SE1450387A1

SE1450387A1 - Procedure and system for risk assessment of lane change when driving a conductive vehicle on a roadway with at least two adjacent lanes

Info

Publication number: SE1450387A1
Application number: SE1450387A
Authority: SE
Inventors: Jonny Andersson; Linus Bredberg
Original assignee: Scania Cv Ab
Priority date: 2014-04-01
Filing date: 2014-04-01
Publication date: 2015-10-02
Also published as: BR112016021674B1; BR112016021674A2; KR20160134830A; EP3127104A1; SE540272C2; KR20180125620A; EP3127104A4; WO2015152794A1; KR102050526B1

Abstract

Föreliggande uppfinning hänför sig till ett förfarande för att riskbedöma körfältsbyte vid framförande av ett ledande fordon på en vägbana med åtminstone två angränsande körfält, innefattande steget att: detektera (S1) förekomst av bakifrån det ledande fordonet sig närmande fordon. Förfarandet innefattar vidare stegen att: utifrån angivelser rörande sträckning hos ett bestämt körfält i vilket det ledande fordonet framföres bestämma (S2) sträckning hos åtminstone ett angränsande körfält baserat på fortlöpande fastställda referenspositioner hos det ledande fordonet relativt nämnda angränsande körfält för att fastställa en riskzon löpande i nämnda angränsande körfält bakåt från nämnda ledande fordon en bestämd sträcka, och att taga (S3) förekomst av ett bakifrån det ledande fordonet sig närmande fordon i nämnda riskzon som underlag för att vidtaga åtgärd vid körfältsbyte.Föreliggande uppfinning hänför sig även till ett system för att riskbedöma körfältsbyte vid framförande av ett ledande fordon på en vägbana med åtminstone två angränsande körfält, samt ett motorfordon innefattande ett sådant system. Föreliggande uppfinning hänför sig också till ett datorprogram och en datorprogramprodukt.(Fig. 6)The present invention relates to a method for assessing the risk of lane change when driving a conductive vehicle on a roadway with at least two adjacent lanes, comprising the step of: detecting (S1) the presence of vehicles approaching from behind the conductive vehicle. The method further comprises the steps of: based on indications concerning the distance of a particular lane in which the conductive vehicle is driven, determining (S2) the distance of at least one adjacent lane based on continuously determined reference positions of the conductive vehicle relative to said adjacent lane to determine a risk zone running The present invention also relates to a system for:. assess the risk of lane change when driving a leading vehicle on a roadway with at least two adjacent lanes, as well as a motor vehicle comprising such a system. The present invention also relates to a computer program and a computer program product (Fig. 6).

Description

1 FORFARANDE OCH SYSTEM FOR ATT RISKBEDOMA KORFALTS BYTE VID FRAMFORANDE AV ETT LEDANDE FORDON PA EN VAGBANA MED ATMINSTONE TVA ANGRANSANDE KORFALT TEKNISKT OMRADE Uppfinningen hanfor sig till ett forfarande for att riskbedorna korfaltsbyte vid framforande av ett ledande fordon pa en vagbana med atminstone tva angransande korfalt enligt ingressen till patentkrav 1. Uppfinningen hanfor sig till ett system for att riskbedonna korfaltsbyte vid frannforande av ett ledande fordon pa en vagbana med atminstone tva angransande korfalt. Uppfinningen hanfor sig dessutom till ett motorfordon. Uppfinningen hanfor sig dessutom till ett datorprogram och en datorprogramprodukt. 1 PROCEDURE AND SYSTEM FOR CHANGING THE RISK BEDROOM IN FRONT OF A LEADING VEHICLE ON A ROAD WITH ATMINSTONE TWO NEXT CORFAL TECHNICAL FIELD The invention relates to a method for risking coral change when driving a conductive vehicle on a lane with at least two adjacent corals according to the preamble of claim 1. The invention relates to a system for risking coral change when passing a conductive vehicles on a lane with at least two adjacent corphal. The invention also relates to a motor vehicle. The invention also relates to a computer program and a computer program product.

BAKGRUND Vid framforande av ett fordon pa en vagbana med atminstone tva angransande korfalt medic& korfaltsbyte en risk for det fall ett bakomvarande fordon narmare sig i den angransande filen till vilket byte skall ske. Ur trafiksakerhetssynpunkt finns darfor ett behov att riskbedorna korfaltsbyte vid forekomst av bakifran ett ledande fordonet sig narmande fordon. BACKGROUND When driving a vehicle on a lane with at least two adjacent corphal medic & corphthal change, there is a risk in the event that a vehicle behind approaches in the adjacent lane to which change is to take place. From a traffic safety point of view, there is therefore a need for the risk factors to change corphalt in the event of a leading vehicle approaching from behind.

For detta andarnal anvands enligt en variant ett sa kallat blind-spot- varningssystenn. Ett sadant system varnar eller ingriper pa annat satt nar det egna fordonet är pa vag att styra ut i ett angransande korfalt dar ett bakifran fordonet sig narmande fordon finns eller kommer att finnas vid en nara tidpunkt. Detta astadkommes normalt medelst en bakatriktad radar som detekterar fordon i angransande korfalt, dar det antas att det ledande fordonet och det bakom det ledande fordonet sig narmande fordonet framfors huvudsakligen rakt fram utmed fardvagen. 2 Antagandet att det ledande fordonet och det bakifran det ledande fordonet i angransande korfalt sig narmande fordonet kommer att k6ra rakt fram kan leda till falska respektive uteblivna varningar. For this breath, a so-called blind spot spot is used according to a variant. warning system. Such a system warns or intervenes in other ways when the own vehicle is about to steer out into an adjacent coral where a vehicle approaching from behind the vehicle is or will be at a near time. This is normally accomplished by a backward radar such as detects vehicles in adjacent coral, where it is assumed that the leading the vehicle and the vehicle approaching behind the leading vehicle are driven mainly straight ahead along the carriageway. 2 The assumption that the leading vehicle and the leading vehicle in the adjacent coral approaching vehicle will drive straight ahead may lead to false or no warnings.

