DE102013226336A1 - Communication between autonomous vehicles and people - Google Patents

Abstract

The invention relates to a method and a corresponding device, which enable a computer-controlled and / or autonomous vehicle to communicate with its environment, in particular with people in its environment. A control unit (101) for a vehicle (100) is described. The control unit (101) is set up to receive environment data from one or more environment sensors (103) of the vehicle (100) and to use the environment data to detect at least one road user in an environment of the vehicle. Furthermore, the control unit (101) is set up to determine on the basis of the environment data whether there is a need for communication between the road user and the vehicle (100). In addition, when it has been determined that there is a need for communication between the road user and the vehicle (100), the control unit (101) is arranged to cause one or more communication means (102) of the vehicle (100) to generate an output to connect with the road user communicate.

Description

The invention relates to a method and a corresponding device, which enable a computer-controlled and / or autonomous vehicle to communicate with its environment, in particular with people in its environment.

Currently, various Intelligent Transportation Systems (ITS) initiatives, including the European Standards Authorities ETSI and CEN, as well as ISO, SAE, and IEEE standardize communication protocols and cooperative security applications that will in future provide a cross-vendor, co-operative, Collaborative security applications include collision avoidance and collision mitigation applications for side and rear-end collisions, the addressed security applications, and associated transmission protocols and data formats, among others ETSI standard TS 102 637 or in the SAE standard SAEJ2735 documented. So in the Standard TS 102 637-2 defines a so-called Cooperative Awareness Message (CAM) which is periodically sent from one ITS station (eg, a vehicle) to other ITS stations (eg, other vehicles) in the environment via selected information (eg, speed , Acceleration and / or position) of the transmitting ITS station. The information exchanged between the ITS stations, eg based on CAM messages, can be used in the respective ITS stations to detect collision hazards and, if necessary, to initiate suitable countermeasures (eg warnings).

The communication methods defined in the context of ITS aim at communication between different ITS stations (i.e., different machines or different electronic devices). Direct communication between machine and person is not taken into account. In particular, no communication between computer-controlled / autonomous vehicles and people in the vicinity of the vehicle is considered and made possible. However, such communication may serve to increase the safety and acceptance of computer-controlled / autonomous vehicles in road traffic.

The present document addresses the technical problem of enabling direct communication between a vehicle (e.g., a passenger car, a truck, or a motorcycle) and its environment, particularly with a human in its vicinity.

The object is solved by the independent claims. Advantageous embodiments are described i.a. in the dependent claims.

In one aspect, a control unit for a vehicle is described. The vehicle may comprise a single-lane or a two-lane vehicle, in particular a passenger car or a lorry. The vehicle may be configured to move on the road without driver intervention. In other words, it may be a computer-controlled and / or autonomous vehicle.

The control unit is set up to receive environment data from one or more environment sensors of the vehicle. The environment data may include information regarding an environment or environment of the vehicle. The one or more environmental sensors may include a camera, a laser, an ultrasonic sensor, and / or a radar sensor. Furthermore, the control unit may be configured to receive position data from a positioning unit (e.g., a navigation system) of the vehicle. The position data may be used to position the vehicle relative to a road layout and / or relative to other road users.

The control unit is further set up to detect at least one road user in an environment of the vehicle on the basis of the environment data (and possibly on the basis of the position data). In particular, a human road user can be detected. The control unit can also be set up to simultaneously detect a large number of different road users at different positions in the surroundings of the vehicle.

Furthermore, the control unit is set up to determine on the basis of the environment data whether there is a need for communication between the road user and the vehicle. A need for communication can i.a. be present in a possible conflict situation between the road user and the vehicle.

In particular, it can be determined on the basis of the environment data that the road user is about to determine whether he has been detected by the vehicle. In other words, it can be recognized that the detected road user seeks contact with the vehicle (eg, to a driver of the vehicle) to ensure that it is from the vehicle (or from the driver of the vehicle) was perceived. Such a situation exists, for example, with a pedestrian who wishes to cross a zebra crossing and, before entering the street, glances at the approaching vehicle to make sure that the vehicle has perceived (ie, detected) it.

