DE102022200476A1 - Protection system and protection system procedure for surrounding road users - Google Patents

Abstract

The invention relates to a protection system (1,1a) for road users surrounding an ego vehicle (2,2a), with at least one collision estimator (3) being provided for detecting a collision situation in a probability range, with emergency braking by an emergency brake assistant or manual emergency braking in the probability range is most likely required, and a generation unit (4) for generating at least one acoustic and/or visual warning signal in such a collision situation is provided, the warning signal being suitable for being noticed by the surrounding road users and at least one output unit being provided for the preventive outputting of the at least one acoustic and/or visual warning signal before the actual initiation of the emergency braking by the emergency brake assistant or the manual emergency braking to the surrounding road users. The invention also relates to a host vehicle and a protection system method.

Description

The invention relates to a protection system for road users surrounding a host vehicle, a host vehicle and a protection system method.

Nowadays, driver assistance systems are a very large part of innovations in automotive technology. After ABS (anti-lock braking system) and ESP (electronic stability control) are required by law in every new car, the emergency brake assistant or AEB (Autonomous Emergency Braking) is becoming more and more established in the mass market. Critical situations can be detected earlier and earlier thanks to new sensors and algorithms, and more and more collisions can be avoided as a result.

The reason for the high effectiveness of these systems is the very long human reaction time. A modern vehicle can detect and evaluate a collision situation in a fraction of a second and, if necessary, initiate braking. On average, it takes a person about a full second to do this. Such emergency brake assistants are known.

The DE 10 2010 006214A1 discloses an emergency brake assistant for automatically braking a vehicle to avoid a collision or reduce the consequences of a collision with a detected collision object, with a braking system of the vehicle being automatically controlled at a determined intervention time in such a way that a collision with the detected collision object is avoided or at least the consequences of the collision can be reduced, the intervention time can be determined as a function of the end time of a determined driver reaction time and the determined last possible braking time.

It is an object of the invention to specify an improved protection system and an improved protection method for avoiding traffic accidents and an improved host vehicle.

The object is achieved by a protection system having the features of claim 1 and a host vehicle having the features of claim 10 and a protection method having the features of claim 13.

Further advantageous measures are listed in the dependent claims, which can be suitably combined with one another in order to achieve further advantages.

The task is solved by a protection system for surrounding road users of an ego vehicle, where
at least one collision estimator is provided for recognizing a collision situation in a probability range, emergency braking by an emergency brake assistant or manual emergency braking being most likely required in the probability range, and
a generation unit for generating at least one acoustic and/or visual warning signal in such a collision situation is provided, the warning signal being suitable for being noticed by the surrounding road users and
at least one output unit being provided for the preventive outputting of the at least one acoustic and/or visual warning signal to the surrounding road users before the actual initiation of the emergency braking by the emergency brake assistant or the manual emergency braking.

A collision situation is a situation in which a collision, for example emergency braking, is likely.

A collision estimator is, for example, a pre-crash system with appropriate sensors that are provided by various sensor devices of the host vehicle. The sensor devices can be part of the individual driver assistance systems.

A collision estimator can also be a criticality estimator, for example, which estimates the criticality of critical traffic situations and traffic scenarios. Criticality can, for example, be understood to mean that it evaluates the probability of an accident in a traffic situation, for example from the point of view of a road user or observer.

Depending on the warning signal, the output unit can be the horn, for example, in the case of an acoustic warning signal or front/rear lights in the case of a visual warning signal, or a separate output unit, for example in the form of additional lights and/or displays.

According to the invention, it was recognized that, despite the rapid spread of emergency brake assistants, a very large proportion of vehicles in traffic do not yet have such a system. If an ego vehicle with emergency brake assistants or, for example, a collision warning system, detects a collision situation and initiates emergency braking, the significantly longer reaction time of the driver of a vehicle driving behind without an emergency braking device can cause a collision with this following vehicle. The same can be the case with manual braking.