Pa vagar med flera korfalt kan kurvaturen hos vagbanan medfora att ett sadant blind-spot-varningssystem ingriper i onOdan nar ett bakifran sig narnnande fordon som befinner sig nara det ledande fordonet i sidled men anda befinner sig mer an ett kOrfalt bort. Fig. la illustrerar detta problem. Pa samma satt kan ett fordon pa vag med flera korfalt som bakifran narmar sig ett ledande fordon som befinner sig langt Than det ledande fordonet i sidled utgora en fara i en innerkurva utan att det systemet registerar faran. Fig. lb illustrerar detta problem. On scales with several corphals, the curvature of the lane can lead to one such a blind-spot warning system intervenes in onOdan when one from behind driving vehicle that is near the leading vehicle sideways but the spirit is more than a coral away. Fig. 1a illustrates this problem. In the same way, a vehicle on the road with several corals which from behind approaches a leading vehicle that is far Than the leading vehicle sideways constitute a hazard in an inner curve without that system detecting the hazard. Fig. 1b illustrates this problem.

US2003025597 visar ett system for assistans vid korfaltsbyte dar linjemarkeringarnaspositionhoskOrfaltmemoreras,varvid korfaltspositionshistorik bestams for att avgora fordons position. US2003025597 discloses a system for assistance with coral change days the line markers' positionhoskOrfaltmemoreras, whereby coral position history is determined to determine vehicle position.

SYFTE MED UPPFINNINGEN Ett syfte med foreliggande uppfinning är att astadkonnnna ett forfarande och ett system for att riskbedorna korfaltsbyte vid framforande av ett ledande fordon pa en vagbana med atminstone tva angransande korfalt som minimerar risken for felaktig yarning da risk for korfaltsbyte ej foreligger samt utebliven yarning da risk for korfaltsbyte fOreligger. OBJECT OF THE INVENTION An object of the present invention is to provide a method and a system for the risk of coral change when driving a conductive vehicle on a lane with at least two adjacent corphts which minimizes the risk of incorrect yarning as there is no risk of coral replacement and absent yarning then risk of coral replacement exists.

SAMMANFATTNING AV UPPFINNINGEN Dessa och andra syften, vilka framgar av nedanstbende beskrivning, astadkommes medelst ett forfarande, ett system, ett motorfordon, ett datorprogram och en datorprogramprodukt av inledningsvis angivet slag och som vidare uppvisar sardragen angivna i den kannetecknande delen av 3 bifogade sjalvstandiga patentkrav. Foredragna utfOringsformer av forfarandet och systemet är definierade i bifogade osjalvstandiga patentkrav. SUMMARY OF THE INVENTION These and other objects, which will become apparent from the following description, achieved by means of a method, a system, a motor vehicle, a computer programs and a computer program product of the kind initially indicated, which further have the features specified in the jug-drawing part of 3 attached independent claims. Preferred embodiments of the method and system are defined in the appended dependent claims.

Enligt uppfinningen uppnas syftena med ett forfarande for att riskbedoma korfaltsbyte vid framforande av ett ledande fordon pa en vagbana med atminstone tva angransande korialt, innefattande stegen att: detektera forekomst av bakifran det ledande fordonet sig narmande fordon, vidare innefattande stegen att: utifran angivelser rOrande strackning hos ett bestamt korfalt i vilket det ledande fordonet framfores bestamma strackning hos atminstone ett angransande kOrfalt baserat pa fortlOpande faststallda referenspositioner hos det ledande fordonet relativt namnda angransande korfalt for att faststalla en riskzon lopande i namnda angransande korfalt bakat fran namnda ledande fordon en bestamd stracka, och att taga forekomst av ett bakifran det ledande fordonet sig narmande fordon i namnda riskzon som underlag f6r att varna f6r korfaltsbyte. Genom att salunda faststalla relevanta riskzoner minimeras risken for felaktig yarning da risk for korfaltsbyte ej foreligger samt utebliyen yarning da risk for korfaltsbyte -Forel igger. According to the invention, the objects are achieved with a method for assessing the risk of coral change when driving a conductive vehicle on a lane with at least two adjacent corals, comprising the steps of: detecting the occurrence of the vehicle approaching from behind the conductive vehicle, further comprising the steps of: reference positions of the conductive vehicle relative to said adjacent corphthal to establish a risk zone running in said adjacent corphthal back from said conductive vehicle a certain distance, and to take the occurrence of a vehicle approaching from behind the conductive vehicle in said risk zone as a basis for warning of coral change. By salunda establish relevant risk zones minimizes the risk of incorrect yarning then the risk of corphalt replacement is not available and there is no lack of yarning as there is a risk of coral replacement - Forel igger.

