WO2003044771A2 - Device and method for positioning acoustic sources - Google Patents

Device and method for positioning acoustic sources Download PDF

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Publication number
WO2003044771A2
WO2003044771A2 PCT/EP2002/011818 EP0211818W WO03044771A2 WO 2003044771 A2 WO2003044771 A2 WO 2003044771A2 EP 0211818 W EP0211818 W EP 0211818W WO 03044771 A2 WO03044771 A2 WO 03044771A2
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WIPO (PCT)
Prior art keywords
acoustic
warning
technical
generating
loudspeakers
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PCT/EP2002/011818
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German (de)
French (fr)
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WO2003044771A3 (en
Inventor
Wilhelm Kincses
Siegfried Rothe
Hermann Ackermann
Klaus Mathiak
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Daimlerchrysler Ag
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Publication of WO2003044771A2 publication Critical patent/WO2003044771A2/en
Publication of WO2003044771A3 publication Critical patent/WO2003044771A3/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B3/00—Audible signalling systems; Audible personal calling systems
    • G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission

Definitions

  • the invention relates to a device and a method according to the preambles of claims 1 and 6.
  • the willingness and speed of reaction of a user of a technical device can be increased considerably if warning and information signals are sent to the user from the direction in which an object or a dangerous situation is located, about which the user is warned or informed about should.
  • Corresponding direction-selective warning systems are known, in which the vehicle driver is given an artificial nail rattle to warn the driver before leaving the roadway through loudspeakers integrated into the side of the passenger compartment.
  • the loudspeakers that are on the side of the passenger compartment on which the vehicle threatens to leave the road are activated. It is also known to position loudspeakers on the edge of the passenger compartment behind the vehicle driver so that they can warn the vehicle driver of a risk of collision if he has overlooked a vehicle approaching from behind during the overtaking maneuver during the overtaking maneuver.
  • a corresponding warning device is also known from DE 198 43 564 AI, in which a warning device for monitoring a distance of a vehicle from an obstacle is described.
  • the device comprises a plurality of similar warning signal generators, which are arranged distributed in the vehicle and are controlled as a function of the detected direction in order to indicate this direction to the driver. Different warning signals are generated, depending on whether there is an obstacle in the vicinity of the vehicle or at a greater distance from it, in order to ensure that the driver can correctly assign the perceived warning signal and react appropriately.
  • the object of the invention is to find a device and a method which allows a directionally selective warning system to be generated in a particularly simple and cost-effective manner.
  • the object is achieved by a method and a device suitable for carrying out this method, in which, according to the invention, using a system for generating an acoustic space with a plurality of loudspeakers, their frequency-dependent phase and amplitude-modulated control generates at least one virtual source which in their position can be changed.
  • a system suitable for this purpose for generating an acoustic space is known, for example, from the document EP 0 966 179 A2. So far, however, such systems have only been used in the entertainment sector. The aim is to create virtual sound values that are as realistic as possible in order to create the highest possible acoustic entertainment value for a listener or the viewer of a scene.
  • the document EP 0 966 179 A2 names computer games and simulations.
  • this method has also been used to replace the surround systems known from the professional entertainment sector (cinemas and concert halls), such as THX or Dolby Digital (AC3).
  • Such systems are known to be used to move a viewer through the representation of a virtual world of sound in the artificial scene, for example of a movie.
  • the novel warning and information system now makes use of such a well-known entertainment system, which is excellently suitable for taking a listener into an artificial world, in order to assist a listener in perceiving real conditions by sending warning signals .
  • the novel method for positioning acoustic sources for generating warning and information signals enables the warning or information to be apparently detached from the actually (physically) existing technical device or loudspeaker arrangement in a particularly advantageous manner. If the operator is to be warned of a danger looming from behind (for example when using the vehicle: a vehicle in the blind spot of the rear-view mirror during the overtaking maneuver or a vehicle approaching very quickly), an acoustic warning signal can be generated virtually in this area. without having to explicitly attach a speaker at the point. This allows an absolutely flexible virtual positioning of the sound sources without complex wiring and installation.
  • the device according to the invention can be connected to sensors for detecting the surroundings of the technical device. In this way, their information regarding objects can be warned about them or what information can be evaluated, which in turn allows exact positioning of the sound sources in the room. Sensors for detecting movement parameters of objects are particularly advantageous, so that it becomes possible to simulate a moving sound source in a realistic manner. It is also conceivable to vary the information transmitted in connection with the movement of the virtual sound source (for example, imitation of the Doppler effect when simulating an approaching siren of an emergency vehicle or intensifying the volume when a dangerous object is approaching).
  • the differential speed can be profitably represented by variation in the sound of the warning or information signal.
  • a sound system for example: stereo system
  • the adaptation can be accomplished, for example, by modifying the electronics of the existing sound system or by connecting an additional module.
  • the method according to the invention can be used particularly advantageously for warning and information presentation in motor vehicles. If the reduction in cabling and installation work leads to a significant reduction in costs, and on the other hand, the realization of moving warning information according to the invention allows realistic awareness of the vehicle driver (this is particularly important because in modern motor vehicles the vehicle occupants are very well aware of the noise outside the motor vehicle, thus also be sealed off from signal systems of motor vehicles).