According to the invention it was recognized that since an unnecessary intervention of an assistance system is usually undesirable for the driver, a modern emergency brake assistant waits for the latest possible point in time to prevent a collision before initiating the braking process, even though the collision situation may have been recognized some time in advance. The same applies to a collision warning system in which manual braking then takes place.

Especially in the case of ego vehicles with an additional emergency braking system, for example in the form of plates as additional brake force-boosting elements or inflatable additional elements, which are only used in otherwise unavoidable collisions, rear-end collisions can occur, for example, with vehicles following behind (multiple collisions) on the motorway. It was also recognized that rear-end collisions involving several vehicles on freeways occur because the vehicle following the ego vehicle may still be able to perform emergency braking, but the following vehicle inevitably causes a rear-end collision because the braking was initiated too late .

Furthermore, it was recognized that rear-end collisions involving vehicles following behind can be avoided if the driver is warned in good time that emergency braking may be necessary. For example, they can react by increasing the distance to the vehicle in front.

The protective system according to the invention for road users in the vicinity of a host vehicle warns the surroundings of the host vehicle that emergency braking or manual emergency braking could be carried out before such is initiated.

By activating various warning signals, the driver behind can be warned of emergency braking as soon as the collision situation is detected, thus avoiding a possible subsequent accident. According to the invention, the warning signals are output to following vehicles and surrounding road users when it is highly probable that emergency braking will be performed, but before the maneuver is initiated.

In this way, accidents in which several road users are involved, the so-called mass collisions, can be prevented in particular.

With such a protection system, depending on the reaction of the driver, the distance to the following vehicle required to avoid a collision can be reduced by up to 20m at 100km/h.

• - ein Kritikalitätsschätzer zum Schätzen einer Kritikalität einer Verkehrssituation und/oder Verkehrsszene, und/oder
• - eine Schnittstelle zu Sensoren und Aktoren zum Erkennen eines Fahrzustandes, wie beispielsweise der Geschwindigkeit, und/oder
• - ein Pre-Crash-System zum Generieren von Pre-crash Signalen und / oder
• - zumindest ein übergeordnetes Sicherheitsmodul, und/oder
• - eine Schnittstelle zu Sensoren und/Aktoren zum Erkennen von fahrerseitigen Aktionen in Erwartung einer Bremsung bei Durchführung einer manuellen Bremsung und/oder Sensoren und Aktoren zum Erkennen von vorbereitenden Aktionen bei Durchführung einer Bremsung durch ein Notbremsassistenten, und/oder
• - eine Schnittstelle zum Systemstatus des Notbremsassistenten bei einem vorhandenen Notbremsassistenten oder Systemstatus des Kollisionswarnsystems bei einem vorhandenen Kollisionswarnsystem, und/oder
• - eine Schnittstelle zu einer Umfeldsensorik zum Erkennen von dynamischen und/oder statischen Objekten zum Erkennen einer kritischen Verkehrssituation oder Verkehrsszene.

In a further development, the at least one collision estimator can include or be designed as:

• - a criticality estimator for estimating a criticality of a traffic situation and/or traffic scene, and/or
• - An interface to sensors and actuators for detecting a driving condition, such as the speed, and / or
• - a pre-crash system for generating pre-crash signals and/or
• - at least one higher-level security module, and/or
• - An interface to sensors and/actuators for recognizing driver-side actions in anticipation of braking when performing manual braking and/or sensors and actuators for recognizing preparatory actions when performing braking by an emergency brake assistant, and/or
• - an interface to the system status of the emergency brake assistant in the case of an existing emergency brake assistant or system status of the collision warning system in the case of an existing collision warning system, and/or
• - An interface to an environment sensor system for detecting dynamic and/or static objects for detecting a critical traffic situation or traffic scene.

The criticality estimator can belong to a higher-level system; a scale value from 1 to 10 can be assigned to the detected collision level, for example. A scale value of 1 corresponds to no danger and a scale value of 10 to a collision.

Furthermore, the collision estimator can include an interface to various sensors and actuators for detecting a driving condition, such as the speed. Depending on the driving situation, the probability range for a collision can then be estimated.

