EP4672196A1

EP4672196A1 - OBSTACLE WARNING SYSTEM FOR A VEHICLE, METHOD FOR ISSUING AN OBSTACLE WARNING BY AN OBSTACLE WARNING SYSTEM FOR A VEHICLE AND VEHICLE

Info

Publication number: EP4672196A1
Application number: EP24185118.7A
Authority: EP
Inventors: Magnus Nilsson; Anna GUNÉR
Original assignee: Zhejiang Geely Holding Group Co Ltd; Ningbo Geely Automobile Research and Development Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Ningbo Geely Automobile Research and Development Co Ltd
Priority date: 2024-06-27
Filing date: 2024-06-27
Publication date: 2025-12-31
Also published as: WO2026002134A1

Abstract

The disclosure relates to an obstacle warning system for a vehicle (2) comprising a left proximity sensor (3) configured to detect and measure distance to obstacles (5) on the left side of the vehicle; a right proximity sensor (4) configured to detect and measure distance to obstacles (6) on the right side of the vehicle; a processing circuitry (7) operatively connected to the left proximity sensor (3) and the right proximity sensor (4), arranged to cause the obstacle warning system to: obtain, via the left proximity sensor (3), information regarding presence and a left distance (dl) to obstacles (5) on the left front vehicle side; obtain, via the right proximity sensor (4), information regarding presence and a right distance (dr) to obstacles (6) on the right front vehicle side; in response to determining that a single obstacle (5,6) is detected on the left side or the right side, and that the left distance or the right distance to the single obstacle is below a first predetermined threshold issue an obstacle warning to the vehicle; characterised in that in response to determining that obstacles (5,6) are detected on the left side of the vehicle and at the right side of the vehicle, and that the left distance (dl) and/or the right distance (dr) are/is below the first predetermined threshold but above a second predetermined threshold omit issuing an obstacle warning to the vehicle. The disclosure further relates to a method for issuing an obstacle warning by an obstacle warning system for a vehicle and a vehicle.

Description

Technical field

The present disclosure relates to an obstacle warning system for a vehicle, a method for issuing an obstacle warning by an obstacle warning system for a vehicle and a vehicle. More specifically, the disclosure relates to an obstacle warning system for a vehicle, a method for issuing an obstacle warning by an obstacle warning system for a vehicle and a vehicle as defined in the introductory parts of the independent claims.

Background art

Parking sensors and obstacle warning systems of vehicles are generally fairly simple. At their heart they check if the distance to an obstacle is less than a threshold, and then the user gets a warning.
However, that means when you drive through a narrow passage you might get unwanted warnings. Superfluous warnings is a good way of distracting a driver.
There is thus a need for improved obstacle warning systems for vehicles.