Enligt en utforingsform av f6rfarandet faststalls referenspositionerna fortlopande med forutbestamda intervall. Harigenom mojliggors effektivt och forutsagbart faststallande av riskzon. According to one embodiment of the method, the reference positions are determined continuously at predetermined intervals. This makes it possible and efficient predictable determination of risk zone.

Enligt en utforingsform av forfarandet är intervallen strackintervall utmed fordonets fardyag. Harigenom mojliggors effektivt och forutsagbart faststallande av riskzon oberoende av fordonets hastighet. According to one embodiment of the method, the intervals are stretch intervals along the vehicle's vessel. This enables efficient and predictable determination of the risk zone regardless of the vehicle's speed.

Enligt en utforingsform av f6rfarandet är intervallen tidsintervall. Harigenom mojliggors effektivt och forutsagbart faststallande av riskzon som är enkelt att astadkomma. According to one embodiment of the method, the intervals are time intervals. Harigenom enables efficient and predictable identification of risk zones that are easy to astadkomma.

Enligt en utforingsfornn innefattar forfarandet steget att bestamma strackning hos namnda angransande korfalt baserat pa parametrar avseende det ledande fordonets framfart, vilka parametrar inbegriper det ledande fordonets 4 girvinkelhastighet och hastighet. Harigenom mOjliggOrs ett effektivt satt att noggrant och precist faststalla riskzon dar kurvtagning hos det ledande fordonet och fOljaktligen angransande kOrfaltets utbredning och krOkning effektivt aterskapas hos riskzonen. According to one embodiment, the method comprises the step of determining the stretching of said adjacent coral based on parameters relating to the travel of the conductive vehicle, which parameters include that of the conductive vehicle. 4 gear angle speed and velocity. This enables an efficient way to accurately and precisely determine risk zones where cornering of the leading vehicle and consequently adjacent corrugation of the corrugation and curvature is effectively recreated at the risk zone.

Enligt en utforingsform av forfarandet inbegriper namnda bestamning av strackning hos namnda angransande korfalt faststallning av avstand relativt det ledande fordonet. According to one embodiment of the method, said determination includes stretching of said adjacent corphal determination of distance relative to the conductive vehicle.

Enligt en utforingsform av forfarandet satts strackan med vilken namnda riskzon lOper bakat i namnda angransande korfalt Than namnda ledande fordon att overstiga rackvidden for detekteringen av namnda bakifran det ledande fordonet sig narmande fordonet. Harigenom sakerstalls att atgard sasom yarning vidtas vid ett salunda detekterat fordon som befinner sig i riskzonen sa snart fordonet detekteras. According to one embodiment of the method, the line with which said risk zone lOper is baked in said adjacent corphthal Than said leading vehicle to exceed the rack width for the detection of said from behind the conductive vehicle approaching the vehicle. This ensures that action such as repair is taken on a saloon-detected vehicle that is in the risk zone as soon as the vehicle is detected.

Utf6ringsformerna f6r systemet uppvisar motsvarande fordelar som 15 motsvarande utfOringsformer fOr forfarandet namnda ovan. The embodiments of the system have the same advantages as the corresponding embodiments of the method mentioned above.

FIGURBESKRIVNING Foreliggande uppfinning kommer att forstas battre med hanvisning till foljande detaljerade beskrivning last tillsammans med de bifogade 20 ritningarna, dar lika hanvisningsbeteckningar hanfor sig till lika delar genonngaende i de manga vyerna, och i vilka: Fig. la och lb schematiskt illustrerar framforande av ett ledande fordon pa en vagbana med atminstone tva angransande korfalt, dar ett bakifran det ledande fordonet sig narmande fordon detekteras enligt kand teknik; Fig. 2 schematiskt illustrerar ett motorfordon enligt en utforingsform av foreliggande uppfinning; Fig. 3 schematiskt illustrerar ett blockschema av ett system fOr att riskbedOma korfaltsbyte vid framf6rande av ett ledande fordon pa en vagbana med atminstone tva angransande kOrfalt enligt fOreliggande uppfinning; Fig. 4 schematiskt illustrerar framfOrande av ett ledande fordon pa en vagbana med atminstone tva angransande korfalt, dar referenspositioner relativt till fordonet angransande kOrfalt faststallts; Fig. 5a och 5b schematiskt illustrerar framforande av ett ledande fordon pa en vagbana med atminstone tva angransande korfalt, dar ett bakifran det ledande fordonet sig narmande fordon detekteras enligt en ufforingsform av fOreliggande uppfinning; Fig. 6 schematiskt illustrerar ett blockschema av ett forfarande for att riskbedOma kOrfaltsbyte vid framforande av ett ledande fordon pa en vagbana med atminstone tva angransande korfalt enligt fOreliggande uppfinning; och Fig. 7 schematiskt illustrerar en dator enligt en utforingsform av foreliggande uppfinning. DESCRIPTION OF FIGURES The present invention will be better understood by reference to the following detailed description of the drawings taken in conjunction with the accompanying drawings, in which like reference numerals appear in equal parts throughout the many views, and in which: Figs. 1a and 1b schematically illustrate the driving of a conductive vehicle on a lane with at least two adjacent corals, where a vehicle approaching from behind the conductive vehicle is detected according to prior art; Fig. 2 schematically illustrates a motor vehicle according to an embodiment of present invention; Fig. 3 schematically illustrates a block diagram of a system for risk assessing coral change when driving a conductive vehicle on a lane with at least two adjacent corals according to the present invention; Fig. 4 schematically illustrates the driving of a conductive vehicle on one carriageway with at least two adjacent corphalt, where reference positions relative to the vehicle adjacent corphalt are determined; Figs. 5a and 5b schematically illustrate the driving of a conductive vehicle on a lane with at least two adjacent corals, where from behind it the conductive vehicle approaching the vehicle is detected according to a form of operation of The present invention; Fig. 6 schematically illustrates a block diagram of a method for risk assessing the change of corrugation when driving a conductive vehicle on a lane with at least two adjacent corphalt according to the present invention. invention; and Fig. 7 schematically illustrates a computer according to an embodiment of the present invention.

