WO2015009221A1

WO2015009221A1 - Method and sensor for transferring information between vehicles

Info

Publication number: WO2015009221A1
Application number: PCT/SE2014/050817
Authority: WO
Inventors: Mikael Lindberg; Mikael SALMÉN; Carl Fredrik Ullberg; Fredrich Claezon
Original assignee: Scania Cv Ab
Priority date: 2013-07-18
Filing date: 2014-06-30
Publication date: 2015-01-22
Also published as: BR112015029482A2; BR112015029482B1; SE1350901A1; SE539053C2; EP3022726A1; CN105339993B; CN105339993A; EP3022726A4

Abstract

The methods (300, 500) and sensors (111, 112) for transferring information associated with an object (120) detected by a first sensor (111 ) in a first vehicle (101 ) to a second sensor (112) in a second vehicle (102) over a wireless interface.

Description

METHOD AND SENSOR FOR TRANSFERRING INFORMATION

BETWEEN VEHICLES

TECHNICAL FIELD OF THE INVENTION

The invention concerns the methods and sensors in vehicles. More specifically, the invention describes a mechanism for transferring information associated with an object detected by a first sensor in a first vehicle to a second sensor in a second vehicle.

BACKGROUND A vehicle sometimes contains a driver assistance system comprising sensors such as radar, cameras and similar types of sensors, which identify objects around the vehicle, such as road markings, signs, pedestrians, animals and other surrounding vehicles.

Vehicle refers in this context to, for example, a goods vehicle, long-haul semi, transport vehicle, car, emergency vehicle, vessel, bus, motorcycle, fire engine, amphibious vehicle, boat, airplane, helicopter or other similar motorized manned or unmanned means of transport adapted for geographic movement on land, at sea or in the air.

However, in many situations the sensor in a vehicle is obstructed by a lead vehi- cle, particularly when the lead vehicle is a heavy vehicle such as a long-haul semi, a bus or a similarly large and/or obstructive vehicle.

In a case where, for example, a passenger gets out of a bus and walks in front of the bus in order to cross the road, it can be difficult for a trail and/or passing vehicle to perceive the pedestrian in front of the lead vehicle, even if the trail vehicle has a sensor, because the lead vehicle is obstructing the view of both the sensor and the vehicle driver. If the trail vehicle begins to pass the non-moving bus in this situation, a serious accident can result, unless the passenger perceives and realizes the danger in his actions. Another example of a potential near-accident can be when a wild animal such as a wild boar, elk, deer or the like suddenly crosses the road in front of a lead vehicle. The sensor in the host vehicle is then obstructed by the lead vehicle, with the result that the driver of the trail vehicle may be surprised by sudden and transverse braking and/or another wild animal that follows the first animal across the road.

It is clear that there is much that remains to be done to improve sensors and driver assistance systems in vehicles.

SUMMARY It is consequently an object of this invention to improve the capacity of a vehicle driver to perceive an object that appears in the roadway in order to solve at least one of the aforementioned problems and thereby achieve a vehicle improvement.

According to a first aspect of the invention, this object is achieved by means of a method in a first sensor in a first vehicle for transferring information associated with an object detected by the first sensor to a second sensor in a second vehicle. The method comprises detection of the object. The method further comprises transmission of wireless information associated with the detected object for reception by the second sensor in the second vehicle.

According to a second aspect of the invention, this object is achieved by means of a sensor in a first vehicle, which sensor is arranged so as to detect an object and transfer information associated with the detected object to a second sensor in a second vehicle. The sensor comprises a detector arranged so as to detect the object. The sensor further comprises a transmitter arranged so as to transmit wireless information associated with the detected object for reception by the second sensor in the second vehicle.

According to a third aspect of the invention, this object is achieved by means of a method in a second sensor in a second vehicle for receiving information associated with an object detected by a first sensor in a first vehicle. Said method comprises the reception of wireless information associated with the object from the first sensor in the first vehicle. The method also comprises the initiation of an accident- avoidance measure with a view to avoiding an accident with the object.

According to a fourth aspect of the invention, this object is achieved by means of a sensor in a second vehicle. Said sensor is arranged so as to receive information associated with an object detected by a first sensor in a first vehicle. The sensor comprises a detector arranged so as to receive wireless information associated with the object from the first sensor in the first vehicle. The sensor further comprises a processor circuit arranged so as to initiate an accident-avoidance measure with a view to avoiding an accident with the object. Forwarding information concerning an object detected in proximity to a first vehicle by a sensor in said first vehicle to a second sensor in a second vehicle that is located on the same section of road as the first vehicle makes it possible to warn the driver of the second vehicle about a hazard that has been detected by the first sensor in the first vehicle. The driver of the second vehicle can thus perceive an object such as a pedestrian or a wild boar that is located on the roadway in proximity to the host vehicle, but concealed by the second vehicle, for example, even though the driver or the sensor in said second vehicle cannot see/detect said object when it is concealed. The traffic safety of the vehicles and of other surrounding drivers is thus enhanced. Transferring information wirelessly over a limited range, e.g. directly between the sensors of the vehicles via a light-borne interface, makes it possible to avoid warning a vehicle driver who is not affected by the situation that has arisen. In certain embodiments, existing sensors on the vehicles can be used, such as radar, LIDAR and/or a camera, such as a Time of flight camera, which can be used per se for other purposes, such as measuring dis- tances to lead vehicles with a view to warning the driver if the distance is too short, and/or adjusting the vehicle cruise control to the velocity of the vehicle, with the result that an additional functionality can be obtained by means of the invention without the need to increase the number of components in the vehicles and, in turn, the costs of materials and manufacturing. An improvement of the vehicles is achieved thereby. Other advantages and additional new features will be evident from the following detailed description of the invention.