Summary

It is an object of the present disclosure to mitigate, alleviate or eliminate one or more of the above-identified deficiencies and disadvantages in the prior art and solve at least the above mentioned problem. According to a first aspect there is provided an obstacle warning system for a vehicle comprising a left proximity sensor configured to detect and measure distance to obstacles on the left side of the vehicle; a right proximity sensor configured to detect and measure distance to obstacles on the right side of the vehicle; a processing circuitry operatively connected to the left proximity sensor and the right proximity sensor, arranged to cause the obstacle warning system to: obtain, via the left proximity sensor, information regarding presence and a left distance to obstacles on the left front vehicle side; obtain, via the right proximity sensor, information regarding presence and a right distance to obstacles on the right front vehicle side; in response to determining that a single obstacle is detected on the left side or the right side, and that the left distance or the right distance to the single obstacle is below a first predetermined threshold issue an obstacle warning to the vehicle; characterised in that in response to determining that obstacles are detected on the left side of the vehicle and at the right side of the vehicle, and that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold omit issuing an obstacle warning to the vehicle.
When driving through a passage with obstacles on both sides as e.g. an entrance to a garage, the threshold for issuing a warning is shorter than in a situation with only one obstacle on one side. Thus, the driver will not get an unwanted warning that could distract when not needed as the vehicle is fairly centred in the passage when both the left distance and the right distance are above the second predetermined threshold.
According to some embodiments, the processing circuitry is further arranged to cause the obstacle warning system to: in response to determining that obstacles are detected on the left side and at the right side, and that the ratio of the left distance to the right distance is within a ratio range centred around a number of 1 and that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold omit issuing an obstacle warning to the vehicle; and in response to determining that obstacles are detected on the left side and at the right, and that the ratio of the left distance to the right distance is outside of the predetermined ratio range and that that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold issuing an obstacle warning only regarding the side of the vehicle where the distance to the obstacle is the shortest.
Calculating the ratio between the left distance and the right distance is an efficient way of estimating if the vehicle is centred between obstacles in a passage, tunnel or the like. If the vehicle deviates from the ratio range a warning is issued. The ratio range is centred around 1 and could be e.g. 0.9-1.1. If the vehicle is not centred but still above the second threshold a warning is only issued about the closer obstacle.
According to some embodiments, the processing circuitry is further arranged to cause the obstacle warning system to: in response to determining that obstacles are detected on the left side and at the right side, and that the ratio of the left distance to the right distance is within the ratio range and that the left distance and the right distance are below the second predetermined threshold issuing an obstacle warning to the vehicle regarding both sides of the vehicle.
Thus, if the left distance or the right distance is below also the second threshold while the range ratio criteria is still fulfilled, i.e. the vehicle is considered to be fairly centred, issue warning for both obstacles or walls. The warning is then considered important also when considering the circumstances of a passage with obstacles on both sides.
According to some embodiments, wherein processing circuitry is further arranged to cause the obstacle warning system to obtaining the angle of the front wheels of the vehicle and the vehicle speed from a wheel turning sensor and a speed sensor respectively; determining based on the angle of the front wheels and the speed if the vehicle is turning to the left or to the right; in response to a determination that the vehicle is turning to the left change the ratio range to be centred around a number above 1; and in response to a determination that the vehicle is turning to the right change the ratio range to be centred around a number below 1.
The ratio range is thus offset to compensate for a situation e.g. where the vehicle is driving in a long turn with obstacles on both sides as e.g. in a spiral road in a parking garage or a tunnel that has sharper turns. In such a turn it is often a necessity to place the vehicle close to the outer wall to avoid the inner wall in the turn. Thus, the distance from the obstacle sensor to the outer wall will be much shorter than the distance from the obstacle sensor to the inner wall. The obstacle warning system thereby adjusts and can be set to only warn for obstacles if leaving the optimal position for the turn.
According to some embodiments, in response to a determination that the vehicle is turning to the left increasingly change the ratio range to centre around a number further above 1 as function of the front wheel angle to the left; and in response to a determination that the vehicle is turning to the right decreasingly change the ratio range to centre around a number further below 1 as a function of the wheel angle to the right.