In order to determine whether there is a need for communication between the road user and the vehicle, the control unit may be set up to detect the eyes of a human road user based on the environmental data (for example based on image data). Furthermore, the control unit may be configured to determine on the basis of the detected eyes that there is a need for communication between the road user and the vehicle. In particular, it can be determined on the basis of the detected eyes of the road user that the road user is about to determine whether he has been detected by the vehicle. For example, a glance of the road user towards a windshield of the vehicle may be an indication that the road user is about to check whether he has been detected by the vehicle.

The control unit is further configured to cause one or more communication means of the vehicle to generate an output when it has been determined that there is a need for communication between the road user and the vehicle, in particular when it has been determined that the road user is in the process of determining whether he / she is driving Vehicle was detected. The output may in particular aim to indicate to the road user that he has been detected by the vehicle and / or in which function (with regard to the traffic situation) the road user has been detected by the vehicle. Furthermore, the output may be aimed at indicating to the road user what intention the vehicle has in relation to a possible conflict situation.

The described control unit ensures that road users, in particular human road users, even without intervention of a driver of the vehicle, are recognized by the vehicle and informed by the vehicle that they have been recognized. Conversely, this also means that the road user gets clarity if he has not been recognized by the vehicle. The certainty about perception and perceivedness in traffic typically leads to an increase in road safety. Thus, the control unit described can help to increase the safety of vehicles (possibly autonomous) in road traffic, in particular in relation to human road users.

The control unit can be set up to determine one or more indicators for an intention of the road user on the basis of the environment data and possibly on the basis of the position data. The one or more indications of an intention of the road user may e.g. include, a direction of movement of the road user relative to the vehicle (from which it can be concluded, for example, that the road user wants to cross the road in front of the vehicle), a line of sight of the road user relative to the vehicle (a right / left looking, for example, indicates that the road user wants to cross a road), a traffic sign and / or a traffic device in the vicinity of the vehicle and the road user (a zebra crossing, for example, indicates that a road user wants to cross the road).

Based on the one or more indicia can then be determined that there is a need for communication between road users and vehicle. In particular, it can be determined that there is a conflict situation between the vehicle and the road user. A conflict situation may be e.g. a possible risk of collision between the vehicle and the road user. The control unit may then be configured to cause the one or more communication means of the vehicle to generate an output (if any) to indicate to the road user how the vehicle will behave in relation to the conflict situation. For example, can be displayed by an automatic reduction of the driving speed that the vehicle will give priority to the road user. Thus, in particular, a human road user can obtain certainty as to whether the vehicle poses a danger or not. It can thus be guaranteed even in autonomous vehicles increased safety in traffic.

The one or more communication means may include one or more of the following: one or more headlights of the vehicle; one or more movable optical output elements in or near the one or more headlamps configured to emulate a human eye contact; an optical output unit for displaying pictorial information on an outer surface of the vehicle; an acoustic output unit for outputting acoustic information; and / or a device for controlling a movement of the vehicle relative to the road user. The one or more communication means may be arranged to simulate the behavior of a driver of the vehicle. In particular, the eye contact of a driver can be simulated.

In another aspect, a method for communicating between a vehicle and a road user is described. The method includes determining environment data from one or more environmental sensors of the vehicle. Furthermore, the method comprises detecting, based on the environment data, at least one road user in an environment of the vehicle. In addition, the method comprises determining, based on the environment data, whether there is a need for communication between the road user and the vehicle. In particular, it can be determined on the basis of the environment data that the road user is about to determine whether he has been detected by the vehicle. The method further includes, when it has been determined that there is a need for communication between the road user and the vehicle, generating an output via one or more communication means of the vehicle to communicate with the road user, eg to indicate to the road user that he is detecting the vehicle was, and / or in which function (eg as a pedestrian, as a cyclist, as another vehicle) the road user has been detected by the vehicle, and / or what intention the vehicle has in relation to a conflict situation, and / or what knowledge the vehicle over has the intention of the road user in relation to the conflict situation. The knowledge of the vehicle about the intention of the road user in relation to the conflict situation can, for example, be obtained on the basis of one or more indications of the intention of the road user.

In another aspect, a vehicle (e.g., a passenger car, a truck, or a motorcycle) is described,

In another aspect, a software (SW) program is described. The SW program may be set up to run on a processor (e.g., on a controller) and thereby perform the method described in this document.

In another aspect, a storage medium is described. The storage medium may include a SW program that is set up to run on a processor and thereby perform the method described in this document.