LIST OF FIGURES The invention will now be described in greater detail with reference to the accompanying figures, which illustrate various embodiments of the invention:

Figure 1A illustrates an embodiment of two vehicles with sensors according to one embodiment, in side view. Figure 1B illustrates an embodiment of two vehicles with sensors according to one embodiment, in plan view.

Figure 2A illustrates an embodiment of two vehicles with sensors according to one embodiment, from the perspective of the trail vehicle.

Figure 2B shows an enlargement of a display screen according to one embod- iment of the invention.

Figure 3 shows a flow diagram that illustrates one embodiment of the invention in a lead vehicle.

Figure 4 is an illustration of a sensor in a lead vehicle according to one embodiment of the invention. Figure 5 shows a flow diagram that illustrates an embodiment of the invention in a trail vehicle.

Figure 6 is an illustration of a sensor in a trail vehicle according to one embodiment of the invention. DETAILED DESCRIPTION OF THE INVENTION

The invention is defined as the methods and sensors for transferring information associated with an object detected by a first sensor to a second sensor in a second vehicle, which can be realized in any of the embodiments described below. 5 However, this invention can be executed in many different forms, and is not to be viewed as limited by the embodiments described herein, which are intended rather to clarify and elucidate various aspects of the invention.

Additional aspects and features of the invention may be evident from the following detailed description when it is considered in combination with the accompanying 10 figures. However, the figures are to be viewed solely as examples of various embodiments of the invention, and are not to be viewed as limitative of the invention, which is limited solely by the accompanying claims. Furthermore, the figures are not necessarily drawn to scale and are, unless otherwise specified, intended to illustrate aspects of the invention conceptually.

15 Figure 1A shows a section of road 100 on which a lead vehicle 101 and a trail vehicle 102 are traveling in a conceived direction of travel 105. The vehicles 101 , 102 can be in motion in the direction of travel 105, or be standing still, prepared for a planned motion in the direction of travel 105. It can also be that the lead vehicle

101 is standing still while the trail vehicle 102 is passing it in the direction of travel 20 105.

The lead vehicle 101 has a sensor 111 that is arranged so as to detect surrounding objects 120, such as a wild animal, pedestrian, another vehicle, an obstacle or the like. Whether the object 120 is in motion or standing still is of no importance to the invention.

25 The trail vehicle 102 also has a sensor 112. Said sensors 111 , 112 can be disposed in an arbitrary location on the respective vehicles 101 , 102, but preferably with a placement as high up toward or on the roof of the respective vehicle 101 ,

102 as possible in order to achieve a maximum field of view and be obstructed at little as possible by other objects, such as other vehicles. The sensors 111 , 112 can also be disposed in the cab of each respective vehicle 101 , 102, e.g. up in proximity to the headliner. There they are protected from external effects such as being soiled by dust or snow splatter, as well as from damage and, to some extent, theft. The first sensor 111 and/or second sensor 112 can consist of, for example, a camera, a 3D camera, a Time of Flight camera (ToF camera), a stereo camera, a light-field camera, a radar measuring device, a laser measuring device, a LIDAR, a distance-measuring device based on ultrasonic waves or a similar sensor.

A LIDAR is an optical measuring instrument that measures properties of reflected light in order to determine the range (and/or other properties) of a remote object 120. The technology is highly reminiscent of radar (Radio Detection and Ranging), but uses radio waves instead of light. The distance to the object 120 is typically measured by measuring the time delay between an emitted laser pulse and the registered reflection. A ToF camera is a camera system that takes a series of images and measures a distance to the object 120 based on the known speed of light, by measuring the time it takes for a light signal to pass between the sensor 11 , 112 and the object 120.