Furthermore, the collision estimator can include a pre-crash system for generating pre-crash signals, which estimates the probability range of a collision based on the actions carried out by the pre-crash system. Such actions can be, for example, that a seat belt tensioner is tightened, the seat is adjusted or the window is closed. Furthermore, a higher-level safety module can estimate a probability of a collision.

Furthermore, the collision estimator can include an interface to sensors and/or actuators for recognizing actions in anticipation of braking when manual braking is performed and/or sensors and actuators for recognizing preparatory actions when braking is performed.

For this purpose, the collision estimator can include an interface to the braking system for recognizing the actions. For example, actions can be the build-up of pressure in the brake system or the application of brake pads.

Furthermore, the collision estimator can include an interface to the system status of the emergency brake assistant in the case of existing emergency brake assistants or the system status of the collision warning system. If, for example, the emergency brake assistant or the collision warning system is not ready for operation or not on alert, it can be assumed that there is a high probability that no collision is imminent. Furthermore, the collision estimator can include an interface to the environment sensor system for detecting dynamic and/or static objects and for determining a probability of a collision.

Furthermore, an interface to the driver can also be included as a collision estimator, in order to use actions by the driver, such as the position of the accelerator pedal or abrupt deceleration, as indications of a collision and use them to estimate the probability of a collision.

Furthermore, the collision estimator can be a combination of these.
In a further development, the output unit is for preventively outputting the at least one acoustic and/or visual warning signal from the group: brake light and/or hazard warning lights and/or horn and/or projection onto the roadway and/or warning tone and/or flashlight and/or display on a rear monitor for the following vehicle.

In this case, warning signals can be, for example, activation of the brake light and/or the hazard warning lights and/or the horn and/or an additional warning tone is generated and emitted. For example, if the warning signal is an optical warning signal, this can be formed by a projection onto the roadway and/or a flashing light, for example similar to a safety car in motor sports. Furthermore, for a separate display, a rear monitor or display, for example, can be arranged in the host vehicle to display a visual warning signal.

Furthermore, in a further embodiment, the protection system can be designed to configure at least one warning signal as a Car2x warning signal, in particular V2V (Car2Car) warning signal, to be transmitted by the host vehicle as input data for existing emergency brake assistants or other braking systems in the surrounding road users.

The collision warning can be generated, for example, as a V2V (Car2Car) data signal that contains the information about a possible emergency braking and can be transmitted by radio. In this way, for example, rear-end collisions can be prevented. This collision warning can also be presented as an input signal for an input interface to the following traffic and its emergency brake assistant.

As a result, for example, the emergency brake assistant or the braking system of the surrounding road user can initiate preparations for emergency braking at an early stage, for example warn the driver in advance. Furthermore, emergency braking can thus be initiated in good time. As a result, a further reduction in accidents can be achieved.

In a further embodiment, the at least one collision estimator is designed to classify the detected collision situation into one of a plurality of predefined probability ranges, with emergency braking by an emergency brake assistant or manual emergency braking being most likely required in each of the probability ranges, with the generation unit for generating at least the acoustic and/or or the visual warning signal based on the allocated probability range.

In a further embodiment, the plurality of probability ranges are successively staggered with regard to an increase in the probability of a collision, with the at least one collision estimator being designed to classify the identified collision situation in the corresponding probability range with regard to the probability of a collision.

This means that the probability ranges are arranged in increasing order, with a higher probability range corresponding to a higher collision. For example, a probability range of 85-87% represents a lower risk of collision than the subsequent probability range of 88-90%. The collision estimator recognizes the risk of collision and then assigns it to the appropriate probability range.

In a further embodiment, the generation unit is designed to increase the intensity of the warning signals as the probability range increases and/or to combine a number of warning signals with one another. For example, with a probability range of 85-87% risk of collision, the turn signal can be switched on first and with a probability range of 88-90% the turn signal light can also flash.

In a further embodiment, if an emergency brake assistant is present, which is designed to carry out emergency braking with a braking force based on the collision situation detected by the collision estimator, the generation unit can be designed to increase the intensity of the warning signals when the braking force to be exerted by the emergency brake assistant increases and/or to combine several warning signals with each other. Since, depending on the situation detected, an emergency brake assistant triggers braking in stages of varying intensity, the warning signals to the driver behind can also be gradually amplified in a similar way.