KAND TEKNIK Fig. la och lb schematiskt illustrerar framforande av ett ledande fordon 1 pa en vagbana R1, R2 med atminstone tva angransande korfalt Ll , L2, L3, dar ett bakifran det ledande fordonet 1 sig narmande fordon 2 detekteras medelst radar enligt kand teknik. KAND TECHNIQUE Figs. 1a and 1b schematically illustrate the driving of a conductive vehicle 1 pa a lane R1, R2 with at least two adjacent corphts L1, L2, L3, where a vehicle 2 approaching from behind the conductive vehicle 1 is detected by radar according to prior art.

I fig. la framfors ett ledande fordon 1 pa en vag R1 med tre korfalt Ll , L2, L3, dar vagen R1 svanger. Fordonet 1 fardas i det inre korfaltet L3. Ett bakifran det ledande fordonet 1 sig narmande fordon 2 detekteras medelst radarorgan med en viss rackvidd astadkommande ett fran vanster sida hos 6 det ledande fordonet och i dess fardriktning huvudsakligen rakt bakat riktat detektionsomrade Al. Ett sá kallat blind-spot-varningssystem antar harvid att ett fordon detekterat i en zon ZA1 lOpande rakt bakat och pa ett avstand motsvarande aystand fran ledande fordonet till angransande korfaltet L2 utgor ett hot varvid yarning aktiveras yid kOrfaltsbyte. I detta fall medfOr kurvaturen hos vagbanan att det bakifran sig narmande fordonet 2 som befinner sig i det yttre korfaltet Li detekteras och yarning aktiveras. Harvid ingriper blind-spot-varningssystemet i on6dan, da det bakifran sig narnnande fordonet 2 befinner sig nara det ledande fordonet 1 i sidled men anda befinner sig mer an ett korfalt bort. In Fig. 1a, a conductive vehicle 1 is driven on a wagon R1 with three coral L3, where the wagon R1 is pregnant. Vehicle 1 travels in the inner corrugated L3. One from behind the conductive vehicle 1 approaching vehicle 2 is detected by means of radar means with a certain range providing a from the left side of 6 the conductive vehicle and in its direction of travel substantially straight backward directed detection area A1. A so-called blind-spot warning system then assumes that a vehicle detected in a zone ZA1 runs straight back and at a distance corresponding to the distance from the conductive vehicle to the adjacent coral L2 poses a threat whereby yarning is activated yid kOrfaltsbyte. In this case, it entails the curvature of the lane that the rear-approaching vehicle 2 located in the outer corphlet Li is detected and yarning is activated. In this case, the blind-spot warning system intervenes in the evil, as the vehicle 2 approaching from behind is located next to the conductive vehicle 1 laterally but is more than a coral away.

I fig. lb framfors ett ledande fordon 1 pa en vag R1 med tva korfalt Li, L2, dar vagen R1 svanger. Fordonet 1 fardas i det yttre korfaltet Ll. Ett bakifran det ledande fordonet 1 sig narmande fordon 2 detekteras medelst radarorgan med en yiss rackvidd astadkommande ett fran Niger sida hos det ledande fordonet och i dess fardriktning huvudsakligen rakt bakat riktat detektionsomrade A2. Ett sa kallat blind-spot-yarningssystem antar harvid att ett fordon detekterat i detektionsomradet men faststallt att inte befinna sig i en zon ZA2 lopande rakt bakat pa ett aystand nnotsvarande aystand fran ledande fordonet till angransande korfaltet L2 inte utgor ett hot varvid ingen yarning aktiveras. I detta fall medfOr kurvaturen hos vagbanan att det bakifran sig narmande fordonet 2 som befinner sig i det inre korfaltet Li inte anses narma sig i ett angransande korfalt. Haryid ingriper blind-spotvarningssystemet ej da det bakifran sig narmande fordonet 2 befinner sig nara det ledande fordonet 1 i angransande kOrfalt vilket utgor en trafikfara. In Fig. 1b, a conductive vehicle 1 is driven on a wagon R1 with two coral L1, L2, where the wagon R1 conveys. Vehicle 1 travels in the outer coral L1. A vehicle 2 approaching from behind the conductive vehicle 1 is detected by radar means with a range of yiss producing one from the Niger side of the conductive the vehicle and in its direction of travel mainly straight backward directed detection area A2. A so-called blind-spot yarning system then assumes that a vehicle detected in the detection area but determined not to be in a zone ZA2 running straight back on a stand corresponding to the distance from the leading vehicle to the adjacent coral L2 does not pose a threat whereby no yarning is activated. In this case, the curvature of the lane causes it from behind approaching the vehicle 2 which is in the inner corphlet Li is not considered to approach in an adjacent corphthal. Haryid does not intervene in the blind spot warning system as the vehicle 2 approaching from behind is located near the conductive vehicle 1 in the adjacent corridor, which constitutes a traffic hazard.