Furthermore, the first sensor 111 and the second sensor 112 can consist of the same type of sensor or of different types of sensors according to different embodiments. In certain embodiments, more than one respective sensor 111 , 112 can be installed in the first vehicle 01 and/or the second vehicle 02. One advantage of having a plurality of sensors 111 , 112 is that more reliable distance determinations can be made, and that a greater range can be covered by said sensors. In the scenario in Figure 1 A, neither the driver of the trail vehicle 102 nor the sensor 112 can see the object 120 ahead of the lead vehicle 101 , as it is obstructed by the lead vehicle 101. On the other hand, the object 120 is detected by the sensor 111 in the lead vehicle. Said sensor 111 in the lead vehicle 101 sends information about the object 120 detected in front of the host vehicle in order for said information to be received by the sensor 112 in the second vehicle 102. It is thus possible for the driver in the trail vehicle 102 to receiving a warning about an object 120 that has appeared in front of the lead vehicle 101. The driver of the trail vehicle 102 can thus, like the driver of the lead vehicle 101 , be warned by means of an audio signal, an audio message, a light signal, a warning displayed on a display screen, a tactile warning signal that transfers vibrations to the driver via a vibrator in the driver seat, steering wheel and/or gear shifter, or a similar warning signal in various embodiments.

In other embodiments this information concerning a concealed object 120 ahead of a lead vehicle 101 can be used to initiate an accident-avoidance measure, such as making it impossible to accelerate, initiating braking and/or initiating an evasive maneuver.

The transfer of information from the first sensor 111 in the lead vehicle 101 to the second sensor 112 in the trail vehicle 102 can be made via a wireless interface based on, for example, Global System for Mobile Communications (GSM), Enhanced Data Rates for GSM Evolution (EDGE), Universal Mobile Telecommunications System (UMTS), Code Division Access (CDMA), (CDMA 2000), Time Division Synchronous CDMA (TD-SCDMA), Long Term Evolution (LTE), LTE- Advanced; Wireless Fidelity (Wi-Fi), defined by the Institute of Electrical and Electronics Engineers (IEEE) standards 802.11 a, b, g and/or n, Internet Protocol (IP), Bluetooth and/or Near Field Communication, (NFC).

One advantage of transferring information wirelessly by means of radio waves can be that it provides sufficient range to warn a large number of other vehicles 102. If, for example, an animal has gotten past a wildlife fence along a motorway, it poses a traffic hazard not only to the host vehicle 101 and the trail vehicle 102, but also to other vehicles traveling the relevant section of road in either direction.

In certain embodiments, the wireless interfaces consists of a light-borne interface, whereupon information can be transferred between the first sensor 111 and the second sensor 112 by means of modulation of the emitted light. The second sensor 112 certainly cannot see the object 120, but it can detect light reflections that are emitted from the first sensor 111 , and these lightwaves can be used to transfer information to the second sensor 112. For example, this information can comprise a single bit in certain embodiments, i.e. "object detected" or "no object detected."

This amount of information may seem small, but it can still be sufficient to trigger a warning or action. A comparison can be made to driving in darkness along a road with oncoming traffic. If one sees beams of light from an oncoming vehicle behind a hill up ahead, one does not know what particular vehicle one will be encounter- ing, how fast it is driving etc, but it can still be inappropriate to begin passing.

In other embodiments additional information can be transferred, such as the type of object, where the object 120 was detected in relation to the vehicle 101 , the size of the object and other similar information. The information-receiving second sensor 112 can thus be provided with additional information that can enable a deter- mination or assessment of how relevant or dangerous the detected object 120 is with respect to the traffic safety of the host vehicle 102.

The light emitted from respective sensor 111 , 112 can lie within the visible spectrum (ca. 390 to 770 nanometers), although in certain embodiments it can also, or alternatively, contain infrared (IR) light, which has a wavelength in excess of 770 nanometers, and/or ultraviolet (UV) radiation, which has a wavelength shorter than 390 nanometers.

In certain embodiments the light modulation can occur by modulating its frequency, wavelength, amplitude and/or time in various embodiments.

To take a simple example, a constant outflow of infrared light from the first sensor 111 can convey the information "no object detected," while a strong pulsating orange light can convey the information "object detected." It is thus possible for the sensor 102 in the trail vehicle 102 to interpret this information. In certain embodiments it can even be possible for the driver of the trail vehicle 102 to directly be made aware of the object 120 ahead of the first vehicle 101 , even if the host vehi- cle 102 has no sensor, or if its sensor 112 is defective or pointing the wrong way, by means of being warned directly by the light signals from the first sensor 111 in the first vehicle 101.

One advantage of transferring light-borne information is that it can be sent directly by the first sensor 111 and received directly by the second sensor 112, without needing to be processed or converted via radio waves. Information can thus be transferred more quickly than when the transfer occurs via a radio interface, as no connecting time is needed. The limited range associated with the transfer of light- borne information has the advantage that information that is irrelevant because the emergent object 120 is quite simply located far from the host vehicle 102, perhaps on another road or in another direction horizontal or vertically, will quite simply be filtered out because the sensor 112 in the trail vehicle102 is unable to receive such information. Light-borne information thus has high credibility for the recipient party. In certain embodiments, the first sensor 111 can send out information related to the detected object to all vehicles; to all vehicles that are adapted so as to receive said information; to all vehicles adapted so as to receive said information within a certain distance, or to all vehicles that are connected to a service that enables reception of such information, according to various embodiments. Figure 1B shows the same section of road 100 with the same vehicles 101 , 102 and the same traffic situation as shown in Figure 1 A, but in plan view.