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Emergency Alarm Devices (AREA)
  • Stereophonic System (AREA)
  • Alarm Systems (AREA)

Abstract

The aim of the invention is to realize a direction-selective warning system in a particularly simple and economical manner. To this end, a system for generating an acoustic space with a number of loudspeakers, whose out of phase control generates at least one virtual source, is used to change the position of this source in the space in order to warn or inform a user of a technical device.

Description

Beschreibungdescription
Vorrichtung und Verfahren zur Positionierung akustischer QuellenDevice and method for positioning acoustic sources
Die Erfindung betrifft eine Vorrichtung und ein Verfahren nach den Oberbegriffen der Patentansprüche 1 und 6.The invention relates to a device and a method according to the preambles of claims 1 and 6.
Die Reaktionsbereitschaft und -geschwindigkeit eines Nutzers einer technischen Einrichtung kann erheblich erhöht werden, wenn Warn- und Informationssignale aus derjenigen Richtung auf den Nutzer hin ausgesandt werden, in welcher sich ein Objekt oder eine Gefahrensituation befindet, vor welcher dieser gewarnt oder über welchen er informiert werden soll.The willingness and speed of reaction of a user of a technical device can be increased considerably if warning and information signals are sent to the user from the direction in which an object or a dangerous situation is located, about which the user is warned or informed about should.
Es sind entsprechende richtungsselektive Warnsysteme bekannt, bei welchen dem Fahrzeuglenker zur Warnung vor dem Verlassen der Fahrbahn durch seitlich in der Fahrgastzelle integrierte Lautsprecher ein künstliches Nagelbandrattern zugespielt wird. Dabei werden jeweils diejenigen Lautsprecher aktiviert, welche sich auf derjenigen Seite der Fahrgastzelle befindet auf der das Fahrzeug die Fahrbahn zu verlassen droht. Es ist des weiteren bekannt Lautsprecher am Rand der Fahrgastzelle hinter den Fahrzeuglenker zu positionieren, damit diese den Fahrzeuglenker vor einer Kollisionsgefahr warnen können, wenn er beim Ausscheren während des Überholvorgangs ein von hinten sich näherndes Fahrzeug übersehen hat . Eine entsprechende Warneinrichtung ist auch aus DE 198 43 564 AI bekannt, worin eine Warneinrichtung zur Überwachung eines Abstands eines Fahrzeugs von einem Hindernis beschrieben wird. Die Einrichtung umfasst dabei eine Mehrzahl von gleichartigen Warnsignalgebern, die im Fahrzeug verteilt angeordnet sind und in Abhängigkeit von der erfassten Richtung gesteuert werden, um dem Fahrer diese Richtung anzuzeigen. Dabei werden unterschiedliche Warnsignale erzeugt, je nachdem, ob sich ein Hindernis im Nahbereich des Fahrzeugs oder in einer größeren Entfernung von diesem befindet, um sicher zu stellen, dass der Fahrer das wahrgenommene Warnsignal richtig zuordnen und darauf in angemessener Weise reagieren kann.Corresponding direction-selective warning systems are known, in which the vehicle driver is given an artificial nail rattle to warn the driver before leaving the roadway through loudspeakers integrated into the side of the passenger compartment. The loudspeakers that are on the side of the passenger compartment on which the vehicle threatens to leave the road are activated. It is also known to position loudspeakers on the edge of the passenger compartment behind the vehicle driver so that they can warn the vehicle driver of a risk of collision if he has overlooked a vehicle approaching from behind during the overtaking maneuver during the overtaking maneuver. A corresponding warning device is also known from DE 198 43 564 AI, in which a warning device for monitoring a distance of a vehicle from an obstacle is described. The device comprises a plurality of similar warning signal generators, which are arranged distributed in the vehicle and are controlled as a function of the detected direction in order to indicate this direction to the driver. Different warning signals are generated, depending on whether there is an obstacle in the vicinity of the vehicle or at a greater distance from it, in order to ensure that the driver can correctly assign the perceived warning signal and react appropriately.
Die Aufgabe der Erfindung ist es, eine Vorrichtung und ein Verfahren zu finden, welches es erlaubt in besonders einfacher und kostengünstiger Weise ein richtungsselektives Warnsystem zu generieren.The object of the invention is to find a device and a method which allows a directionally selective warning system to be generated in a particularly simple and cost-effective manner.