Furthermore, in a further embodiment, a criticality estimator for estimating a criticality of a traffic situation and/or traffic scene can be present, with the generation unit being designed to increase the intensity of the warning signals and/or to combine several warning signals with one another as criticality increases. The warning signals can thus be amplified in stages, so that the intensity of the warning signal to be output increases with the increasing probability of a collision occurring and/or a plurality of warning signals, for example honking and flashing, are combined.

Furthermore, the object is achieved by a host vehicle with a protection system as described above.

The host vehicle can have a braking system with a first maximum braking force for braking, as well as an additional emergency braking system with an additional second braking force, with the additional emergency braking system only being used if an unavoidable collision is imminent despite the maximum or almost maximum first braking force, and which has the required braking distance shortened. Such a braking force system can be designed, for example, in the form of an additional plate which attaches itself to the ground of the roadway in the event of an unavoidable collision, or anchor elements which attach themselves to the ground of the roadway.

This additional emergency brake system leads to a significantly shorter braking distance, which also means that the emergency brake assistant has to intervene later. Such an ego vehicle thus has a significantly shorter braking distance in an emergency. However, this increases the risk of a rear-end collision, for example, since the following vehicle, which is not equipped with such an additional emergency braking system, for example, has a longer braking distance after recognizing that emergency braking has been initiated and initiating its own braking, so that a rear-end collision is unavoidable. This is now avoided by the protection system according to the invention in the host vehicle.

Furthermore, the host vehicle is preferably equipped with autonomy level three or higher. As a result, braking is preferably automatically initiated.

• - Erkennen von einer Kollisionssituation in einem Wahrscheinlichkeitsbereich, wobei in dem Wahrscheinlichkeitsbereich eine Notbremsung durch einen Notbremsassistenten oder eine manuelle Notbremsung höchstwahrscheinlich erforderlich ist durch einen Kollisionsschätzer, und
• - Generieren eines akustischen und/oder optischen Warnsignals anhand des zugeteilten Wahrscheinlichkeitsbereichs, wobei das Warnsignal dazu geeignet ist, von den Umfeldverkehrsteilnehmern wahrgenommen zu werden, und
• - präventives Ausgeben des zumindest einen akustischen und/oder optischen Warnsignals vor der eigentlichen Einleitung der Notbremsung durch den Notbremsassistenten oder der manuelle Notbremsung an die Umfeldverkehrsteilnehmer.

The object is also achieved by a protection method for road users in the vicinity of an ego vehicle, comprising the steps:

• - Recognition of a collision situation in a probability range, emergency braking by an emergency brake assistant or manual emergency braking being most likely required by a collision estimator in the probability range, and
• - Generating an acoustic and/or visual warning signal based on the assigned probability range, the warning signal being suitable for being noticed by the surrounding road users, and
• - Preventive output of at least one acoustic and / or visual warning signal before the actual initiation of emergency braking by the emergency brake assistant or manual emergency braking to the surrounding road users.

The advantages of the protection system can be transferred to the protection method. In particular, this protection method serves as a timely early warning of a probable emergency braking.

In particular, the protection method according to the invention is designed to be carried out on a protection system as described above.

In a further development, the detected collision situation is divided into one of several predefined probability ranges, with emergency braking by an emergency brake assistant or manual emergency braking most likely being required in each of the probability ranges, and with the generating unit for generating at least the acoustic and/or that of the visual warning signal based on the assigned probability range.

• 1: ein erfindungsgemäßes Schutzsystem in einem erfindungsgemäßen Egofahrzeug in einer ersten Ausgestaltung,
• 2: eine Tabelle mit Warnsignalen, und
• 3: ein erfindungsgemäßes Schutzsystem in einem erfindungsgemäßen Egofahrzeug in einer zweiten Ausgestaltung.