Figure 2A also shows the same section of road 100 with the same vehicles 101 , 102 and the same traffic situation as shown in Figure 1A and Figure 1 B, but as viewed from the perspective of the driver seat in the trail vehicle 102. The sensor 112 in said trail vehicle 102 is receiving information from the first sensor 111 in the lead vehicle 1010.

In this example the vehicle 102 contains a side module 130 with a display screen 140, which is arranged so as to communicate with the sensor 112 and communicate a received warning regarding the emergent potential traffic hazard to the ve- hide driver, e.g. by means of an audio signal, or by representing the emergent situation and/or the object 120 on the display screen 140, to name some examples of such a warning, according to various embodiments.

Figure 2B shows an example of how such an representation could be carried out in order to ensure that the driver will quickly grasp the emergent situation and have opportunity to take an appropriate measure. In certain other embodiments a measure can be taken instead or as a complement to a warning with a view to avoiding or at least mitigating the consequences of an accident, such as preventing acceleration, initiating braking of the vehicle 102, initiating evasive maneuvers, releasing a call/odor to frighten off an animal, or the like.

Figure 3 illustrates an example of an embodiment of a method 300 in a first sensor 111 in a first vehicle 101. The method 300 is arranged so as to transfer information associated with an object 120 detected by the first sensor 111 to a second sensor 112 in a second vehicle 102. Said information is transferred wirelessly according to certain embodiments. Such wireless information can contain light-borne information, which can be transmitted by means of modulation of the light emitted from the sensor 111. Such modulation can be performed on the phase, amplitude and/or time of the emitted lightwaves.

According to certain embodiments, the wireless information can be transferred via radio waves between the vehicles 101 , 102; based for example on any of the following technologies: GSM, EDGE, UMTS, CDMA, CDMA 2000, TD-SCDMA, LTE, LTE Advanced; Wi-Fi, IP, Bluetooth and/or NFC according to various embodiments.

To be able to transfer information correctly, the method 300 can comprise a num- ber of steps 301-304. However, it should be noted that certain of the described steps 301-304 can be performed in a chronological order different from that indicated by the numerical order, and that certain of them can be performed in parallel with one another, according to various embodiments. Furthermore, certain steps are performed only in certain embodiments, such as steps 302 and 303. The method 300 comprises the following steps:

Step 301

The object 120 is detected by the first sensor 111. Step 302

This method step can be performed in some but not necessarily all embodiments of the method 300.

The detected 301 object 120 is identified as a potential traffic hazard.

Such a detection can be made by determining the position of the object in relation to the vehicle 101 , e.g. whether it is located on the roadway 100 or outside of it; whether the object 120 is moving toward the vehicle 100 or away from it; the size of the object, e.g. via comparison with a limit value; or by means of identification of the type or category of the object 120. These various types of objects can be categorized as hazardous or non-hazardous from a traffic safety perspective. In certain embodiments objects 120 in the form of, for example, pedestrians or animals that are on the roadway 100 within a distance of, for example, 50 meters, are identified as potential traffic hazards. In certain embodiments, objects 120 that are located outside of the roadway 100 but moving toward the roadway 100 are identified as potential traffic hazards. In certain embodiments, objects 120 that are on the roadway and of a size that exceeds a given limit value are identified as potential traffic hazards.

These are just a few non-limitative examples of various possibilities in terms of configuring the identification of potential traffic hazards with a view to activating a warning in the host vehicle 101 and/or the second vehicle 102 in a situation that does not constitute a traffic hazard, e.g. where the sensor 111 has detected a permanently mounted traffic sign along the side of the roadway 100. Step 303

The second sensor 112 in the second vehicle 102, which is arranged so as to re- ceive a transmission of wireless information, is detected. Furthermore, a transmission of such wireless information is performed only when the second sensor 12 in the second vehicle 102 is detected, according to certain embodiments.

This detection can be performed in that the first sensor 111 in the lead vehicle 101 detects light emitted from the second sensor 112 in the trail vehicle 102. It can thus be confirmed that the second sensor 112 is also located in sufficient proximity to be able to receive information from the first sensor 112, e.g. by means of light- borne information transmitted by the first sensor 112.

This makes it possible to avoid transmitting information associated with the detected 301 object 120 when it would not be meaningful, e.g. because there is no other vehicle 102 in proximity. Processor capacity and energy are thus saved in the sensor 101.