It should be understood that the methods, devices and systems described herein may be used alone as well as in combination with other methods, devices and systems described in this document. Furthermore, any aspects of the methods, apparatus, and systems described herein may be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways.

Furthermore, the invention will be described in more detail with reference to exemplary embodiments. It shows

1 a block diagram of exemplary components of a vehicle; and

2 a flowchart of an exemplary method for communication between a vehicle and a road user.

As set forth above, the present document is concerned with direct communication between a vehicle (especially an autonomous self-propelled vehicle) and its environment. This direct communication typically does not require the use of telecommunications equipment for wireless or wireline telecommunications.

With the increasing automation of driving systems or vehicles, the problem arises that it is difficult for human road users to interpret the behavior of an autonomous vehicle and to estimate whether the vehicle has recognized it. However, the information is of significant importance to a human road user, e.g. crossing a crosswalk.

There is described in this document a device which enables a vehicle to communicate with human road users to communicate the presence of mutual perception (the vehicle perceives the human road user and is also perceived by the human road user). Likewise, the device described can enable communication with respect to the intended behavior in traffic.

• • an einen Straßenverkehrsteilnehmer zurückzumelden, ob und als was der Straßenverkehrsteilnehmer von der Vorrichtung erkannt wurde.
• • das Verhalten und die explizite Kommunikation des Straßenverkehrsteilnehmers zu interpretieren und das daraus entstehende Verständnis der Intentionen an den Straßenverkehrsteilnehmer zurück zu spiegeln.
• • Hinweise darauf zu geben, welche Aktion die Vorrichtung bezüglich des Straßenverkehrsteilnehmers als nächstes durchführen wird (z.B. den menschlichen Verkehrsteilnehmer über die Straße lassen oder ein anderes Fahrzeug einfädeln lassen).

In particular, the device described in this document may be

• • Report back to a road user if and what the road user was recognized by the device.
• • to interpret the road user's behavior and explicit communication, and to reflect the resulting understanding of the intentions of the road user.
• • give indications of what action the device has taken regarding the Road user next (eg, let the human road user cross the road or have another vehicle threaded in).

This makes it clear to the other road user how much the device knows and understands. In particular, the human road user is given the opportunity to communicate and thus to interact safely with an automated vehicle.

• • Als Wahrnehmungsakt dient der Blick (im Dienste der rezeptiven "Fremdeinstellung") ähnlich wie das Hören oder Riechen dazu, über eine andere Person sinnliche Erfahrungen zu gewinnen.
• • Als Handlungsakt ist der Blick ein äußerlich sichtbares selbstgewähltes Verhalten, durch das der Akteur kundtut, an wen er sein momentanes Interesse richtet, und der Angeblickte Gewissheit erhält, dass und von wem er wahrgenommen wird.
• • Als Kommunikationsakt kann ein zwischen EGO und ALTER getauschter Blick jedem Partner die Gewissheit vermitteln, dass der jeweils andere wahrnimmt und dass er wahrgenommen wird, so dass das wechselseitige Auffangen des Blicks ein hinreichendes Mittel ist, um die reziproke Beziehung zu stabilisieren.

One approach of the described apparatus to enable such communication is the use and transmission of the interpersonal phenomenon of eye contact on the machine. Concerning. the eye contact is eg in http://geser.net/elin/3_5.htm stated:

• • As a perceptual act, the gaze (in the service of the receptive "stranger attitude") is similar to listening or smelling to gaining sensory experiences through another person.
• • As an act of action, the gaze is an externally visible self-chosen behavior, by which the actor announces to whom he directs his current interest, and receives the clicked certainty that and by whom he is perceived.
• • As a communication act, a look shared between EGO and AGE can reassure each partner that the other is aware and perceived, so that the mutual interception of the gaze is a sufficient means to stabilize the reciprocal relationship.

1 shows a block diagram of selected components of a vehicle 100 , In particular shows 1 a control unit 101 for a vehicle 100 , wherein the control unit 101 is set up, a direct communication of the vehicle 100 with one or more road users in the vicinity of the vehicle 100 to enable. Direct communication can be a form of communication that can be directly perceived by a human sensory organ, in particular without the need for a telecommunications device. This can be done by the control unit 101 be set up the vehicle 100 to issue a message to the one or more road users in optical and / or acoustic form. This message can then be perceived directly by the eyes and / or ears of one or more road users.