The obstacle warning system can thereby adapt the ratio range according to how sharp the turn is so that the obstacle warning is only issued when the vehicle is not placed correctly in relation to the turn it is involved in.
According to some embodiments, the processing circuitry is further arranged to cause the obstacle warning system to obtain the vehicle speed; adjust the first predetermined threshold and the second predetermined threshold as a function of the vehicle speed.
The obstacle warning system can thereby adapt so that the first predetermined threshold and the second predetermined threshold are greater in higher speeds and that shorter distances to obstacles are acceptable at lower speeds when the driver has increased time to adjust steering relative to at higher speeds before risking to hit an obstacle.
According to some embodiments, the processing circuitry is further arranged to cause the obstacle warning system to obtain the vehicle speed; tighten the ratio range as a function of the vehicle speed. The obstacle warning system can thereby adapt so that ratio range is wider in higher speeds and that shorter distances to obstacles are acceptable at lower speeds when the driver has increased time to adjust steering relative to at higher speeds before risking to hit an obstacle.
According to some embodiments, the ratio range is further adjusted based on information about the vehicle length and the locations of the left proximity sensor and the right proximity sensor, respectively, in relation to the vehicle centre of rotation when turning. The adjustment of the ratio range can thereby be even further optimized to the individual vehicle so that obstacle warnings are only issued when needed.
According to some embodiments, the determination of a left turn or a right turn is further based on that the front wheel angle is substantially fixed for predetermined time period. This leads to the advantage that normal turns, e.g. when parking at a parking lot will not be mistaken for a relatively long turn as one in a parking garage spiral between level floors.
According to some embodiments, the obstacle comprises a memory configured to store data, wherein the memory is operatively connected to the processing circuitry. Instructions regarding how to adjust the first predetermined threshold, the second predetermined threshold and the ratio range in different situations can thereby be stored and updated when desired.
According to some embodiments, the obstacle warning includes information about which vehicle side the obstacle is located at and the distance to the obstacle so that the driver has full information about a detected obstacle or obstacles.
According to a second aspect there is provided a method for issuing an obstacle warning by an obstacle warning system for a vehicle, wherein the obstacle warning system comprises a left proximity sensor configured to detect obstacles on the left side of the vehicle; a right proximity sensor configured to detect obstacles on the right side of the vehicle; a processing circuitry operatively connected to the left proximity sensor and the right proximity sensor; wherein the method comprises obtaining, via the left proximity sensor, information regarding presence and a left distance to obstacles on the left vehicle side; obtain, via the right proximity sensor, information regarding presence and a right distance to obstacles on the right vehicle side; in response to determining that a single obstacle is detected on the left side or the right side, and that the left distance or the right distance to the single obstacle is below a first predetermined threshold issuing an obstacle warning to the vehicle; characterised in that in response to determining that obstacles are detected on the left side and at the right side, and that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold omit issuing an obstacle warning to the vehicle.
When driving through a passage with obstacles on both sides as e.g. an entrance to a garage, the threshold for issuing a warning is shorter than in a situation with only one obstacle on one side. Thus, the driver will not get an unwanted warning that could distract when not needed as the vehicle is fairly centered in the passage when both the left distance and the right distance are above the second predetermined threshold.
According to some embodiments, the method comprises in response to determining that obstacles are detected on the left side and at the right side, and that the ratio of the left distance to the right distance is within a ratio range centred around a number of 1 and that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold omit issuing an obstacle warning to the vehicle; and in response to determining that obstacles are detected on the left side and at the right, and that the ratio of the left distance to the right distance is outside of the ratio range and that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold issuing an obstacle warning only regarding the side of the vehicle where the distance to the obstacle is the shortest.
Calculating the ratio between the left distance and the right distance is an efficient way of estimating if the vehicle is centred between obstacles in a passage, tunnel or the like. It the vehicle deviates from the ratio range a warning is issued. The ratio range is centred around 1 and could be e.g. 0.9-1.1. If the vehicle is not centred but sill above the second threshold a warning is only issued about the closer obstacle.
According to some embodiments, the method comprises in response to determining that obstacles are detected on the left side and at the right side, and that the ratio of the left distance to the right distance is within the ratio range and that the left distance and/or the right distance are/is below the second predetermined threshold issuing an obstacle warning to the vehicle regarding both sides of the vehicle.