Die Aufgabe wird durch ein Verfahren und eine für die Durchführung dieses Verfahrens geeignete Vorrichtung gelöst, bei welchem in erfinderischer Weise mittels eines Systems zu Generierung eines akustischen Raumes mit einer Mehrzahl von Lautsprechern deren frequenzabhängige phasen- und amplitudenmodulierte Ansteuerung wenigstens eine virtuelle Quelle erzeugt, welche in ihrer Position verändert werden kann.The object is achieved by a method and a device suitable for carrying out this method, in which, according to the invention, using a system for generating an acoustic space with a plurality of loudspeakers, their frequency-dependent phase and amplitude-modulated control generates at least one virtual source which in their position can be changed.
Ein hierzu geeignetes System zur Generierung eines akustischen Raumes ist beispielsweise aus der Schrift EP 0 966 179 A2 bekannt. Bisher wurden solche Systeme jedoch nur im Unterhaltungsbereich verwendet. Dies mit dem Ziel möglichst realitätsnah virtuelle Klangwerten zu erzeugen, um einen möglichst hohen akustischen Unerhaltungswert für einen Hörer oder den Betrachter einer Szene zu schaffen. So nennt die Schrift EP 0 966 179 A2 beispielsweise Computerspiele und -Simulationen. Desweiteren dient diese Methode bisher auch dazu verwandt, die aus dem professionellen Unterhaltungsbereich (Lichtspielhäuser und Konzerthallen) bekannten Surround Systeme, wie beispielsweise THX oder Dolby Digital (AC3) , zu ersetzen. Solche Systeme werden bekanntermaßen dazu verwendet, um eine Zuschauer durch die Repräsentation einer virtuellen Klangwelt in die künstliche Szene beispielsweise eines Kinofilms zu versetzen.A system suitable for this purpose for generating an acoustic space is known, for example, from the document EP 0 966 179 A2. So far, however, such systems have only been used in the entertainment sector. The aim is to create virtual sound values that are as realistic as possible in order to create the highest possible acoustic entertainment value for a listener or the viewer of a scene. For example, the document EP 0 966 179 A2 names computer games and simulations. Furthermore, this method has also been used to replace the surround systems known from the professional entertainment sector (cinemas and concert halls), such as THX or Dolby Digital (AC3). Such systems are known to be used to move a viewer through the representation of a virtual world of sound in the artificial scene, for example of a movie.
In erfinderischer Weise macht sich nun das neuartige Warn- und Informationssystem dieses ein solch bekanntes Unterhaltungs- system, welches vortrefflich dazu geeignet ist einen Hörer in eine künstliche Welt zu entführen, zunutze, um einen Hörer bei der Wahrnehmung realer Gegebenheiten durch Aussenden von Warnsignalen zu unterstützen. Entsprechend ermöglicht das neuartige Verfahren zur Positionierung akustischer Quellen zur Generierung von Warn- und Informationssignalen in besonders vorteilhafter Weise das scheinbare Loslösen der Warnung oder Information von der tatsächlich (physikalisch) vorhandenen, gegenständlichen technischen Einrichtung bzw. Lautsprecheranordnung. Soll der Bediener also vor einer von hinten drohenden Gefahr gewarnt werden (beispielsweise beim Einsatz im Kraftfahrzeugbereich: ein im Totwinkel des Rückspiegels befindliches Fahrzeug während des Überholvorganges oder ein sich sehr schnell näherndes Fahrzeug) , so kann in diesem Bereich virtuell eine akustisches Warnsignal erzeugt werden, ohne daß an der Stelle explizit ein Lautsprechern angebracht werden muß. Dies erlaubt somit eine absolut flexible virtuelle Positionierung der Schallquellen, ohne aufwendige Verkabelung und Installation.In an inventive manner, the novel warning and information system now makes use of such a well-known entertainment system, which is excellently suitable for taking a listener into an artificial world, in order to assist a listener in perceiving real conditions by sending warning signals , Accordingly, the novel method for positioning acoustic sources for generating warning and information signals enables the warning or information to be apparently detached from the actually (physically) existing technical device or loudspeaker arrangement in a particularly advantageous manner. If the operator is to be warned of a danger looming from behind (for example when using the vehicle: a vehicle in the blind spot of the rear-view mirror during the overtaking maneuver or a vehicle approaching very quickly), an acoustic warning signal can be generated virtually in this area. without having to explicitly attach a speaker at the point. This allows an absolutely flexible virtual positioning of the sound sources without complex wiring and installation.