The vehicle 100 includes one or more environmental sensors 103 that are set up, information regarding the environment or environment of the vehicle 100 capture. The one or more environment sensors 103 For example, a camera (infrared, visible light) can be used to capture visual information about the environment. Based on the pictorial information, for example, another road user before or laterally to the vehicle 100 be recorded, eg a pedestrian or another vehicle. Alternatively or additionally, the one or more environmental sensors 103 include a radar sensor, with the example, a distance between the vehicle 100 and another road user can be determined. The one or more environment sensors 103 provided data can be referred to as environmental data.

The control unit 101 is set up, the environmental data from the one or more environment sensors 103 to recieve. Furthermore, the control unit 101 set up, based on the environment data, one or more road users in the vicinity of the vehicle 100 , especially in the area in front of the vehicle 100 to detect.

Furthermore, the control unit 101 be set up on the basis of the environment data one or more indicators regarding an intension of one or more road users to determine. For this purpose, the control unit 101 also position data from a positioning unit 104 (eg from a navigation system) of the vehicle 100 use. The position data can in particular provide information regarding the current position of the vehicle 100 , regarding a road course of a road on which the vehicle 100 located and / or regarding traffic signs on the road. In particular, it may be the position data of the control unit 101 allow that vehicle 100 and position the one or more detected road users relative to one another and relative to a road layout. For example, it may be determined that a detected pedestrian is on a sidewalk and is standing at a crosswalk to cross a road on which the vehicle is traveling 100 currently located. This can be an indication that the pedestrian has the intention, the street on the zebra crossing in front of the vehicle 100 to cross.

• • ein Bewegungsverlauf des detektierten Verkehrsteilnehmers (z.B. eines Fußgängers) in Richtung der Straße auf der sich das Fahrzeug 100 befindet;
• • eine Handbewegung des detektierten Verkehrsteilnehmers (z.B. eines Fußgängers) in Richtung des Fahrzeugs 100;
• • eine Blickrichtung des detektierten Verkehrsteilnehmers (z.B. eines Fußgängers) in Richtung des Fahrzeugs 100;
• • das Erfassen eines Blinkers des detektierten Verkehrsteilnehmers (z.B. eines anderen, nicht-autonomen Fahrzeugs), um auf die Spur des Fahrzeugs 100 zu wechseln.

Further examples of indications regarding the intention of a road user are:

• • A course of movement of the detected road user (eg a pedestrian) in the direction of the road on which the vehicle 100 is;
• • A hand movement of the detected road user (eg a pedestrian) in the direction of the vehicle 100 ;
• • A viewing direction of the detected road user (eg a pedestrian) in the direction of the vehicle 100 ;
• • Detecting a turn signal of the detected road user (eg, another, non-autonomous vehicle) to the lane of the vehicle 100 switch.

On the basis of the environment data and possibly on the basis of the position data, one or more indicators for the intention of the detected other road user can be determined. Furthermore, it can thus be determined (in particular based on the one or more indicators) whether there is a need for communication between the vehicle 100 and the detected other road user present. In particular, it can be determined whether a potential conflict situation (eg a collision risk) between the vehicle 100 and the other road user, and whether the potential conflict situation is communication between the vehicle 100 and detected road users required.

The control unit 101 can be further set up via a means of communication 102 of the vehicle 100 communicate with the detected road user in relation to the potential conflict situation. In the in 1 illustrated example include the communication means 102 Headlight of the vehicle 100 , For example, it can be indicated by the emission of light pulses based on the headlights the detected road users that he from the vehicle 100 was perceived and that he from the vehicle 100 asked to cross the road. This can then be interpreted by the road user as an indication that he can cross the road without risk.