Furthermore, the plurality of probability ranges can be successively staggered with regard to an increase in the probability of a collision, with the collision situation being identified being classified in the corresponding probability range with regard to the probability of a collision.
Furthermore, as the probability range increases, the intensity of the warning signals can be increased and/or a number of warning signals can be combined with one another. Further characteristics and advantages of the present invention result from the following description with reference to the enclosed figures. It shows schematically:

• 1 : a protection system according to the invention in a host vehicle according to the invention in a first embodiment,
• 2 : a table of warning signs, and
• 3 : a protection system according to the invention in a host vehicle according to the invention in a second embodiment.

1 shows a protection system 1 according to the invention in a host vehicle 2 according to the invention.

This protection system 1 can have a collision estimator 3 for dividing the detected collision situation into one of a number of predefined probability ranges, with emergency braking by an emergency brake assistant or manual emergency braking most likely being required in each of the probability ranges. A collision situation is a situation in which a collision is likely.

In this case, the probability ranges are arranged successively in an ascending manner, so that the plurality of probability ranges are successively staggered in terms of an increase in the probability of a collision.

The collision estimator 3 can include a number of sensors and actuators for recognizing dynamic objects, other crash-relevant signals and calculation parameters and for recognizing a critical traffic situation or traffic scene.

Furthermore, sensors and actuators can also be provided for detecting a driving condition such as the speed, based on which the dangerous situation can be assessed.

The collision estimator 3 can also include a criticality estimator for estimating a criticality of a traffic situation and/or traffic scene or be designed as such.

The probability ranges can be assigned to the detected collision level, for example, a scale value from 1 to 10. A scale value of 1 corresponds to no danger and a scale value of 10 to an inevitable collision.

Furthermore, the collision estimator 3 can estimate a collision based on the system status of the emergency brake assistant when emergency brake assistants are present or the system status of a collision warning system. If the system is not ready for operation, a collision situation or a collision situation of the highest severity cannot be assumed.

Furthermore, the collision estimator 3 can also evaluate pre-crash signals from a pre-crash system from a vehicle CAN or be based thereon. These pre-crash signals are, for example, tightening the seat belt, adjusting the seat, closing the window, etc., which can be used to estimate the probability of a collision.

Furthermore, the collision estimator 3 can include an interface to the driver, so that a collision risk can be estimated, for example, based on the accelerator pedal position or actions on the part of the driver, such as abruptly decelerating.
The collision estimator 3 can also include an interface to sensors and/or actuators for recognizing driver-side actions in anticipation of braking when manual braking is carried out and/or sensors and actuators for recognizing preparatory actions. For this purpose, the collision estimator 3 can have an interface to the braking system for detecting, for example, pre-brake measures, such as detecting a pressure build-up in the braking system or applying brake pads.

The collision estimator 3 divides the identified risk of collision into probability ranges.

Depending on the probability range, at least one acoustic and/or visual warning signal is now output as a preventive measure.

The multiple probability ranges are successively staggered with regard to an increase in the probability of a collision.

The collision estimator 3 is also designed to the detected collision situation with regard classify the probability of a collision into the corresponding probability ranges.

Furthermore, a generation unit 4 is provided for generating an acoustic and/or visual warning signal based on the assigned probability range, which is then output preventively via one or more suitable output units. The warning signal or signals are suitable for being noticed by the surrounding road users.

In this case, the generation unit 4 can be designed to increase the intensity of the warning signals with an increasing (higher value) probability range and/or to combine several warning signals with one another. This means that the higher the risk of collision, the intensity of the warning signals increases and/or several warning signals are combined with one another.

Furthermore, if an emergency brake assistant is present, which is designed to carry out emergency braking with a braking force based on the collision situation detected by the collision estimator 3, the generation unit 4 can increase the intensity of the warning signals and/or several warning signals together if the braking force to be exerted by the emergency brake assistant increases combine. Since, depending on the detected situation, an emergency brake assistant performs braking in stages of varying intensity, the warning signals to the driver behind can also be gradually amplified in a similar manner.

Furthermore, the intensity or number of warning signals can also be adjusted as a function of the detected collision situation or, for example, as a function of the estimate of the severity of the collision.