BESKRIVNING AV UTFORINGSFORMER Hari hanfor sig ternnen "lank" till en kommunikationslank som kan vara en fysisk ledning, sasom en opto-elektronisk kommunikationsledning, eller en 7 icke-fysisk ledning, sasom en tradlOs anslutning, till exempel en radio- eller mikrovagslank. DESCRIPTION OF EMBODIMENTS In this case, the term "lank" refers to a communication link which may be a physical line, such as an optoelectronic communication line, or a 7 non-physical wiring, such as a wireless connection, such as a radio or microwave hose.

Hari hanfor sig termen "angransande korfalt" till angransande korfalt for fordon for fard i samma riktning, dvs. korfalt i form av angransande filer dar fordon fardas i samma riktning vanligt fOrekommande pa storre vagar sasom motorvagar, samt till angransande korfalt for fard i motsatt riktning, dvs angransande kOrfalt dar det i det angransande kOrfaltet kommer motande trafik och dar omk6rning kan ske. Does he refer to the term "adjacent corphalt" to adjacent corphalt for vehicles traveling in the same direction, ie. in the form of adjacent files Vehicles travel in the same direction usually occur on larger roads such as motorways, as well as to adjacent corals for traffic in the opposite direction, ie adjacent lanes where there is oncoming traffic in the adjacent lanes and where detours can take place.

Hari hanfOr sig foljaktligen termen "vagbana med atminstone tva angransande korfalt" till vilken som heist lamplig vagbana med angransande kOrfalt enligt definitionen ovan. Termen "vagbana med atminstone tva angransande korfalt" kan foljaktligen inbegripa en st6rre vag sasom en motorvag med tva eller flera angransande kOrfalt i form av angransande filer f6r fard i samma riktning, vagbana med tva angransande korfalt for fard i motsatt riktning, dvs angransande korfalt dar det i det angransande korfaltet kommer motande trafik och dar omkorning kan ske. Hari hanfOr consequently the term "cradle with at least two adjoining coral "to which heist lumbar cradle with adjoining Correct as defined above. The term "carriageway with at least two adjacent corphalt" may consequently include a larger carriageway such as a motorway with two or more adjacent corals in the form of adjacent lanes for travel in the same direction, carriageway with two adjacent corphals for travel in opposite direction, ie adjacent corphalt where it is in the adjacent corphalt there will be oncoming traffic and where overtaking can take place.

Fig. 2 illustrerar schematiskt ett motorfordon 1 enligt en utfOringsform av foreliggande uppfinning. Det exemplifierade fordonet 1 utgors av ett tungt fordon i form av en lastbil. Fordonet kan alternativt vara en buss eller en personbil. Fordonet innefattar ett system I for att riskbedoma korfaltsbyte vid framforande av ett ledande fordon pa en vagbana med atminstone tva angransande korfalt enligt foreliggande uppfinning. Fig. 2 schematically illustrates a motor vehicle 1 according to an embodiment of the present invention. The exemplary vehicle 1 consists of a heavy vehicle in the form of a truck. The vehicle can alternatively be a bus or a passenger car. The vehicle includes a system I to assess the risk of coral replacement driving a conductive vehicle on a lane with at least two adjacent corphthal according to the present invention.

Fig. 3 illustrerar schematiskt ett blockschema av ett system I for att riskbed6ma korfaltsbyte vid framf6rande av ett ledande fordon pa en 25 vagbana med atminstone tva angransande korfalt enligt en utforingsform av foreliggande uppfinning. Fig. 3 schematically illustrates a block diagram of a system I for risk assessing coral change when driving a conductive vehicle on a lane with at least two adjacent corphts according to an embodiment of the present invention.

Systemet I innefattar en elektronisk styrenhet 100. 8 Systemet I innefattar medel 110 for att detektera forekomst av bakifran ett ledande fordon sig narmande fordon. Medlet 110 for att detektera forekomst av bakifran ett ledande fordon sig narmande fordon kan inbegripa vilket som heist lampligt sensororgan. System I comprises an electronic control unit 100. 8 System I includes means 110 for detecting the presence of a conductive vehicle approaching from behind. The means 110 for detecting the presence of a vehicle approaching from behind a conductive vehicle may include any suitable sensor means.

Medlet 110 for att detektera forekonnst av bakifran ett ledande fordon sig narnnande fordon innefattar enligt en variant radarorgan. Medlet 110 for att detektera fOrekomst av bakifran ett ledande fordon sig narmande fordon inbegriper enligt en variant kameraorgan. Medlet 110 for att detektera fOrekomst av bakifran ett ledande fordon sig narmande fordon inbegriper enligt en variant lidarorgan. Medlet 110 for att detektera forekomst av bakifran ett ledande fordon sig narmande fordon inbegriper enligt en variant laserskannerorgan. The means 110 for detecting the presence of a conductive vehicle from behind According to a variant, driving vehicles comprise radar means. The means 110 for detecting the presence of from behind a conductive vehicle includes approaching vehicles according to a variant camera means. The means 110 for detecting the occurrence of from behind a conductive vehicle approaching vehicle includes according to a variant lidarorgan. The means 110 for detecting the occurrence of from behind a conductive vehicle itself approaching vehicle includes according to a variant laser scanner means.