Thus, if the left distance or the right distance is below also the second threshold while the range ratio criteria is still fulfilled, i.e. the vehicle is considered to be fairly centred, issue warning for both obstacles or walls. The warning is then considered important also when considering the circumstances of a passage with obstacles on both sides.
According to some embodiments, the method comprises obtaining the angle of the wheel of the vehicle and the vehicle speed; determining based on the angle of the wheel and the speed if the vehicle is turning to the left or to the right; in response to a determination that the vehicle is turning to the left changing the ratio range to be centred around a number above 1; and in response to a determination that the vehicle is turning to the right changing the ratio range to be centred around a number below 1.
The ratio range is thus offset to compensate for a situation e.g. where the vehicle is driving in a long turn with obstacles on both sides as e.g. in a spiral road in a parking garage or a tunnel that has sharper turns. In such a turn it is often a necessity to place the vehicle close to the outer wall to avoid the inner wall in the turn. Thus, the distance from the obstacle sensor to the outer wall will be much shorter than the distance from the obstacle sensor to the inner wall. The obstacle warning system thereby adjusts and can be set to only warn for obstacles if leaving the optimal position for the turn.
According to some embodiments, in response to a determination that the vehicle is turning to the left increasingly changing the ratio range to centre around a number further above 1 as function of the wheel angle to the left; and in response to a determination that the vehicle is turning to the right decreasingly changing the ratio range to centre around a number further below 1 as a function of the wheel angle to the right.
The obstacle warning system can thereby adapt the ratio range according to how sharp the turn is so that the obstacle warning is only issued when the vehicle is not placed correctly in relation to the turn it is involved in.
According to some embodiments, the processing circuitry is further arranged to cause the obstacle warning system to obtaining the vehicle speed; adjusting the first predetermined threshold and the second predetermined threshold as a function of the vehicle speed.
The obstacle warning system can thereby adapt so that the first predetermined threshold and the second predetermined threshold are greater in higher speeds and that shorter distances to obstacles are acceptable at lower speeds when the driver has increased time to adjust steering relative to at higher speeds before risking to hit an obstacle.
According to some embodiments, the processing circuitry is further arranged to cause the obstacle warning system to obtaining the vehicle speed; narrowing the ratio range by decreasing the upper threshold and increasing the lower threshold. The obstacle warning system can thereby adapt so that ratio range is wider in higher speeds and that shorter distances to obstacles are acceptable at lower speeds when the driver has increased time to adjust steering relative to at higher speeds before risking to hit an obstacle.
According to some embodiments, the ratio range is further adjusted based on information about the vehicle length and the locations of the left proximity sensor and the right proximity sensor, respectively, in relation to the vehicle centre of rotation when turning. The adjustment of the ratio range can thereby be even further optimized to the individual vehicle so that obstacle warnings are only issued when needed.
According to a third aspect there is provided a vehicle comprising an obstacle warning system according to the first aspect and a user interface, wherein the processing circuitry is further arranged to cause the obstacle warning system to receive an issued obstacle warning from the obstacle warning system; issue the obstacle warning to either an autonomous vehicle self driving system; or the driver of the vehicle. The output from the obstacle warning system can thereby be used in different situations.
Effects and features of the second and third aspects are to a large extent analogous to those described above in connection with the first aspect. Embodiments mentioned in relation to the first aspect are largely compatible with the second and third aspects.
The present disclosure will become apparent from the detailed description given below. The detailed description and specific examples disclose preferred embodiments of the disclosure by way of illustratio only. Those skilled in the art understand from guidance in the detailed description that changes and modifications may be made within the scope of the disclosure.
Hence, it is to be understood that the herein disclosed disclosure is not limited to the particular component parts of the device described or steps of the methods described since such device and method may vary. It is also to be understood that the terminology used herein is for purpose of describing particular embodiments only, and is not intended to be limiting. It should be noted that, as used in the specification and the appended claim, the articles "a", "an", "the", and "said" are intended to mean that there are one or more of the elements unless the context explicitly dictates otherwise. Thus, for example, reference to "a unit" or "the unit" may include several devices, and the like. Furthermore, the words "comprising", "including", "containing" and similar wordings does not exclude other elements or steps.