2 gives an overview of a possible increase and combination of warning signals.

In the event of a possible collision situation in which emergency braking is possible (probability range low), the brake light is switched on and flashes briefly as an optical warning signal, stage 1.

If a collision situation is detected in which emergency braking is likely, the protection system 1 switches the brake light on permanently (probability range higher than for level 1), the intensity of a visual warning signal "flashing light" is thus increased, level 2.

If emergency braking is initiated/prepared, e.g. by the emergency brake assistant, the optical warning signal “blinker light” flashes continuously, the intensity of a visual warning signal “blinker light” is thus increased again, stage 3.
When emergency braking is performed, which is carried out, for example, by means of the emergency brake assistant, several visual warning signals are combined with one another, here the brake light and the hazard warning lights flash, level 4. If the host vehicle 2 has an additional emergency brake system with an additional second braking force, the additional emergency brake system only then is used if an unavoidable collision is imminent despite maximum or almost maximum first braking force, and which shortens the necessary braking distance, then when the auxiliary emergency brake system is activated, both the brake light and the hazard warning lights as well as the horn can be actuated, level 5 combined acoustic and visual warning signals.

Such an additional auxiliary emergency braking system can be, for example, plates or inflatable auxiliary elements which are anchored to the road surface during the braking process and thereby apply additional braking force.

Depending on the reaction of the driver, such a protection system 1 can reduce the distance to the following vehicle, which is required to avoid a collision, by up to 20 m at 100 km/h.

Any consequential accident can be avoided by warning the surrounding road users before initiating a braking process by the protection system 1 according to the invention.

3 shows a further embodiment of a host vehicle 1a according to the invention. The protection system 1a has the collision estimator 3 for dividing the detected collision situation into one of a number of predefined probability ranges. Depending on the probability range, at least one acoustic and/or visual warning signal is now output as a preventive measure.

Furthermore, the generation unit 4 is provided for generating the acoustic and/or visual warning signal based on the assigned probability range, which are then output preventively via one or more suitable output units. The warning signal or signals are suitable for being noticed by the surrounding road users.

In this case, the generation unit 4 can be designed to increase the intensity of the warning signals as the probability range increases and/or to combine a number of warning signals with one another. This means that the higher the There is a risk of collision, the warning signals are increased in intensity and/or several warning signals are combined with one another.

Since, depending on the detected situation, an emergency brake assistant performs braking in stages of varying intensity, the warning signals to the driver behind can also be gradually amplified in a similar manner.

Furthermore, the intensity or number of warning signals can also be adjusted as a function of the detected collision situation or, for example, as a function of the estimate of the severity of the collision.

In particular, the protection system 1a can be designed to configure the warning signal as a car2x warning signal, in particular a V2V warning signal, as input data for existing emergency brake assistants or other braking systems in the surrounding road users. This means that data is additionally or alternatively sent, for example via radio, to the surrounding road users, which contains information about a possible imminent initiation of emergency braking. As a result, for example, the emergency brake assistant or the braking system of the surrounding road user can initiate preparations for emergency braking at an early stage, for example warn the driver in advance.

Reference List

1.1a

protection system

2.2a

ego vehicle

3

collision estimator

4

generation unit

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was 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.

Patent Literature Cited

• DE 102010006214 A1 [0004]

Claims (14)