Medlet 110 fOr att detektera fOrekonnst av bakifran ett ledande fordon sig narnnande fordon inbegriper sensororgan f6r detektering pa respektive sida om det ledande fordonet for underlattande av detektering av forekomst av bakifran det ledande fordonet sig narmande fordon i korfalt till h6ger om fordonet och i korfalt till vanster om fordonet. Det ledande fordonet innefattar medlet 110 for att detektera forekomst av bakifran det ledande fordonet sig narnnande fordon. The means 110 for detecting prior art from behind a conductive vehicle approaching vehicle includes sensor means for detection on each side about the conductive vehicle for facilitating the detection of the presence of from behind the conductive vehicle approaching vehicles in the corphal to the right of the vehicle and in corphal to the left of the vehicle. The conductive vehicle includes the means 110 for detecting the presence of rearwardly approaching vehicles from the conductive vehicle.

Medlet 110 for att detektera forekonnst av bakifran ett ledande fordon sig narmande fordon innefattar nnedel for att faststalla huruvida detekterat fordon narnnar sig det ledande fordonet, dvs. huruvida det detekterade fordonet har en hogre relativ hastighet an det ledande fordonet. The means 110 for detecting the presence of a conductive vehicle from behind approaching vehicle includes a part for determining whether a detected vehicle approaches the leading vehicle, i.e. whether the detected vehicle has a higher relative speed than the conductive vehicle.

Systemet I innefattar medel 200a for att utifran angivelser rorande strackning hos ett bestamt korfalt i vilket det ledande fordonet framfores bestamma strackning hos atminstone ett angransande korfalt baserat pa fortlopande faststallda referenspositioner hos det ledande fordonet relativt namnda angransande korfalt for att faststalla en riskzon lopande i namnda angransande korfalt bakat fran det ledande fordonet en bestamd stracka. 9 Systemet I innefattar foljaktligen medel 200 for att faststalla en riskzon lopande i namnda angransande korfalt bakat fran det ledande fordonet en bestarnd stracka. Medlet 200 fOr att faststalla en riskzon innefattar medlet fOr att bestamma strackning hos namnda angransande korfalt. System I comprises means 200a for drawing on the basis of indications in a particular corphthal in which the conductive vehicle is driven to determine stretching of at least one adjacent corphthal based on continuously determined reference positions of the conductive vehicle relative to said adjacent corphalt to determine a risk zone running in said adjacent corphthal back from the conductive vehicle a certain distance. 9 Accordingly, system I includes means 200 for determining a risk zone running in said adjacent corphalt backed from the conductive vehicle a standing distance. The means 200 for determining a risk zone comprises the means for determining the tension of said adjacent corphalt.

Medlet for att bestamma strackning 200a hos namnda angransande korfalt innefattar medel 210 for att fortlopande faststalla referenspositioner hos det ledande fordonet relativt angransande kOrfalt till det ledande fordonets korfalt. The means for determining the stretch 200a of said adjacent corphalt comprises means 210 for continuously determining reference positions of the conductive vehicle relative to the adjacent corphalt to the corrugated of the conductive vehicle.

Systemet I innefattar harvid medel 210 for att fortlopande faststalla referenspositioner hos det ledande fordonet relativt angransande kOrfalt till det ledande fordonets kOrfalt. The system I then comprises means 210 for continuously determining reference positions of the conductive vehicle relatively adjacent coral to the correlation of the leading vehicle.

Medlet 210 for att fortlopande faststalla referenspositioner hos det ledande fordonet relativt angransande korfalt innefattar medel 212 for att fortlopande faststalla referenspositionerna med forutbestamda intervall. The means 210 for continuously determining reference positions of the conductive vehicle relatively adjacent corphalt includes means 212 for continuously determining the reference positions at predetermined intervals.

Enligt en utforingsform utgOrs de forutbestamda intervallen av strackintervall. According to one embodiment, the predetermined intervals are stretched intervals.

Medlet 210 for att fortlopande faststalla referenspositioner hos det ledande fordonet relativt angransande korfalt innefattar enligt denna utforingsform foljaktligen medel 212a f6r att fortlopande faststalla referenspositionerna med fOrutbestamda strackintervall. Strackintervallen utgOrs enligt en variant av forutbestamda avstand/strackor som det ledande fordonet fardats, dar respektive avstand/stracka är detsamma/densamma. Medlet 210 fOr att faststalla referensposition är harvid anordnat att fortlopande faststalla referensposition efter varje sadant avstand/sadan stracka. Accordingly, according to this embodiment, the means 210 for continuously determining the reference positions of the conductive vehicle relatively adjacent corphalt comprises means 212a for continuously determining the reference positions at predetermined stretch intervals. The stretch intervals are calculated according to a variant of predetermined distance / distances traveled by the leading vehicle, where the respective distance / distance is the same / the same. The means 210 for determining the reference position is in this case arranged to continuously determine the reference position after each such distance / such a distance.

Enligt en utforingsform utgOrs de forutbestamda intervallen av tidsintervall. According to one embodiment, the predetermined intervals are time intervals.

