left first environmental sensors, may improve the detection of the occurrence of spray. When detecting spray, a density of object detection may occur. With a high density of object detections in an area, i. Object detections in temporal proximity are spatially close, i. at similar distances from the environmental sensor, it is highly probable that the first

Environmental sensor has detected no spray, but a real object. The

Pattern recognition may be a determination of a standard deviation of

Include sensor signals. This can be used in particular to detect spray. Spray is typically characterized by the fact that the sensor signals contain object detections that change in a short time sequence. The

Sensor signals thus contain information that, for example, similar to a

Are noise, and can be identified as such.

In an advantageous embodiment of the invention, the at least one second

Environmental sensor disposed at a rear end side of the vehicle, and the control unit is designed to perform the pattern recognition in the in the second area based on a pattern for spray. Accordingly, the at least one second environmental sensor is disposed at a rear end side of the vehicle, and the step of pattern recognition includes pattern recognition in the second region based on a pattern for spray. Second environment sensors on the rear end of the vehicle usually detect an area immediately behind the vehicle and are therefore well suited to detect the occurrence of spray, especially spray by the own vehicle. Spray is characterized by a corresponding pattern in the sensor signals of the at least one second environmental sensor, which can be recognized as such. The detection can be carried out, for example, as for the at least one first environmental sensor. Simultaneous detection of spray with multiple environmental sensors, for example, with the at least one first environmental sensor and with one or more second environmental sensors, may lead to an improvement in the detection of an occurrence of spray.

In an advantageous embodiment of the invention, the at least one second

Environmental sensor disposed on a front end side of the vehicle, and the control unit is designed to perform the pattern recognition in the second area based on a pattern for rain. Accordingly, the at least one second environmental sensor is disposed at a front end side of the vehicle, and the step of pattern recognition includes pattern recognition in the second region based on a pattern for rain. Although environmental sensors on the front of the vehicle are usually not or only partially suitable to detect the occurrence of spray, especially spray by the own vehicle. However, detection of rain by the second environmental sensors at the front end of the vehicle may provide an indication of a possible occurrence of spray behind the own vehicle. Although spray can also occur in wet roads due to other reasons, rain is the most common cause of a wet road and thus an indication that can increase the probability of an occurrence of spray in the dead-angle area. Rain is like spray by a corresponding pattern in the

Sensor signals of at least one second environmental sensor, so that rain can be detected as a pattern.

In principle, alternative or additional pattern recognition may also be performed in the second region for the second environmental sensor at the rear end of the vehicle based on a pattern for rain. This can be done parallel to the detection of spray.

Furthermore, it is possible for a plurality of second environmental sensors to be arranged on the vehicle, wherein at least one second environmental sensor is arranged on the front end side of the vehicle, and at least a second one

Environmental sensor is arranged at the rear end of the vehicle.

Accordingly, as described above, with the at least one second

Environmental sensor on the front of the vehicle a pattern of rain are detected, and with the at least one second environmental sensor on the At the rear of the vehicle, a pattern of spray can be detected. The information may be processed together in the control unit to improve the determination of the probability of the occurrence of spray.

In an advantageous embodiment of the invention, the at least one first

Environmental sensor and / or the at least one second environmental sensor as

Ultrasonic sensors executed. Ultrasonic sensors as such are known in the art and are used to monitor a near field around the vehicle. The ultrasonic sensors can detect objects at a maximum distance of about 3 to 5 meters. Ultrasonic sensors are well proven in the art, also inexpensive and readily available. When spray, join

Ultrasonic sensors typically echo at a distance of about two to three meters.

In an advantageous embodiment of the invention, the step of determining a probability for detection of spray based on the object recognition in the blind spot and in the second area, detecting a speed of the vehicle, and determining the probability below one

Limit speed to zero. In practice, it has been found that the occurrence of spray, at least from one's own vehicle below the limit speed, is not relevant and can be neglected accordingly. In a first approximation, this also applies to spray or spray from other vehicles, assuming that the other vehicles are moving at a similar speed. As a limit speed, a speed of about 50 km / h to 70 km / h, in particular of about 60 km / h has been found suitable because below this

Speeds no or very little relevant spray is generated. Thus, especially in city traffic with traffic speeds of usually not more than 50 km / h or even less, it can be assumed that spray neither by the own vehicle nor by other vehicles significantly impair the recognition of objects or false detection of objects in the dead Angle will lead.