Protection system (1,1a) for road users surrounding an ego vehicle (2,2a), characterized in that at least one collision estimator (3) is provided for detecting a collision situation in a probability range, with emergency braking by an emergency brake assistant or manual emergency braking being highly probable in the probability range is required, and a generation unit (4) for generating at least one acoustic and/or visual warning signal in such a collision situation is provided, the warning signal being suitable for being noticed by the surrounding road users and at least one output unit being provided for preventive output the at least one acoustic and/or visual warning signal to the surrounding road users before the emergency braking is actually initiated by the emergency brake assistant or the manual emergency braking. Protection system (1.1 a) according to claim 1 , characterized in that the at least one collision estimator (3) is designed or comprises: - a criticality estimator for estimating a criticality of a traffic situation and/or traffic scene, and/or - an interface to sensors and actuators for detecting a driving state, and/or - a pre-crash system for generating pre-crash signals and/or at least one higher-level safety module and/or an interface to sensors and/or actuators for recognizing driver-side actions in anticipation of braking when performing manual braking and/or Sensors and actuators for recognizing preparatory actions when braking by an emergency brake assistant, and/or - an interface to the system status of the emergency brake assistant if there is an emergency brake assistant or system status of the collision warning system if there is a collision warning system, and/or - an interface to an environment sensor system for recognition of dynamic and/or static objects to recognize a critical traffic situation or traffic scene. Protection system (1,1a) according to one of the preceding claims, characterized in that the output unit for the preventive outputting of at least one acoustic and/or visual warning signal from the group is: brake light and/or hazard warning lights and/or horn and/or projection onto the lane and/or warning tone and/or flashlight and/or display on a rear monitor for the following vehicle. Protection system (1,1a) according to one of the preceding claims, characterized in that the protection system (1,1a) is designed to configure at least one warning signal as a car2x warning signal, in particular a V2V warning signal, as input data for existing emergency brake assistants or other braking systems in the surrounding road users . Protection system (1,1a) according to one of the preceding claims, characterized in that the at least one collision estimator (3) is designed to classify the detected collision situation into one of a plurality of predetermined probability ranges, with emergency braking by an emergency brake assistant or manual braking in each of the probability ranges Emergency braking is most likely required, and the generation unit (4) is designed to generate at least the acoustic and/or the visual warning signal based on the assigned probability range. Protection system (1.1a) according to claim 5 , characterized in that the plurality of probability ranges are successively staggered with regard to an increase in the probability of a collision, and wherein the at least one collision estimator (3) is designed to classify the identified collision situation with regard to the probability of a collision in the corresponding probability range. Protection system (1.1 a) according to claim 6 , characterized in that the generation unit (4) is designed to increase the intensity of the warning signals as the probability range increases and/or to combine a plurality of warning signals with one another. Protection system (1,1a) according to one of the preceding claims, characterized in that an emergency brake assistant is present, which is designed to carry out emergency braking with a braking force based on the collision situation recognized by the collision estimator (3), and the generation unit (4) is designed for this is to increase the intensity of the warning signals and/or to combine several warning signals with an increasing braking force to be exerted by the emergency brake assistant. Protection system (1,1a) according to any one of the preceding claims, characterized in that a criticality estimator for estimating a Criticality of a traffic situation and/or traffic scene is present and wherein the generation unit (4) is designed to increase the intensity of the warning signals with increasing criticality and/or to combine several warning signals with one another. Host vehicle (2, 2a) with a protection system (1, 1a) according to one of the preceding claims. Ego vehicle (2.2a) after claim 10 , characterized in that the host vehicle (2,2a) has a braking system with a first maximum braking force for braking, and an additional emergency braking system with an additional second braking force, with the additional emergency braking system only being used if an unavoidable collision despite maximum or almost maximum first braking force is imminent and which shortens the required braking distance. Personal vehicle (2.2a) with a protection system (1.1a). claim 10 or 11 , characterized in that the ego vehicle (2.2a) is equipped with an autonomy level higher than three. Protection method for road users surrounding an ego vehicle (2.2a), comprising the steps: - Recognition of a collision situation in a probability range, emergency braking by an emergency brake assistant or manual emergency braking being most likely required by a collision estimator (3) in the probability range, and - Generating an acoustic and/or visual warning signal based on the assigned probability range, the warning signal being suitable for being noticed by the surrounding road users, and - Preventive output of at least one acoustic and / or visual warning signal before the actual initiation of emergency braking by the emergency brake assistant or manual emergency braking to the surrounding road users. protection procedure Claim 13 , characterized in that the detected collision situation is divided into one of several predefined probability ranges, with emergency braking by an emergency brake assistant or manual emergency braking being most likely required in each of the probability ranges, and the generation unit (4) for generating at least the acoustic and/or the optical warning signal based on the allocated probability range, is formed.

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