Medlet 210 fOr att fortlOpande faststalla referenspositioner hos det ledande fordonet relativt angransande korfalt innefattar enligt denna utf6ringsform foljaktligen medel 212b for att fortlopande faststalla referenspositionerna med forutbestamda tidsintervall. Tidsintervallen utgOrs av forutbestamda tidsintervall som det ledande fordonet fardats, dar respektive tidsintervall är detsamma. Medlet 210 fOr att faststalla referensposition är harvid anordnat att fortlopande faststalla referensposition efter varje sadant tidsintervall. The means 210 for continuously determining the reference positions of the conductor the vehicle relatively adjacent corphalt according to this embodiment consequently comprises means 212b for continuously determining the reference positions at predetermined time intervals. The time intervals are based on predetermined time intervals that the leading vehicle has traveled, where the respective time intervals are the same. The means 210 for determining the reference position is hereby provided to continuously determine the reference position after each such time interval.

Medlet 210 for att fortlopande faststalla referenspositioner hos det ledande fordonet relativt angransande korfalt innefattar medel 214 for att faststalla parameterar avseende det ledande fordonets framfart. Parametrar avseende det ledande fordonets framfart inbegriper det ledande fordonets girvinkelhastighet och hastighet. The means 210 for continuously determining reference positions of the conductive vehicle relative to adjacent corphalt comprises means 214 for determining parameters regarding the travel of the leading vehicle. Parameters regarding the travel of the leading vehicle include the turning angular velocity and speed of the leading vehicle.

Medlet 210 for att bestamma strackning hos namnda angransande korfalt innefattar fOljaktligen medel 214 for att faststalla parameterar avseende det ledande fordonets framfart, vilka parametrar inbegriper det ledande fordonets girvinkelhastighet och hastighet. The means 210 for determining the stretching of said adjacent corphalt consequently comprises means 214 for determining parameters regarding the the lead of the leading vehicle, which parameters include that of the leading vehicle gear angle speed and velocity.

Systemet I innefattar foljaktligen medel 200a for att bestamma strackning hos namnda angransande korfalt baserat pa parametrar avseende det ledande fordonets framfart, vilka parametrar inbegriper det ledande fordonets girvinkelhastighet och hastighet. Accordingly, the system I comprises means 200a for determining the tension of said adjacent coral based on parameters relating to the travel of the conductive vehicle, which parameters include the conducting of the conductive vehicle. gear angle speed and velocity.

Girvinkelhastighet anvands harvid som underlag for att faststalla huruvida och i vilken utstrackning korfaltet i vilket det ledande fordonet framfors svanger, varvid antagande g6rs att angransande korfalt har motsvarande krOkning . Turning angle velocity is used as a basis for determining whether and to what extent the corphalt in which the conductive vehicle is driven converts, assuming that adjacent corphalt has a corresponding curvature.

Medlet 214 for att faststalla parameterar avseende det ledande fordonets framfart innefattar medel 214a for att faststalla det ledande fordonets girvinkelhastighet. Medlet 214a for att faststalla girvinkelhastighet inbegriper atminstone ett gyro. The means 214 for determining parameters regarding the conductive vehicle travel includes means 214a for determining the yaw angular velocity of the conductive vehicle. The means 214a for determining gear angular velocity includes at least one gyro.

Medlet 214 for att faststalla parameterar avseende det ledande fordonets framfart innefattar medel 214b for att faststalla det ledande fordonets hastighet. Medlet 214b for att faststalla fordonets hastighet innefattar ett hastighetsmatarorgan hos fordonet. 11 Medlet 210 for att fortlOpande faststalla referenspositioner hos det ledande fordonet relativt angransande korfalt innefattar enligt en variant navigationsmedel 214c inbegripande positionsdata fOr fordonets aktuella position, samt kartdata innefattande information om kurvatur hos aktuell fardvag. Medlet 214 kir att faststalla parameterar avseende det ledande fordonets framfart innefattar namnda navigationsmedel 214c. The means 214 for determining parameters regarding the conductive vehicle travel includes means 214b for determining the conductive vehicle speed. The means 214b for determining the speed of the vehicle comprises a speed feeding means of the vehicle. 11 The means 210 for continuously determining reference positions of the conductive vehicle relatively adjacent corphalt comprises according to a variant navigation means 214c including position data for the current position of the vehicle, as well as map data including information about the curvature of the current fardvag. The means 214 for determining parameters regarding the travel of the conductive vehicle comprises said navigation means 214c.

Navigationsmedlet 214c kan anvandas som komplement till medlet 214a kir att faststalla girvinkelhastighet for redundans. Faststallning av girvinkelhastighet fOr faststallning huruvida kOrfaltet svanger kan paverkas av krangningar hos det ledande fordonet, dar informationen Than navigationsmedlet 214c rorande kurvatur hos korfaltet kan utnyttjas for att undvika felaktiga bedomningar pa grund av dylika krangningar. Navigationsmedlet 214c kan aven anvandas istallet for medlet 214a for att faststalla girvinkelhastighet. The navigation means 214c can be used as a complement to the means 214a for determining the angular velocity for redundancy. Determination of yaw angle velocity For determining whether the corrugated field can be affected by tilts of the conductive vehicle, where the information Than the navigating means 214c concerning the curvature of the corphthal can be used to avoid incorrect judgments due to such tilts. The navigation means 214c can also be used instead of the means 214a to determine gear angular velocity.

Medlet 210a for att bestamma strackning hos namnda angransande korfalt innefattar foljaktligen enligt en variant navigationsmedel 214c inbegripande positionsdata for fordonets aktuella position, samt kartdata innefattande information om kurvatur hos aktuell fardvag. Accordingly, according to a variant, the means 210a for determining the stretching of the said adjacent corphalt comprises, among other means, navigation means 214c including position data for the current position of the vehicle, as well as map data including information about the curvature of the current carriageway.