The invention will be explained in more detail with reference to the accompanying drawings with reference to preferred embodiments. The illustrated features can each individually and in combination an aspect of the invention represent. Features of various embodiments are transferable from one embodiment to another.

It shows

1 is a schematic view of a vehicle according to a first,

 preferred embodiment with a driver assistance system for blind spot monitoring for two blind spots on both longitudinal sides of the vehicle,

Fig. 2 is a schematic view of the vehicle of FIG. 1 in a

 Traffic situation with a following vehicle and a

 Field of view of a first environmental sensor of the vehicle,

3 is a diagram with sensor signals of a first environmental sensor of

 Driver assistance system of the first embodiment, and

4 is a flowchart for carrying out a method for

 Monitoring objects in a blind spot on a longitudinal side of a vehicle in accordance with the vehicle of the first embodiment.

FIG. 1 shows a vehicle 10 according to a first, preferred embodiment. The vehicle 10 includes a driver assistance system 12 for blind spot monitoring for a blind spot 14 on each of the two longitudinal sides 16 of the vehicle 10.

By definition, the two blind spots 14 are shown together with a front blocking zone 18. The two blind spots 14 each include a necessary alarm zone 20 and an optional alarm zone 22. A blind spot warning may be triggered accordingly when an object 24, here another vehicle 24, approaches the vehicle 10 in the optional alarm zone 22 while a blind spot warning is triggered must when the object 24 in the necessary alarm zone 20 approaches the vehicle 10. However, if the object 24 is in the blocking zone 18, is a Blind spot warning to block. These zones 18, 20, 22 are based on an ISO standard and are universally known in this form.

The driver assistance system 12 in each case comprises a plurality of first ultrasonic sensors 26, which are arranged along the respective longitudinal sides 16 of the vehicle 10, for monitoring the respective dead angle 14. The first ultrasonic sensors 26 are first environmental sensors 26 in the sense of the present invention. The

Driver assistance system 12 further comprises a plurality of second ultrasonic sensors 28, which are arranged on a front end side 30 and a rear end side 32 of the vehicle 10. The second ultrasonic sensors 28 are second

Environmental sensors 28 in the context of the present invention. The second

Ultrasonic sensors 28 are designed and arranged to monitor a second area 34, which is located on the respective front side 30, 32. At each end face two second ultrasonic sensors 28 are arranged.

As can be seen, for example, from FIG. 2, the first ultrasonic sensor 26 considered here is in each case at a rear end face of the two longitudinal sides 16 of FIG

Vehicle 10 is positioned. The second ultrasonic sensors 28 positioned at the rear end 32 are immediately adjacent thereto. A corresponding field of view 40 of the first ultrasonic sensor 26 is shown, for example, in FIGS. 2 and 3. It coincides only partially with the blind spot 14 and extends in particular into the second area 34 which is monitored by the second environmental sensors 28 at the rear end 32 of the vehicle 10.

The driver assistance system 12 also includes a control unit 36, which is connected via a data bus 38 to the first and second ultrasonic sensors 26, 28. The control unit 36 receives sensor signals of the first and second

Ultrasonic sensors 26, 28 via the data bus 38.

The control unit 36 is also connected via the data bus 38 with an output device, not shown here, for outputting a blind spot warning. The output device may be an acoustic output device, or an optical output device. The control unit 36 is implemented, an object recognition in the blind spot 14 based on the sensor signals of the first ultrasonic sensors 26 and a

Object detection in the second region 34 based on the sensor signals of the second ultrasonic sensors 28 perform. Based on this, the

Control unit 36 has a probability of detection of spray 42, as explained below, and issues a blind spot warning when detecting an approaching object 24 in blind spot 14 when the probability of detection of spray 42 is below a threshold. Spray 42 is shown in Fig. 3, right part.

A method of monitoring objects 24 in the blind spot 14 on both longitudinal sides 16 of the vehicle 10 according to the first preferred embodiment will be described below with reference to FIG. The method is performed with the vehicle 10 and the driver assistance system 12 of the first embodiment.

The method begins with a step S100 that includes monitoring the blind spot 14 with the first ultrasonic sensors 26. The monitoring of the blind spot 14 with the first ultrasonic sensors 26 is carried out continuously here.