Step 304

Wireless information associated with the detected 301 object 120 is transmitted for reception by the second sensor 112 in the second vehicle 102. In various embodiments, the transmitted information can consist of the presence or absence of an object 120, the type of detected object 120, the distance to said object 120 from the first sensor 111 , the size of the object 120, its geographical position, its threat level. According to certain embodiments, wireless information is transmitted only when the detected 301 object 120 is identified 302 as a potential traffic hazard. The issuance of unnecessary warnings to surrounding vehicles 102 can be avoided thereby. According to certain embodiments, wireless information is transmitted only when a second sensor 112 arranged so as to receive wireless information, such as light- borne such information, has been detected 303. This makes it possible to avoid expending time and processor capacity issuing warnings that no other sensor can yet receive. Figure 4 shows an embodiment of a sensor 111 in a first vehicle 101. Said sensor 111 is configured so as to perform at least certain of the aforedescribed method steps 301-304 included in the description of the method 300 for detecting an object 120 and transferring information associated with the detected object 120 to a second sensor 112 in a second vehicle 102. The sensor 111 can consist, for example of a camera, a 3D camera, a Time of Flight camera, a stereo camera, a light-field camera, a radar measuring device, a laser measuring device, a LIDAR and/or a distance-measuring device based on ultrasonic waves.

To be able to correctly detect the object 120 and transfer information associated with said object 120 to other units, such as a second sensor 122, the sensor 111 contains a number of components, which are described in detail in the text below. Certain of the described subcomponents appear in some but not necessarily all embodiments. Additional electronics may also be present in the sensor 111 that are not entirely necessary to an understanding of the function of the sensor 111 according to the invention.

The sensor 111 comprises a detector 410 arranged so as to detect the object 120.

The detector 410 can further be arranged so as to detect the second sensor 112 in the second vehicle 102, which is arranged so as to receive the transmission of wireless information. The sensor 111 further comprises a transmitter 430 arranged so as to transmit wireless information associated with the detected object 120 for reception by the second sensor 112 in the second vehicle 102.

In certain embodiments, said transmitter 430 can be arranged so as to transmit light-borne information for reception by the second sensor 112 in the second vehicle 102.

The transmitter 430 can further be arranged so as to transmit wireless information via radio waves based, for example, on one of the following technologies: GSM, EDGE, UMTS, CDMA, CDMA 2000, TD-SCDMA, LTE, LTE- Advanced; Wi-Fi, according to any of IEEE standards 802.11 a, b, g and/or n, IP, Bluetooth and/or NFC.

The transmitter 430 can also be arranged so as to transmit wireless information solely when the second sensor 112 in the second vehicle 102 is detected.

The sensor 111 can further contain a processor circuit 420 arranged so as to iden- tify the detected object 120 as a potential traffic hazard.

The processor circuit 420 can consist of, for example, one or a plurality of a Central Processing Unit (CPU), microprocessor or other logic designed so as to interpret and execute instructions and/or to read and write data. The processor circuit 420 can process data for inflows, outflows or data-processing of data that also includes the buffering of data, control functions and the like.

According to certain embodiments, the sensor 111 can further contain or be connected to a memory unit 425, which can, in certain embodiments, consist of a storage medium for data. The memory unit 425 can consist, for example, of a memory card, flash memory, USB memory, hard drive or other similar data- storage unit, such as any from the group consisting of ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash memory, EEPROM (Electrically Erasable PROM), etc in various embodiments. According to certain embodiments, the invention further comprises a computer program for transferring information associated with an object 120 detected by a first sensor 111 in a first vehicle 101 to a second sensor 112 in a second vehicle 102 by means of a method 300 according to at least one step 301-304 when the computer program is executed in one or a plurality of processor circuits 420 in the sensor 111.

The method 300 according to at least one of the steps 301-304 for transferring information associated with an object 120 detected by a first sensor 111 in a first vehicle 101 to a second sensor 112 in a second vehicle 102 can thus be imple- mented by means of one or a plurality of processor circuits 420 in the sensor 111 together with computer program code for performing one, several, certain or all of the steps 301-304 described above. A computer program containing instructions for performing the steps 301-304 when the program is loaded into the processor circuit 420 can thereby be [sic]. In certain embodiments, the aforedescribed computer program in the vehicle 101 is arranged so as to be installed in the memory unit 425 in the sensor 111 , e.g. via a wireless interface.

Figure 5 illustrates an example of an embodiment of a method 500 in a second sensor 112 in a second vehicle 102 for receiving information associated with an object 120 detected by a first sensor 111 in a first vehicle 101.

This information is received wirelessly according to certain embodiments. Such wireless information can contain light-borne information, which can be transmitted by means of modulation of the light emitted from the sensor 111 and interpreted by means of corresponding demodulation by the second sensor 112. Such modu- lation and demodulation can be performed on the phase, amplitude and/or time of the transmitted/received lightwaves.

According to certain embodiments, the wireless information can be transferred via radio waves between the vehicles 101 , 102; based for example on one of the following technologies: GSM, EDGE, UMTS, CDMA, CDMA 2000, TD-SCDMA, LTE, LTE Advanced; Wi-Fi, IP, Bluetooth and/or NFC according to various embodiments.