• • Eine oder mehrere visuelle Ausgaben in oder in der Nähe der Scheinwerfer, die dem Straßenverkehrsteilnehmer das Gefühl geben, angesehen zu werden. Dazu kann über Augenähnlich wirkende, bewegliche Elemente das Phänomen des menschlichen Blickkontakts nachgebildet werden. Durch die Stellung der visuellen Ausgaben (z.B. der zwei „Augen“ bzw. ihrer „Pupillen“) kann die Information des Gesehen-Werdens vermittelt werden.
• • Eine Einheit zur Laserprojektion von Informationen auf Flächen außerhalb des Fahrzeuges. Dies ist z.B. dann sinnvoll, wenn kein Blickkontakt hergestellt werden kann, um dem Verkehrsteilnehmer mitzuteilen, dass er von dem Fahrzeug wahrgenommen wurde. Außerdem kann die Laserprojektion für die Übermittlung zusätzlicher Informationen verwendet werden.
• • In ähnlicher Weise kann auch eine visuelle Ausgabeeinheit auf der Karosserie und/oder den Fenstern des Fahrzeugs 100 verwendet werden.
• • Eine Ausgabeeinheit für gerichteten Schall. Auch durch akustische Signale kann eine direkte Kommunikation zwischen Fahrzeug 100 und Verkehrsteilnehmer hergestellt werden.
• • Eine Vorrichtung zur Einbindung von persönlichen elektronischen Geräten, wie z.B. einer Augmented-Reality Brille und/oder sogenannter „wearable“ devices, die der menschliche Verkehrsteilnehmer bei sich führt inkl. einer Sendeeinheit, um Informationen an die elektronischen Geräte zu übertragen.
• • Ein System zur Bewegung des Fahrzeugs 100, um über eine Bewegungsandeutung und ein Verhalten des Fahrzeugs 100 die Intentionen des Fahrzeugs 100 zu kommunizieren.

The vehicle 100 can be a variety of different means of communication 102 which may also be used in combination to generate a message for the detected road user. Examples of such communication means are:

• • One or more visual issues in or near the headlights that give the road user the feeling of being viewed. For this purpose, the phenomenon of human eye contact can be simulated via eye-like, moving elements. Through the position of the visual output (eg of the two "eyes" or their "pupils") the information of becoming-seen can be conveyed.
• • A unit for laser projection of information on areas outside the vehicle. This is useful, for example, when eye contact can not be made in order to inform the road user that he has been perceived by the vehicle. In addition, the laser projection can be used for the transmission of additional information.
• Similarly, a visual output unit may also be provided on the body and / or windows of the vehicle 100 be used.
• • One output unit for directional sound. Also by acoustic signals can be a direct communication between vehicle 100 and road users.
• A device for the integration of personal electronic devices, such as an augmented-reality goggles and / or so-called "wearable" devices, which carries the human road users with it including a transmitting unit to transmit information to the electronic devices.
• • A system for moving the vehicle 100 to talk about a motion hint and a behavior of the vehicle 100 the intentions of the vehicle 100 to communicate.

In summary, the control unit 101 thus be configured to process information about other road users and other road users. Furthermore, the control unit 101 be set up to recognize and interpret the intentions of other road users. In addition, the control unit 100 be set up to generate a communication strategy (including modality, type and intensity of the output) and the associated communication content.

The control unit 100 may be configured to detect a plurality of road users and to communicate simultaneously with the plurality of road users. For this purpose, if necessary, different means of communication 102 used to ensure clear communication with individual road users.

The control unit described in this document 101 and the corresponding method can in particular in autonomous, ie self-propelled, vehicles 100 be used. Alternatively or additionally, the control unit 101 but also be used to a driver assistance function (FAS) in a largely driver-controlled vehicle 100 provide.

2 shows a flowchart of an exemplary method 200 for direct communication between a vehicle 100 and a road user. The procedure 200 includes determining 201 of environmental data based on one or more environment sensors 103 of the vehicle 100 , In particular, image data of the surroundings of the vehicle can be determined on the basis of a camera. Furthermore, the method includes 200 the detecting 202 based on the environmental data, at least one road user in an environment of the vehicle 100 , For example, a human road user in the vicinity of the vehicle can be detected become. The procedure 200 further comprises determining 203 Based on the environmental data that the road user is about to determine if he is from the vehicle 100 was detected. For example, it can be recognized from the environmental data that the human road user is heading for the vehicle 100 looks. Furthermore, it can be determined on the basis of a facial expression of the human road user, for example, whether the human road user is currently in the process of ascertaining whether he is from the vehicle 100 was detected.