In step S1 10, the second area 34 is monitored with the second ultrasonic sensors 28. The monitoring of the second area 34 with the second ultrasonic sensors 26 is likewise carried out continuously.

In step S120, the control unit 36 receives sensor signals of the first ultrasonic sensors 26 and the second ultrasonic sensors 28. The sensor signals are transmitted from the respective first and second ultrasonic sensors 26, 28 via the data bus 38 to the control unit 36.

In step S130, objects 24 are detected in the blind spot 14 based on the sensor signals of the first ultrasonic sensors 26. The detection is performed by the control unit 36.

In step S140, detection of objects 24 in the second region 34 is performed based on the sensor signals of the second ultrasonic sensors 28. The Detection is performed by the control unit 36. The recognition of

Objects 24 are independently performed for second areas 34 on a front end 30 and a rear end 32.

Initially, a speed of the vehicle 10 is detected in step S150. The speed may be determined, for example, based on odometry information or satellite position information. If the speed of the vehicle 10 is less than a limit speed of about 60 km / h, the probability of the presence of spray is set to zero, and the process proceeds to step S170. Otherwise, the process proceeds to step S160. Alternatively, step S150 may be performed prior to step S140.

In step S160, determining a probability of detection of spray 42 based on the object detection in the blind spot 14 and the second area 34 is performed. Pattern recognition is performed based on the sensor signals of the first ultrasonic sensors 26 and the second surrounding sensors 28

carried out.

Accordingly, pattern recognition occurs in the blind spot 14 and in the second area 34 at the rear end 32 of the vehicle 10 based on a pattern for spray 42. Spray 42 is characterized by a corresponding pattern in FIG

Sensor signals of the respective ultrasonic sensors 26, 28 from. There is a detection of a density of object detections, ie received reflections of emitted ultrasound pulses. With a high density of object detections in temporal proximity and spatial proximity, ie at similar distances from the respective ultrasound sensor 26, 28, it can be assumed with a high probability that the corresponding ultrasound sensor 26, 28 has detected a real object 24. A corresponding detection of the object 24 is shown in an object reflection section 44 in FIG. 3. Spray 42, in contrast, is typically characterized in that the sensor signals contain object detections that change in a short time sequence, ie object acquisitions close in time occur with little spatial proximity and thus contain information that is similar to noise and can be identified as such. For this purpose, a standard deviation is determined via the sensor signals. A corresponding detection of spray 42 is shown in an object reflection section 46 in FIG. For the second area 34 on the front end 30 of the vehicle 10, the pattern recognition is based on a pattern for rain. Rain is characterized by a corresponding pattern in the sensor signals of the second environmental sensors 28 consisting of repeated individual reflections 48, as shown in FIG. When raining, there is a low density of object detections that change in their timing, that is, at varying distances from the respective second ultrasonic sensor 28. A corresponding detection of rain results from the detection of the individual reflections, as shown in Fig. 3.

The probability that the object 24 detected by the first ultrasonic sensors 26 is spray 42 becomes, based on the pattern recognition, the first one

Object detection and the pattern recognition of the second object detection performed. The probability of the presence of spray 42 is the higher, the more the first ultrasonic sensors 26 and the second ultrasonic sensors 28 on the rear end face 32 detect spray 42. The probability of spray 42 is further increased when one or more of the second ultrasonic sensors 28 detect rain on the front face 30.

In step S170, a blind spot warning is issued upon detection of an approaching object 24 in the blind spot 14 when the probability of detection of spray 42 is below a threshold. The limit is positive and is in a probability interval between zero and one.

LIST OF REFERENCE NUMBERS

vehicle

 Driver assistance system

blind spot

 long side

 blocking zone

necessary alarm zone

optional alarm zone

 Object, other vehicle

first ultrasonic sensor, first environmental sensor second ultrasonic sensor, second environmental sensor front end side