Brief descriptions of the drawings

The above objects, as well as additional objects, features and advantages of the present disclosure, will be more fully appreciated by reference to the following illustrative and non-limiting detailed description of example embodiments of the present disclosure, when taken in conjunction with the accompanying drawings.

Figure 1a shows a top view of a vehicle with an obstacle warning system according to the present disclosure driving with an obstacle in the form of a wall at the left side of the vehicle.
Figure 1b shows a top view of a vehicle with an obstacle warning system according to the present disclosure driving centred between obstacles on both sides of the vehicle.
Figure 1c shows a top view of a vehicle with an obstacle warning system according to the present disclosure driving between two walls on both sides of the vehicle but closer to the left wall.
Figure 2 discloses a top view of a vehicle with an obstacle warning system according to the present disclosure driving in a left turn with walls on both sides of the turn.
Figure 3 discloses a top view of a vehicle with an obstacle warning system according to the present disclosure driving in a right turn with walls on both sides of the turn.
Figure 4 shows a flow chart representing the method according to the present invention.

Detailed description

The present disclosure will now be described with reference to the accompanying drawings, in which preferred example embodiments of the disclosure are shown. The disclosure may, however, be embodied in other forms and should not be construed as limited to the herein disclosed embodiments. The disclosed embodiments are provided to fully convey the scope of the disclosure to the skilled person.
With reference to Figures 1a-1c, the first aspect of this disclosure shows an obstacle warning system for a vehicle 2 comprising a left proximity sensor 3 configured to detect and measure distance to obstacles 5 on the left side of the vehicle; a right proximity sensor 4 configured to detect and measure distance to obstacles 6 on the right side of the vehicle; a processing circuitry 7 operatively connected to the left proximity sensor 3 and the right proximity sensor 4, arranged to cause the obstacle warning system to: obtain, via the left proximity sensor 3, information regarding presence and a left distance dl to obstacles 5 on the left front vehicle side; obtain, via the right proximity sensor 4, information regarding presence and a right distance dr to obstacles 6 on the right front vehicle side; in response to determining that a single obstacle 5,6 is detected on the left side or the right side, and that the left distance or the right distance to the single obstacle is below a first predetermined threshold issue an obstacle warning to the vehicle; characterised in that in response to determining that obstacles 5,6 are detected on the left side of the vehicle and at the right side of the vehicle, and that the left distance dl and/or the right distance dr are/is below the first predetermined threshold but above a second predetermined threshold omit issuing an obstacle warning to the vehicle.
The processing circuitry 7 is further arranged to cause the obstacle warning system to: in response to determining that obstacles 5,6 are detected on the left side and at the right side, and that the ratio of the left distance dl to the right distance dr is within a ratio range RR centred around a number of 1 and that the left distance dl and/or the right distance dr are/is below the first predetermined threshold but above a second predetermined threshold omit issuing an obstacle warning to the vehicle; and in response to determining that obstacles are detected on the left side and at the right, and that the ratio of the left distance dl to the right distance dr is outside of the predetermined ratio range and that that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold issuing an obstacle warning only regarding the side of the vehicle where the distance to the obstacle is the shortest.
The processing circuitry 7 is further arranged to cause the obstacle warning system to: in response to determining that obstacles are detected on the left side and at the right side, and that the ratio of the left distance dl to the right distance dr is within the ratio range RR and that the left distance dl and the right distance dr are below the second predetermined threshold issuing an obstacle warning to the vehicle regarding both sides of the vehicle.
In Figure 1a the vehicle is closer to the wall on the left side of the vehicle than the first predetermined threshold. The obstacle warning system of the vehicle will then issue a warning.
In Figure 1b, the vehicle is driving between two walls, e.g. an entrance to a parking garage or a narrow tunnel or the like. The vehicle is equally close to the left wall as in Figure 1a, but since there are now two walls, the vehicle is placed substantially in the centre between the walls and since the distance to the left or right of the vehicle is longer than a second predetermined threshold, shorter than the first predetermined threshold, the obstacle warning system will not issue a warning.
In Figure 1c the vehicle is driving between the same two walls as in Figure 1b, but is not centred between the walls. The vehicle is now closer to the left wall than the second predetermined threshold and the obstacle warning system of the vehicle will issue a warning.
With reference to Figures 2 and 3, the processing circuitry 7 is further arranged to cause the obstacle warning system to obtaining the angle of the front wheels 9 of the vehicle and the vehicle speed from a wheel turning sensor 91 and a speed sensor 92 respectively; determining based on the angle of the front wheels al, ar and the speed if the vehicle is turning to the left or to the right; in response to a determination that the vehicle is turning to the left change the ratio range RR to be centred around a number above 1; and in response to a determination that the vehicle is turning to the right change the ratio range RR to be centred around a number below 1.
Figure 2 discloses a vehicle in left turn with a wall on each side of the vehicle. It could e.g. be ramp between levels in a parking garage. The wheels are turned to the left at an angle al. As seen in the Figure 2 the distance dl is much longer than the distance dr although the vehicle is correctly positioned in the turn so as to keep as much in the middle of the road as possible. The obstacle warning system according to this disclosure takes this into account based on the wheel angles and will not issue an obstacle warning. The black circle indicates the centre of rotation 21 of the vehicle to illustrate the fact that the vehicle in principle rotates around the inner back wheel.
Figure 3 discloses the same situation as in Figure 2, but with a vehicle in a right turn and where the vehicle is too close to the left wall according to the range ratio when turning. The ratio of the left distance to the right distance is very small and outside of the predetermined ratio range also when adjusted for the right turn. The obstacle warning system will then issue an obstacle warning relating to the left wall 5. The black circle indicates the centre of rotation 21 of the vehicle to illustrate the fact that the vehicle in principle rotates around the inner back wheel.