In gewinnbringender Weise kann die erfindungsgemäße Vorrichtung Sensoren zur Erfassung des Umfeldes der technischen Einrichtung in Verbindung stehen. Auf diese Weise kann deren Information bezüglich Objekten vor denen gewarnt oder über welche infor- miert werden soll ausgewertet werden kann, was wiederum eine exakte Positionierung der Schallquellen im Raum erlaubt. Besonders vorteilhaft sind hierbei Sensoren zur Erfassung von Bewegungsparametern von Objekten, so dass es möglich wird wirklichkeitsnah eine bewegte Schallquelle zu simulieren. Hierbei ist es auch denkbar die ausgesandte Information im Zusammenhang mit der Bewegung der virtuellen Schallquelle zu variieren (beispielsweise Imitation des Dopplereffekts bei Simulation eines herannahenden Martinshorns eines Einsatzfahrzeuges oder Intensivierung der Lautstärke bei Herannahen eines gefährlichen Objekts) . Bei der Anwendung der Erfindung im Kraftfahrzeug kann beispielsweise bei der Simulation eines vorbeifahrenden Fahrzeuges, gewinnbringend die Differenzgeschwindigkeit durch Variation im Klang des Warn- bzw. Informationssignals dargestellt werden.In a profitable manner, the device according to the invention can be connected to sensors for detecting the surroundings of the technical device. In this way, their information regarding objects can be warned about them or what information can be evaluated, which in turn allows exact positioning of the sound sources in the room. Sensors for detecting movement parameters of objects are particularly advantageous, so that it becomes possible to simulate a moving sound source in a realistic manner. It is also conceivable to vary the information transmitted in connection with the movement of the virtual sound source (for example, imitation of the Doppler effect when simulating an approaching siren of an emergency vehicle or intensifying the volume when a dangerous object is approaching). When the invention is used in the motor vehicle, for example in the simulation of a passing vehicle, the differential speed can be profitably represented by variation in the sound of the warning or information signal.
In besonders vorteilhafter Weise ist es denkbar ein bereits in der technischen Anlage befindliches Soundsystem (beispielsweise: Stereoanlage) für die erfindungsgemäße Nutzung zu adaptieren. Auf diese Weise entfällt zusätzlicher Verkabelungs- und Installationsaufwand. Da Adaption kann hierbei beispielsweise durch Modifikation der Elektronik des vorhanden Soundsystems oder durch Anschluß eines Zusatzmoduls bewerkstelligt werden. Das erfindungsgemäße Verfahren läßt sich besonders vorteilhaft zur Warnung und Informationsdarbietung in Kraftfahrzeugen verwenden. Führt hier die Reduktion von Verkabelungs- und Installationsaufwand zu einer signifikanten Kostensenkung und zum anderen erlaubt die erfindungsgemäße Realisierung von bewegter Warninformation eine wirklichkeitsnahe Sensibilisierung des Fahrzeuglenkers (dies ist besonders deshalb wichtig, da in modernen Kraftfahrzeugen die Fahrzeuginsassen sehr gut von den Geräuschen außerhalb des Kraftfahrzeuges, also auch von Signalanlagen von Kraftfahrzeugen, abgeschottet werden) . In anderer Weise ist es auch denkbar bei der Überwachung großflächiger, komplexer Anzeigeeinheiten (Kraftwerkssteuerung, Bahnanlagensteuerung) das bezüglich eines Anlagenelements auszusendende Warn- oder Informationssignal virtuell von der Stelle auszusenden, an welcher sich das zu beachtende Anzeigeelement befindet . Bei einer Alarmierung des Bedienpersonal findet dieses schneller das zu beachtende Anzeigeelement. In a particularly advantageous manner, it is conceivable to adapt a sound system (for example: stereo system) that is already in the technical system for use according to the invention. In this way, additional cabling and installation effort is eliminated. The adaptation can be accomplished, for example, by modifying the electronics of the existing sound system or by connecting an additional module. The method according to the invention can be used particularly advantageously for warning and information presentation in motor vehicles. If the reduction in cabling and installation work leads to a significant reduction in costs, and on the other hand, the realization of moving warning information according to the invention allows realistic awareness of the vehicle driver (this is particularly important because in modern motor vehicles the vehicle occupants are very well aware of the noise outside the motor vehicle, thus also be sealed off from signal systems of motor vehicles). In another way, it is also conceivable when monitoring large-area, complex display units (power plant control, railway system control) to virtually send out the warning or information signal to be transmitted with respect to a system element from the point at which the display element to be observed is located. When the operating personnel are alerted, they will find the display element to be observed more quickly.