To be able to receive information correctly, the method 500 can comprise a number of steps 501-504. However, it should be noted that certain of the described steps 501-504 can be performed in a chronological order somewhat different from that indicated by the numerical order, and that certain of them can be performed in parallel with one another, according to various embodiments. Furthermore, certain steps are performed only in certain embodiments, such as steps 501 and 503. The method 500 comprises the following steps: Step 501

This method step can be performed in certain, but not necessarily all embodiments of the method 500.

Wireless information is transmitted to inform the first sensor 111 in the first vehicle 101 that a transfer of wireless information can be made. Step 502

Wireless information associated with the object 120 is received from the first sensor 111 in the first vehicle 101.

The received wireless information can contain light-borne information in certain embodiments, wherein the information is decoded by means of demodulation of the received light.

According to certain embodiments, the received wireless information can be received over a radio interface, e.g. based on or inspired by any of the following technologies: GSM, EDGE, UMTS, CDMA, CDMA 2000, TD-SCDMA, LTE, LTE - Advanced; Wi-Fi, IP, Bluetooth and/or NFC. Step 503

This method step can be performed in some but not necessarily all embodiments of the method 500.

The object 120 is identified as a potential traffic hazard, based on the received 502 information.

Step 504

An accident-avoidance measure is initiated in the second vehicle 102 with a view to avoiding an accident with the object 120.

Such an accident-avoidance measure can include, for example communication of a warning to the driver of the second vehicle 102.

Such a warning can comprise, for example, an audio signal, a voice message, a light signal, a tactile vibration and/or a representation of the detected object 120.

In certain embodiments, the accident-avoidance measure that is initiated can consist of a reduction of the velocity of the second vehicle 102, making a velocity in- crease impossible, activation of the brakes and/or initiation of an evasive maneuver in a direction away from the object 120 according to various embodiments, optionally in combination with the aforedescribed warning.

Figure 6 shows an embodiment of a sensor 112 in a second vehicle 102. Said sensor 112 is configured so as to perform at least certain of the previously de- scribed method steps 501-504 included in the description of the method 500 for receiving information associated with an object 120 detected by a first sensor 111 in a first vehicle 101.

The sensor 112 can consist of, for example, a camera, a 3D camera, a Time of Flight camera, a stereo camera, a light-field camera, a radar measuring device, a laser measuring device, a LIDAR and/or a distance-measuring device based on ultrasonic waves. To be able to receive information associated with the object 120 correctly, the sensor 112 contains a number of components, which are described in detail in the text below. Certain of the described subcomponents appear in some but not necessarily all embodiments. Additional electronics can also be present in the sensor 112 that are not entirely necessary for an understanding of the sensor 112 according to the invention.

The sensor 2 contains a detector 610 arranged so as to receive wireless information associated with the object 120 from the first sensor 111 in the first vehicle 101. In certain embodiments, the detector 610 can also be arranged so as to detect light-borne information that is received from the first sensor in the first vehicle 101.

However, the detector 610 can also be arranged so as to receive wireless information via radio waves, e.g. based on or inspired by any of the following technolo- gies: GSM, EDGE, UMTS, CDMA, CDMA 2000, TD-SCDMA, LTE, LTE - Advanced; Wi-Fi, IP, Bluetooth and/or NFC.

The sensor 112 further contains a processor circuit 620 arranged so as to initiate an accident-avoidance measure with a view to avoiding an accident with the object 120. The processor circuit 620 can also be arranged so as to identify the object 120 as a potential traffic hazard, based on information received from the first sensor 111 in the first vehicle 1010.

In certain embodiments the processor circuit 620 can be arranged so as to decode the wireless information that is received from the first sensor 111 by means of de- modulation of the received light.

The processor circuit 620 can consist of, for example, one or a plurality of a Central Processing Unit (CPU), microprocessor or other logic designed so as to interpret and perform instructions and/or to read and write data. The processor circuit 620 can manage data for inflows, outflows or data-processing of data that also includes buffering of data, control functions and the like.

According to certain embodiments, the sensor 112 can also contain or be connected to a memory unit 625 that can, in certain embodiments, consist of a stor- age medium for data. The memory unit 625 can consist of, for example, a memory card, flash memory, USB memory hard drive or other similar data-storage unit, such as any from the group consisting of ROM, PROM, EPROM, Flash memory, EEPROM, etc in various embodiments.

The sensor 112 can also contain a transmitter 630 arranged so as to inform the first sensor 111 in the first vehicle 101 that a transfer of wireless information can be performed.

In certain embodiments, said transmitter 630 can be arranged so as to transmit light-borne information for reception by the first sensor 111 in the first vehicle 101.

In certain embodiments, the transmitter 630 can further be arranged so as to transmit wireless information via radio waves, e.g. based on or inspired by any of the following technologies: GSM, EDGE, UMTS, CDMA, CDMA 2000, TD- SCDMA, LTE, LTE- Advanced; Wi-Fi, according to any of IEEE standards 802.11 a, b, g and/or n, IP, Bluetooth and/or NFC.