In response to a determination that the vehicle is turning to the left increasingly change the ratio range RR to centre around a number further above 1 as function of the front wheel angle to the left al; and in response to a determination that the vehicle is turning to the right decreasingly change the ratio range RR to centre around a number further below 1 as a function of the wheel angle to the right ar. The processing circuitry is further arranged to cause the obstacle warning system to obtain the vehicle speed; adjust the first predetermined threshold and the second predetermined threshold as a function of the vehicle speed.
The processing circuitry 7 is further arranged to cause the obstacle warning system to obtain the vehicle speed; tighten the ratio range RR as a function of the vehicle speed. The ratio range is further adjusted based on information about the vehicle length and the locations of the left proximity sensor 3 and the right proximity sensor 4, respectively, in relation to the vehicle centre of rotation when turning. The determination of a left turn or a right turn is further based on that the front wheel angle is substantially fixed for predetermined time period to discriminate brief turns in parking lot parking from a long turn based on a that the road is turning.
The obstacle warning system further comprises a memory 12 configured to store data, wherein the memory is operatively connected to the processing circuitry 7.
With reference to Figure 4 the second aspect of this disclosure shows a method for issuing an obstacle warning by an obstacle warning system for a vehicle, wherein the obstacle warning system comprises a left proximity sensor 3 configured to detect obstacles on the left side of the vehicle; a right proximity sensor 4 configured to detect obstacles on the right side of the vehicle; a processing circuitry operatively connected to the left proximity sensor and the right proximity sensor; wherein the method comprises obtaining S1, via the left proximity sensor, information regarding presence and a left distance to obstacles 5 on the left vehicle side; obtain S2, via the right proximity sensor, information regarding presence and a right distance to obstacles 6 on the right vehicle side; in response to determining that a single obstacle is detected on the left side or the right side, and that the left distance dl or the right distance dr to the single obstacle 5,6 is below a first predetermined threshold issuing S3 an obstacle warning to the vehicle; characterised in that in response to determining that obstacles 5,6 are detected on the left side and at the right side, and that the left distance dl and/or the right distance dr are/is below the first predetermined threshold but above a second predetermined threshold omit issuing S4 an obstacle warning to the vehicle.
The method comprises in response to determining that obstacles 5,6 are detected on the left side and at the right side, and that the ratio of the left distance dl to the right distance dr is within a ratio range RR centred around a number of 1 and that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold omit issuing S3-1 an obstacle warning to the vehicle; and in response to determining that obstacles are detected on the left side and at the right, and that the ratio of the left distance dl to the right distance dr is outside of the ratio range RR and that the left distance dl and/or the right distance dr are/is below the first predetermined threshold but above a second predetermined threshold issuing S4 an obstacle warning only regarding the side of the vehicle where the distance to the obstacle is the shortest.
The method further comprises in response to determining that obstacles are detected on the left side and at the right side, and that the ratio of the left distance dl to the right distance dr is within the ratio range and that the left distance and/or the right distance are/is below the second predetermined threshold issuing S5 an obstacle warning to the vehicle regarding both sides of the vehicle.
The method further comprises obtaining S6 the angle of the wheel of the vehicle and the vehicle speed; determining S7 based on the angle of the wheel and the speed if the vehicle is turning to the left or to the right; in response to a determination that the vehicle is turning to the left changing S8-1 the ratio range to be centred around a number RRL above 1; and in response to a determination that the vehicle is turning to the right changing S9-1 the ratio range to be centred around a number RRR below 1.
The method further comprises, in response to a determination that the vehicle is turning to the left increasingly changing S8-2 the ratio range to centre around a number further above 1 as function of the wheel angle to the left al; and in response to a determination that the vehicle is turning to the right decreasingly changing S9-2 the ratio range to centre around a number further below 1 as a function of the wheel angle to the right a r.
The processing circuitry is further arranged to cause the obstacle warning system to obtaining S10 the vehicle speed; adjusting S11 the first predetermined threshold and the second predetermined threshold as a function of the vehicle speed.
The processing circuitry is further arranged to cause the obstacle warning system to obtaining S10 the vehicle speed; narrowing S12 the ratio range RR by decreasing the upper threshold and increasing the lower threshold.
The method further comprises, adjusting the ratio range further based on information about the vehicle length and the locations of the left proximity sensor 3 and the right proximity sensor 4, respectively, in relation to the vehicle centre of rotation when turning.
The third aspect of this disclosure shows a vehicle comprising an obstacle warning system according to the first aspect and a user interface, wherein the processing circuitry is further arranged to cause the obstacle warning system to receive an issued obstacle warning from the obstacle warning system; issue the obstacle warning to an autonomous vehicle self-driving system; or issue the obstacle warning 21 to a driver of the vehicle.
The person skilled in the art realizes that the present disclosure is not limited to the preferred embodiments described above. The person skilled in the art further realizes that modifications and variations are possible within the scope of the appended claims. For example, a person skilled in the art realizes that other obstacles than the ones disclosed in the Figures would be equally applicable with the same advantages to the disclosed obstacle warning system. Additionally, variations to the disclosed embodiments can be understood and effected by the skilled person in practicing the claimed disclosure, from a study of the drawings, the disclosure, and the appended claims.