rear end face

second area

 control unit

 bus

 field of vision

 spray

 Object reflection section

 Gischtreflektionsabschnitt

 Single reflex

Claims

claims 1 . Driver assistance system (12) for monitoring objects (24) in a blind spot (14) on a longitudinal side (16) of a vehicle (10), comprising  at least one first ambient sensor (26) for monitoring the blind spot (14),  at least one second environmental sensor (28) monitoring a second region (34) at a rear end face (32) of the vehicle (10), and  a control unit (36) that is implemented, sensor signals of the at least one first environmental sensor (26) and the at least one second  Environmental sensor (28) to receive, where  the control unit (36) is implemented, an object detection in the blind spot (14) based on the sensor signals of the at least one first  Environmental sensor (26) and an object detection in the second region (34) based on the sensor signals of the at least one second environmental sensor (28) to perform  the control unit (36) is adapted to determine a probability of detection of spray (42) based on the object detection in the blind spot (14) and in the second area (34), and  the control unit (36) is adapted to output a blind spot warning upon detection of an approaching object (24) in the blind spot (14) when the probability of detection of spray (42) is below a threshold. A driver assistance system (12) according to claim 1, characterized in that the control unit (36) is adapted to provide a probability of detection of spray (42) based on the object detection in the blind spot (14) and in the second area (34 ) based on a pattern recognition based on the sensor signals of the at least one first  Environmental sensor (26) and the at least one second environmental sensor (28) perform. 3. driver assistance system (12) according to claim 2, characterized in that the control unit (36) is adapted to perform the pattern recognition in the blind spot (14) based on a pattern for spray (42). 4. driver assistance system (12) according to any one of claims 2 or 3, characterized  marked that  the at least one second environmental sensor (28) is arranged on a rear end face (30) of the vehicle (10), and  the control unit (36) is adapted to perform the pattern recognition in the second area (34) based on a pattern for spray (42). 5. driver assistance system (12) according to one of claims 2 to 4, characterized  marked that  the at least one second environmental sensor (28) is arranged on a front end side (30) of the vehicle (10), and  the control unit (36) is adapted to perform the pattern recognition in the second area (34) based on a pattern for rain. 6. driver assistance system (12) according to any one of the preceding claims, characterized in that  the at least one first environmental sensor (26) and / or the at least one second environmental sensor (28) are designed as ultrasonic sensors (26, 28). 7. vehicle (10) with a driver assistance system (12) according to one of  previous claims. 8. A method for monitoring objects (24) in a blind spot (14) on a longitudinal side (16) of a vehicle (10), comprising the steps  Monitoring the blind spot (14) with at least a first one  Environment sensor (26),  Monitoring a second area (34) with at least one second one  Environmental sensor (28), Receiving sensor signals of the at least one first environmental sensor (26) and the at least one second environmental sensor (28), Detecting objects (24) in the blind spot (14) based on the  Sensor signals of the at least one first environmental sensor (26),  Determining a probability of detection of spray (42) based on the object detection in the blind spot (14) and in the second area (34), and  Outputting a blind spot warning upon detection of an approaching object (24) in the blind spot (14) if the probability of detection of spray (42) is below a threshold. 9. The method according to claim 8, characterized in that  the step of determining a probability of detection of spray (42) comprises pattern recognition based on the sensor signals of the at least one first environmental sensor (26) and the at least one second environmental sensor (28). 10. The method according to claim 9, characterized in that  the step of pattern recognition comprises pattern recognition in the blind spot (14) based on a pattern for spray (42). 1 1. Method according to one of claims 9 or 10, characterized in that the at least one second environmental sensor (28) on a rear end face (30) of the vehicle (10) is arranged, and  the step of pattern recognition comprises pattern recognition in the second region (34) based on a pattern for spray (42). 12. The method according to any one of claims 9 to 1 1, characterized in that the at least one second environmental sensor (28) on a front end side (30) of the vehicle (10) is arranged, and  the step of pattern recognition comprises pattern recognition in the second region (34) based on a pattern for rain. 13. The method according to any one of the preceding claims 8 to 12, characterized marked that the step of determining a probability of detection of spray (42) based on the object detection in the blind spot (14) and in the second area (34) comprises detecting a speed of the vehicle (10) and determining the probability below one  Limit speed to zero includes. 14. Data processing program with program code means for carrying out the method according to one of the preceding claims 8 to 13 by an electronic control unit (36) having at least one processor, when the program is executed by the electronic control unit (36). 15. Computer program product with program code means, which in one  computer-readable medium are stored in order to carry out the method according to one of the preceding claims 8 to 13, when the  Computer program product on an electronic one processor  Control unit (36) is processed.