Claims

Patentansprüche claims
1. Vorrichtung zur Positionierung akustischer Quellen zur Generierung von Warn- und InformationsSignalen mittels Lautsprechern in oder im Umfeld technischer Einrichtungen, bei die Warnsignale aus derjenigen Richtung auf einen Nutzer hin ausgesandt werden, in der sich ein Objekt oder eine Gefahrensituation befindet vor welcher gewarnt oder über welche Informiert werden soll, dadurch gekennzeichnet, dass die Vorrichtung ein System zur Generierung eines akustischen Raumes mit einer Mehrzahl von Lautsprechern umfaßt, welche durch deren frequenzabhängige phasen- und amplitudenmodulierte Ansteuerung wenigstens eine virtuellen akustischen Quelle in einer vorgebbaren Position erzeugen.1. Device for positioning acoustic sources for generating warning and information signals by means of loudspeakers in or in the vicinity of technical facilities, in which warning signals are sent to a user from the direction in which an object or a dangerous situation is or is warned about or which is to be informed, characterized in that the device comprises a system for generating an acoustic room with a plurality of loudspeakers, which generate at least one virtual acoustic source in a predeterminable position through their frequency-dependent phase and amplitude-modulated control.
2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass das System zur Generierung eines akustischen Raumes mit Sensoren zur Erfassung des Umfeldes der technischen Einrichtung in Verbindung stehen.2. Device according to claim 1, characterized in that the system for generating an acoustic space are connected to sensors for detecting the environment of the technical device.
3. Vorrichtung nach Anspruch 2, dadurch gekennzeichnet, dass wenigsten einer der Sensoren dynamische Parameter der die technische Einrichtung umgebenden Objekte, insbesondere deren Bewegungsparameter, erfasst.3. Device according to claim 2, characterized in that at least one of the sensors detects dynamic parameters of the objects surrounding the technical device, in particular their movement parameters.
4. Vorrichtung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die technische Vorrichtung ein Kraftfahrzeug ist . 4. Device according to one of claims 1 to 3, characterized in that the technical device is a motor vehicle.
5. Vorrichtung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die Vorrichtung als Teil eines bereits in der technischen Vorrichtung vorhandenen Soundsystems realisiert wird.5. Device according to one of claims 1 to 4, characterized in that the device is realized as part of a sound system already present in the technical device.
6. Verfahren zur Positionierung akustischer Quellen zur Generierung von Warn- und Informationssignalen mittels Lautsprechern in und im Umfeld von technischen Einrichtungen, wobei die Warnsignale aus derjenigen Richtung auf einen Nutzer hin ausgesandt werden, in der sich ein Objekt oder eine Gefahrensituation befindet vor welcher gewarnt oder über welche Informiert werden soll, dadurch gekennzeichnet, dass mittels eines Systems zur Generierung eines akustischen Raumes mit einer Mehrzahl von Lautsprechern, durch deren frequenzabhängige phasen- und amplitudenmodulierte Ansteuerung wenigstens eine virtuelle Quelle erzeugt, welche in ihrer Position verändert werden kann.6. Method for positioning acoustic sources for generating warning and information signals by means of loudspeakers in and in the vicinity of technical facilities, the warning signals being sent to a user from the direction in which an object or a dangerous situation is or which warned or About which to be informed, characterized in that by means of a system for generating an acoustic room with a plurality of loudspeakers, by means of their frequency-dependent phase and amplitude-modulated control, at least one virtual source is generated which can be changed in its position.