Claims

1. An obstacle warning system (1) for a vehicle (2) comprising

a left proximity sensor (3) configured to detect and measure distance to obstacles (5) on the left side of the vehicle;

a right proximity sensor (4) configured to detect and measure distance to obstacles (6) on the right side of the vehicle;

a processing circuitry (7) operatively connected to the left proximity sensor (3) and the right proximity sensor (4), arranged to cause the obstacle warning system to:

obtain, via the left proximity sensor (3), information regarding presence and a left distance (dl) to obstacles (5) on the left front vehicle side;

obtain, via the right proximity sensor (4), information regarding presence and a right distance (dr) to obstacles (6) on the right front vehicle side;

in response to determining that a single obstacle (5, 6) is detected on the left side or the right side, and that the left distance or the right distance to the single obstacle is below a first predetermined threshold issue an obstacle warning to the vehicle;

characterised in that

in response to determining that obstacles (5, 6) are detected on the left side of the vehicle and at the right side of the vehicle, and that the left distance (dl) and/or the right distance (dr) are/is below the first predetermined threshold but above a second predetermined threshold omit issuing an obstacle warning to the vehicle.

2. The obstacle warning system according to claim 1, wherein the processing circuitry (7) is further arranged to cause the obstacle warning system to:

in response to determining that obstacles (5, 6) are detected on the left side and at the right side, and that the ratio of the left distance (dl) to the right distance (dr) is within a ratio range (RR) centred around a number of 1 and that the left distance (dl) and/or the right distance (dr) are/is below the first predetermined threshold but above a second predetermined threshold omit issuing an obstacle warning to the vehicle; and

in response to determining that obstacles are detected on the left side and at the right, and that the ratio of the left distance (dl) to the right distance (dr) is outside of the predetermined ratio range and that that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold issuing an obstacle warning only regarding the side of the vehicle where the distance to the obstacle is the shortest.

3. The obstacle warning system according to claim 1 or 2, wherein the processing circuitry (7) is further arranged to cause the obstacle warning system to:
in response to determining that obstacles are detected on the left side and at the right side, and that the ratio of the left distance (dl) to the right distance (dr) is within the ratio range (RR) and that the left distance (dl) and the right distance (dr) are below the second predetermined threshold issuing an obstacle warning to the vehicle regarding both sides of the vehicle.

4. The obstacle warning system according to any one of the preceding claims, wherein processing circuitry (7) is further arranged to cause the obstacle warning system to

obtaining the angle of the front wheels (9) of the vehicle and the vehicle speed from a wheel turning sensor (91) and a speed sensor (92) respectively;

determining based on the angle of the front wheels (9) and the speed if the vehicle is turning to the left or to the right;

in response to a determination that the vehicle is turning to the left change the ratio range (RR) to be centred around a number above 1; and

in response to a determination that the vehicle is turning to the right change the ratio range (RR) to be centred around a number below 1.

5. The obstacle warning system according to claim 4, wherein

in response to a determination that the vehicle is turning to the left increasingly change the ratio range (RR) to centre around a number further above 1 as function of the front wheel angle to the left (al); and

in response to a determination that the vehicle is turning to the right decreasingly change the ratio range (RR) to centre around a number further below 1 as a function of the wheel angle to the right (ar).

6. The obstacle warning system according to any one of the preceding claims, wherein the processing circuitry is further arranged to cause the obstacle warning system to

obtain the vehicle speed;

adjust the first predetermined threshold and the second predetermined threshold as a function of the vehicle speed.

7. The obstacle warning system according to any one of claims 2-6,
wherein the processing circuitry (7) is further arranged to cause the obstacle warning system to

obtain the vehicle speed;

narrowing the ratio range (RR) by decreasing the upper threshold and increasing the lower threshold as a function of the vehicle speed.

8. The obstacle warning system according to claim 6 or 7, wherein the ratio range is further adjusted based on information about the vehicle length and the locations of the left proximity sensor (3) and the right proximity sensor (4), respectively, in relation to the vehicle centre of rotation when turning.

9. The obstacle warning system according to any one of the preceding claims, wherein the determination of a left turn or a right turn is further based on that the front wheel angle is substantially fixed for predetermined time period.