According to certain embodiments, the invention further comprises a computer program for receiving information associated with an object 120 detected by a first sensor 111 in a first vehicle 101 by means of a method 500 according to at least one of the steps 501-504 when the computer program is executed in one or a plurality of process circuits 620 in the sensor 112.

The method 500 according to at least one of the steps 501-504 for receiving in- formation associated with an object 120 detected by a first sensor 111 in a first vehicle 101 can thus be implemented by means of one or a plurality of processor circuits 620 in the sensor 112 together with computer program code for performing one, some, certain or all of the steps 501-504 described above. A computer program containing instructions for performing at least one of the steps 501-504 when the program is loaded into one or a plurality of processor circuits 620 in the sensor 112 can thereby [sic].

In certain embodiments, the aforedescribed computer program in the vehicle 102 is arranged so as to be installed in the memory unit 425 in the sensor 112, e.g. via a wireless interface.

The invention further comprises a vehicle 101 , 102 containing an aforedescribed sensor 111 , 112 respectively arranged so as to perform a method 300, 500 according to the foregoing description for transferring information associated with an object 120 detected by a first sensor 111 to a second sensor 112.

Claims

1. A method (300) in a first sensor (111 ) in a first vehicle (101 ) for transferring information associated with an object (120) detected by the first sensor (111 ) to a second sensor (112) in a second vehicle (102), characterized by: detection (301 ) of the object (120); and transmission (304) of wireless information associated with the detected (301 ) object (120) for reception by the sensor ( 12) in the second vehicle (102).

2. The method (300) according to claim 1 , further comprising: identification (302) of the detected (301 ) object (120) as a potential traffic hazard; and wherein the wireless information is transmitted (304) only when the detected (301 ) object (120) has been identified as a potential traffic hazard.

3. The method (300) according to any of claim 1 or claim 2, further comprising: detection (303) of the second sensor (112) in the second vehicle (102), which is arranged so as to receive the transmission (304) of wireless information, and wherein such transmission (304) is performed only when the second sensor (112) in the second vehicle (102) is detected (303).

4. The method (300) according to any of claims 1-3, wherein the transmitted (304) information contains: the presence of an object (120), type of object (120), distance to the object (120) from the first sensor (111 ), size of the object (120), geographical position, threat level.

5. The method (300) according to any of claims 1-4, wherein the wireless information contains light-borne information that is transmitted (304) by means of modulation of the emitted (304) light.

6. The method (300) according to any of claims 1-5, wherein the wireless information is transferred via radio waves based, for example, on any of the following technologies: Global System for Mobile Communications "GSM", Enhanced Data Rates for GSM Evolution "EDGE", Universal Mobile Telecommunications 5 System "UMTS", Code Division Access "CDMA", "CDMA 2000", Time Division Synchronous CDMA "TD-SCDMA", Long Term Evolution "LTE", LTE Advanced; Wireless Fidelity "Wi-Fi", defined by the Institute of Electrical and Electronics Engineers "IEEE" standards 802.11 a, b, g and/or n, Internet Protocol "IP", Bluetooth and/or Near Field Communication, "NFC".

10 7. A sensor (111 ) in a first vehicle (101 ) arranged so as to detect an object (120) and transfer information associated with the detected object (120) to a second sensor (112) in a second vehicle (102), characterized by: a detector (410) arranged so as to detect the object (120); and a transmitter (430) arranged so as to transmit wireless information associ- 15 ated with the detected object (120) for reception by the second sensor (112) in the second vehicle (102).

8. The sensor (111 ) according to claim 7, further comprising: a processor circuit (420) arranged so as to identify the detected object (120) as a potential traffic hazard.

20 9. The sensor (111 ) according to any of claims 7 or claim 8, wherein the detector (410) is further arranged so as to detect the second sensor (112) in the second vehicle (102), which second sensor is arranged so as to receive the transmission of wireless information, and wherein such transmission is carried out only when the second sensor (112) in the second vehicle (102) is detected.

25 10. The sensor (111 ) according to any of claims 7-9, wherein the transmitter (430) is arranged so as to transmit light-borne information for reception by the second sensor (112) in the second vehicle (102), and wherein the sensor (111 ) consists of a camera, a 3D camera, a Time of Flight camera, a stereo camera, a light- field camera, a radar measuring device, a laser measuring device, a LIDAR, a distance-measuring device based on ultrasonic waves.

11. The sensor (111 ) according to any of claims 7-10, wherein the transmitter (430) is arranged so as to transmit wireless information via radio waves based, for example, on any of the following technologies: Global System for Mobile Communications "GSM", Enhanced Data Rates for GSM Evolution "EDGE", Universal Mobile Telecommunications System "UMTS", Code Division Access "CDMA", "CDMA 2000", Time Division Synchronous CDMA "TD-SCDMA", Long Term Evolution "LTE", LTE -Advanced; Wireless Fidelity "Wi-Fi", defined by the Institute of Electrical and Electronics Engineers "IEEE" standards 802.11 a, b, g and/or n, Internet Protocol "IP", Bluetooth and/or Near Field Communication, "NFC".