7. Verfahren nach Anspruch 6, dadurch gekennzeichnet, dass zur Bestimmung der Position der virtuellen akustischen Quelle Informationen von Sensoren zur Erfassung des Umfeldes der technischen Einrichtung herangezogen werden.7. The method according to claim 6, characterized in that information from sensors for detecting the environment of the technical device is used to determine the position of the virtual acoustic source.
8. Verfahren nach Anspruch 7, dadurch gekennzeichnet, dass mindestens aus einer dieser Informationen dynamische Parameter von die technische Einrichtung umgebenden Objekten, insbesondere deren Bewegungsparametern, gewonnen werden.8. The method according to claim 7, characterized in that dynamic parameters of objects surrounding the technical device, in particular their movement parameters, are obtained from at least one of these pieces of information.
9. Verfahren nach einem der Ansprüche 6 bis 8, dadurch gekennzeichnet, dass in Abhängigkeit der dynamischen Parameter die Position der virtuellen akustischen Quelle dynamisch variiert wird. 9. The method according to any one of claims 6 to 8, characterized in that the position of the virtual acoustic source is varied dynamically depending on the dynamic parameters.
PCT/EP2002/011818 2001-10-31 2002-10-23 Device and method for positioning acoustic sources WO2003044771A2 (en)

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DE10153304.7 2001-10-31
DE2001153304 DE10153304A1 (en) 2001-10-31 2001-10-31 Device for positioning acoustic sources generates warning/data signals via loudspeakers in technical devices to warn a user from a direction focused on an object or dangerous situation

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DE102008021068B4 (en) * 2008-04-26 2019-06-13 Volkswagen Ag Hazard warning device for a motor vehicle and driver assistance system
DE102019210554A1 (en) * 2019-07-17 2021-01-21 Psa Automobiles Sa Method for assisting a driver of a motor vehicle when parking, computer program product, driver assistance system and motor vehicle

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US4528563A (en) * 1982-11-11 1985-07-09 Nissan Motor Company, Limited Rearward obstruction sensing system for automotive vehicle
US5052685A (en) * 1989-12-07 1991-10-01 Qsound Ltd. Sound processor for video game
DE19843564A1 (en) * 1998-09-23 2000-03-30 Bosch Gmbh Robert Warning device for a motor vehicle

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GB2343347B (en) * 1998-06-20 2002-12-31 Central Research Lab Ltd A method of synthesising an audio signal

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Publication number Priority date Publication date Assignee Title
US4528563A (en) * 1982-11-11 1985-07-09 Nissan Motor Company, Limited Rearward obstruction sensing system for automotive vehicle
US5052685A (en) * 1989-12-07 1991-10-01 Qsound Ltd. Sound processor for video game
DE19843564A1 (en) * 1998-09-23 2000-03-30 Bosch Gmbh Robert Warning device for a motor vehicle

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