10. The obstacle warning system according to any one of the preceding claims further comprising a memory (12) configured to store data, wherein the memory is operatively connected to the processing circuitry (7).

11. The obstacle warning system according to any one of the preceding claims, wherein the obstacle warning includes information about which vehicle side the obstacle is located at and the distance to the obstacle.

12. A method (20) for issuing an obstacle warning by an obstacle warning system for a vehicle, wherein the obstacle warning system comprises

a left proximity sensor (3) configured to detect obstacles on the left side of the vehicle;

a right proximity sensor (4) configured to detect obstacles on the right side of the vehicle;

a processing circuitry operatively connected to the left proximity sensor and the right proximity sensor;

wherein the method comprises

obtaining (S1), via the left proximity sensor, information regarding presence and a left distance to obstacles (5) on the left vehicle side;

obtain (S2), via the right proximity sensor, information regarding presence and a right distance to obstacles (6) on the right vehicle side;

in response to determining that a single obstacle is detected on the left side or the right side, and that the left distance (dl) or the right distance (dr) to the single obstacle (5, 6) is below a first predetermined threshold issuing (S3) an obstacle warning to the vehicle;

characterised in that

in response to determining that obstacles (5, 6) are detected on the left side and at the right side, and that the left distance (dl) and/or the right distance (dr) are/is below the first predetermined threshold but above a second predetermined threshold omit issuing (S4) an obstacle warning to the vehicle.

13. The method according to claim 11, further comprising

in response to determining that obstacles (5, 6) are detected on the left side and at the right side, and that the ratio of the left distance (dl) to the right distance (dr) is within a ratio range (RR) centred around a number of 1 and that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold omit issuing (S3-1) an obstacle warning to the vehicle; and

in response to determining that obstacles are detected on the left side and at the right, and that the ratio of the left distance (dl) to the right distance (dr) is outside of the ratio range (RR) and that the left distance (dl) and/or the right distance (dr) are/is below the first predetermined threshold but above a second predetermined threshold issuing (S4) an obstacle warning only regarding the side of the vehicle where the distance to the obstacle is the shortest.

14. The method according to claim 12 or 13, further comprising
in response to determining that obstacles are detected on the left side and at the right side, and that the ratio of the left distance (dl) to the right distance (dr) is within the ratio range and that the left distance and/or the right distance are/is below the second predetermined threshold issuing (S5) an obstacle warning to the vehicle regarding both sides of the vehicle.

15. The method according to any one of claims 12-14, further comprising

obtaining (S6) the angle of the wheel of the vehicle and the vehicle speed;

determining (S7) based on the angle of the wheel and the speed if the vehicle is turning to the left or to the right;

in response to a determination that the vehicle is turning to the left changing (S8-1) the ratio range to be centred around a number (RRL) above 1; and

in response to a determination that the vehicle is turning to the right changing (S9-1) the ratio range to be centred around a number (RRR) below 1.

16. The method according to claim 15, wherein

in response to a determination that the vehicle is turning to the left increasingly changing (S8-2) the ratio range to centre around a number further above 1 as function of the wheel angle to the left (al); and

in response to a determination that the vehicle is turning to the right decreasingly changing (S9-2) the ratio range to centre around a number further below 1 as a function of the wheel angle to the right (ar).

17. The method according to any one of claims 12-16,
wherein the processing circuitry is further arranged to cause the obstacle warning system to

obtaining (S10) the vehicle speed;

adjusting (S11) the first predetermined threshold and the second predetermined threshold as a function of the vehicle speed.

18. The method according to any one of claims 12-17,
wherein the processing circuitry is further arranged to cause the obstacle warning system to

obtaining (S10) the vehicle speed;

narrowing (S12) the ratio range (RR) by decreasing the upper threshold and increasing the lower threshold as a function of the vehicle speed.

19. The method according to claim 17 or 18, wherein the ratio
range is further adjusted based on information about the vehicle length and the locations of the left proximity sensor (3) and the right proximity sensor (4), respectively, in relation to the vehicle centre of rotation when turning.

20. A vehicle comprising an obstacle warning system according to any one of claim 1-10 and a user interface, wherein the processing circuitry is further arranged to cause the obstacle warning system to

receive an issued obstacle warning from the obstacle warning system;

issue the obstacle warning to either

an autonomous vehicle self driving system; or

the driver of the vehicle.