12. A computer program for transferring information associated with an object (120) detected by a first sensor (111 ) in a first vehicle (101 ) to a second sensor (112) in a second vehicle (102) by means of a method (300) according to any of claims 1-6 when the computer program is executed in a processor circuit (420) in a sensor (111 ) according to any of claims 7-11.

13. A method (500) in a second sensor (112) in a second vehicle (102) for receiving information associated with an object (120) detected by a first sensor (111 ) in a first vehicle (101 ), characterized by: reception (502) of wireless information associated with the object (120) from the first sensor (111 ) in the first vehicle (101 ); and initiation (504) of an accident-avoidance measure with a view to avoiding an accident with the object (120).

14. The method (500) according to claim 13, further comprising: identification (503) of the object (120) as a potential traffic hazard, based on the received (502) information.

15. The method (500) according to any of claim 13 or claim 14, further comprising: transmission (501) of wireless information to inform the first sensor (111) in the first vehicle (101 ) that a transfer of wireless information can be performed.

16. The method (500) according to any of claims 13-15, wherein the received (502) wireless information contains light-borne information, wherein the infor-

5 mation is decoded by means of demodulation of the received (502) light.

17. The method (500) according to any of claims 13-16, wherein the received (502) wireless information is transferred via radio waves based, for example, on any of the following technologies: Global System for Mobile Communications "GSM", Enhanced Data Rates for GSM Evolution "EDGE", Universal Mobile Tele-

10 communications System "UMTS", Code Division Access "CDMA", "CDMA 2000", Time Division Synchronous CDMA "TD-SCDMA", Long Term Evolution "LTE", LTE -Advanced; Wireless Fidelity "Wi-Fi", defined by the Institute of Electrical and Electronics Engineers "IEEE" standards 802.11 a, b, g and/or n, Internet Protocol "IP", Bluetooth and/or Near Field Communication, "NFC".

15 18. The method (500) according to any of claims 13-17, wherein the accident- avoidance measure that is initiated (504) with a view to avoid an accident with the object (120) includes communication of a warning to the driver of the second vehicle.

19. The method (500) according to any of claims 13-18, wherein the warning 20 to the driver of the second vehicle includes a representation of the detected object

(120).

20. The method (500) according to any of claims 13-19, wherein the accident- avoidance measure that is initiated (504) with a view to avoiding an accident with the object (120) consists of a reduction of the velocity of the second vehicle.

25 21. A sensor (112) in a second vehicle (102), arranged so as to receive information associated with an object (120) detected by a first sensor (111 ) in a first vehicle (101 ), characterized by: a detector (610) arranged so as to receive wireless information associated with the object (120) from the first sensor (111 ) in the first vehicle (101 ); and a processor circuit (620) arranged so as to initiate an accident-avoidance measure with a view to avoiding an accident with the object (120).

22. The sensor (112) according to claim 21 , wherein the processor circuit (620) is arranged so as to identify the object (120) as a potential traffic hazard based on information received from the first sensor (111 ) in the first vehicle (101 ).

23. The sensor (112) according to any of claim 21 or claim 22, further comprising: a transmitter (630) arranged so as to inform the first sensor (111 ) in the first vehicle (101 ) that a transfer of wireless information can be performed.

24. The sensor (112) according to any of claims 21-23, wherein the received wireless information comprises light-borne information that is decoded by means of demodulation of the received light, and wherein the sensor (112) consists of a camera, a 3D camera, a Time of Flight camera, a stereo camera, a light-field camera, a radar measuring device, a laser measuring device, a LIDAR, a distance-measuring device based on ultrasonic waves.

25. The sensor (112) according to any of claims 21-24, wherein the detector (610) is further arranged so as to receive wireless information via radio waves based, e.g. on any of the following technologies: Global System for Mobile Communications "GSM", Enhanced Data Rates for GSM Evolution "EDGE", Universal Mobile Telecommunications System "UMTS", Code Division Access "CDMA", "CDMA 2000", Time Division Synchronous CDMA "TD-SCDMA", Long Term Evolution "LTE", LTE Advanced; Wireless Fidelity "Wi-Fi", defined by the Institute of Electrical and Electronics Engineers "IEEE" standards 802.11 a, b, g and/or n, Internet Protocol "IP", Bluetooth and/or Near Field Communication, "NFC".

26. A computer program for receiving information associated with an object (120) detected by a first sensor (111 ) in a first vehicle (101 ) by means of a method (500) according to any of claims 13-20 when the computer program is executed in a processor circuit (620) in a sensor (112) according to any of claims 21-25.

27. Vehicles (101 , 102) containing a sensor (111 , 112) according to any of claims 7-11 or claims 21-25 respectively arranged so as to perform a method (300, 500) according to any of claims 1-6 or claims 13-20 for transferring information associated with an object (120) detected by a first sensor (111 ) to a second sensor (112).