The procedure 200 further includes generating 204 from an output via one or more communication means 102 of the vehicle 100 if it has been determined that the road user is about to determine if he is from the vehicle 100 was detected. The output may be configured to indicate to the road user that he is away from the vehicle 100 was detected. For this purpose, an optical and / or acoustic output can be made. Alternatively or additionally, the vehicle 100 also by its movement (eg by a reduction in the driving speed) indicate that the road user by the vehicle 100 was perceived. This ensures that the road user better understands the future actions of the vehicle 100 since he knows he was detected by the vehicle and the vehicle 100 Thus, the road user in future actions will take into account.

The measures described in this document can increase mixed-traffic safety with human road users and computer-controlled / autonomous vehicles. Furthermore, this can increase the acceptance of vehicles with driver assistance systems, for partially automated driving (TAF), for highly automated driving (HAF) and for autonomous drivers.

The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended to illustrate only the principle of the proposed methods, apparatus and systems.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited non-patent literature

• ETSI Standard TS 102 637 [0002]
• SAE Standard SAEJ2735 [0002]
• Standard TS 102 637-2 [0002]
• http://geser.net/elin/3_5.htm [0030]

Claims (10)

Control unit ( 101 ) for a vehicle ( 100 ), the control unit ( 101 ) environment data from one or more environment sensors ( 103 ) of the vehicle ( 100 ) to recieve; Based on the environment data, at least one road user in an environment of the vehicle ( 100 ) to detect; - to determine, based on the environmental data, whether there is a need for communication between the road user and the vehicle ( 100 ) consists; and - if it has been determined that there is a need for communication between the road user and the vehicle ( 100 ), one or more communication means ( 102 ) of the vehicle ( 100 ) to generate an output to communicate with the road user. Control unit ( 101 ) according to claim 1, wherein - the road user is a human; - the control unit ( 101 ) is arranged to detect human eyes based on the environmental data; - the control unit ( 101 ) is arranged to determine on the basis of the detected eyes that a need for communication between the road user and the vehicle ( 100 ) consists. Control unit ( 101 ) according to any preceding claim, wherein the control unit ( 101 ) is set up, - to determine one or more indications of an intention of the road user on the basis of the environment data; - determine by means of one or more indications that a conflict situation between vehicles ( 100 ) and road users. Control unit ( 101 ) according to claim 3, wherein the control unit ( 101 ) which is one or more communication means ( 102 ) of the vehicle ( 100 ) to generate an output to indicate to the road user how the vehicle ( 100 ) in relation to the conflict situation. Control unit ( 101 ) according to one of claims 3 to 4, wherein the control unit ( 101 ), position data from a positioning unit ( 104 ) of the vehicle ( 100 ) to recieve; and - also to determine from the position data that a conflict situation between vehicle ( 100 ) and road users. Control unit ( 101 ) according to one of claims 3 to 5, wherein the one or more indicia include an intention of the road user, a direction of movement of the road user relative to the vehicle ( 100 ); A viewing direction of the road user relative to the vehicle ( 100 ); and / or - a traffic sign and / or a traffic device in an environment of the vehicle ( 100 ) and the road user. Control unit ( 101 ) according to any preceding claim, wherein the one or more communication means ( 102 ) comprise one or more of the following: - one or more headlamps of the vehicle ( 100 ); - One or more movable optical output elements in or near the one or more headlamps, which are adapted to emulate a human eye contact; An optical output unit for displaying pictorial information on an outer surface of the vehicle ( 100 ); An acoustic output unit for outputting acoustic information; and / or - a device for controlling a movement of the vehicle ( 100 ) relative to the road user. Control unit ( 101 ) according to any preceding claim, wherein the one or more environmental sensors ( 103 ) comprise a camera, a laser, an ultrasonic sensor and / or a radar sensor. Control unit ( 101 ) according to any preceding claim, wherein the vehicle ( 100 ) is arranged to move without intervention of a driver on the road. Procedure ( 200 ) for communication between a vehicle ( 100 ) and a road user, the process ( 200 ), - determining ( 201 ) of environmental data based on one or more environment sensors ( 103 ) of the vehicle ( 100 ); - Detect ( 202 ), based on the environmental data, of at least one road user in an environment of the vehicle ( 100 ); - Determine ( 203 ), on the basis of the environment data, if there is a need for communication between the road user and the vehicle ( 100 ) consists; and - if it has been determined that there is a need for communication between the road user and the vehicle ( 100 ), generate ( 204 ) from an output via one or more communication means ( 102 ) of the vehicle ( 100 ) to communicate with the road user.

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