Systemet I innefattar medel 214a for att faststalla det ledande fordonets 20 girvinkelhastighet. System I includes means 214a for determining the yaw angular velocity of the conductive vehicle 20.

Systemet I innefattar medel 214b fOr att faststalla det ledande fordonets hastighet. System I includes means 214b for determining the speed of the conductive vehicle.

Systemet I innefattar namnda navigationsmedel 214c. System I includes said navigation means 214c.

Medlet 210 for att fortlopande faststalla referenspositioner hos det ledande fordonet relativt angransande korfalt inbegriper medel 216 for faststallning av avstand relativt det ledande fordonet. The means 210 for continuously determining reference positions of the conductor the vehicle relatively adjacent corphalt includes means 216 for determining distance relative to the leading vehicle.

Medlet 216 for faststallning av avstand relativt det ledande fordonet inbegriper medel 216a for att faststalla linjemarkeringar hos angransande 12 korialt. Medlet 216a for att faststalla linjemarkeringar hos angransande korfalt inbegriper sensororgan sasom kameraorgan. Medlet 216 f6r faststallning av avstand relativt det ledande fordonet inbegriper enligt en variant sensororgan. Namnda sensororgan inbegriper enligt en variant kameraorgan. The means 216 for determining distance relative to the conductive vehicle includes means 216a for determining line markings of adjacent 12 corial. The means 216a for determining line markings of adjacent corphalt includes sensor means such as camera means. The means 216 for determining distance relative to the conductive vehicle includes, according to a variant, sensor means. Said sensor means according to a variant include camera means.

Medlet 216 for faststallning av avstand relativt det ledande fordonet inbegriper enligt en variant medel 216b fOr att faststalla virtuella linjemarkeringar hos angransande kOrfalt. The means 216 for determining the distance relative to the conductive vehicle includes, according to a variant, means 216b for determining virtual line markings of adjacent corals.

Medlet 216b for att faststalla virtuella linjemarkeringar hos angransande korfalt inbegriper medel fOr att faststalla korialtsbredd hos korfalt i vilket ledande fordon fardas och/eller angransande korfalt. The means 216b for determining virtual line markings of adjacent corphalt includes means for determining the corial width of corphalt in which leading vehicles travel and / or adjacent corphal.

Medlet for att faststalla korfaltsbredd innefattar enligt en variant navigationsmedel inbegripande kartdata med information om korfaltsbredd hos aktuell fardvag, typ av fardvag, samt information om aktuell position hos fordonet. Navigationsmedlet kan utgoras av navigationsmedlet 214c. According to a variant, the means for determining the width of the coral includes navigation means including map data with information about the width of the coral of the current carriageway, type of carriageway, and information about the current position of the vehicle. The means of navigation may be the means of navigation 214c.

Medlet for att faststalla korfaltsbredd innefattar enligt en variant sensororgan for att faststalla korfaltsbredd hos korfaltet i vilket det ledande fordonet fardas, dar enligt en variant korfaltsbredden hos det angransande korfaltet antas vara densamma som korfaltet i vilket det ledande fordonet fardas. Medlet fOr att faststalla kOrfaltsbredd innefattar enligt en variant pa forhand lagrad information r6rande korfaltsbredd, vilken information kan vara lagrad i den elektroniska styrenheten 100. According to a variant, the means for determining the width of the coral includes sensor means to determine the corphalt width of the corphalt in which the conductive vehicle is traveling, where according to a variant the corphalt width of the adjacent corphalt is assumed to be the same as the corphalt in which the conductive vehicle is traveling. The means for determining the width of the corrugation comprises according to a variant in advance stored information regarding corphalt width, which information can be stored in the electronic control unit 100.

Systemet I innefattar medel 100, 120 for att taga forekomst av ett bakifran det ledande fordonet sig narmande fordon i namnda riskzon som underlag fOr att vidtaga atgard vid korfaltsbyte. System I comprises means 100, 120 for taking the occurrence of a vehicle approaching from behind the conductive vehicle in the said risk zone as a basis for taking action in the event of a corphalt change.

Systemet I innefattar medel 120 for att vidtaga atgard vid faststalld forekomst av ett bakifran det ledande fordonet sig narmande fordon i namnda riskzon. System I comprises means 120 for taking action in the event of a fixed occurrence of a vehicle approaching from behind the leading vehicle in said risk zone.

Medlet 120 fOr att vidtaga atgard innefattar enligt en utforingsform medel 122 for att varna for korfaltsbyte vid sadan faststalld forekomst. Medlet 122 for att 13 varna for kOrfaltsbyte kan utgoras av vilket som heist lampligt varningsmedel sasom visuellt varningsmedel, audiellt varningsmedel och/eller taktilt varningsmedel. Det visuella varningsmedlet inbegriper enligt en variant en displayenhet och/eller en blinkande enhet eller motsvarande. Det audiella varningsmedlet inbegriper yarning i form av rOstmeddelande och/eller yarning i form av ljudalarm. Det taktila varningsmedlet inbegriper paverkan av fordonsratt i form av vibration/rorelse och/eller paverkan av fordonsstol i form av vibration och/eller paverkan av pedal sasom gaspedal eller bromspedal. The means 120 for taking action comprises, according to one embodiment, means 122 for warning of the change of coral at such an occurrence. The means 122 for att 13 The warning for corrosion change can consist of any suitable warning means such as visual warning means, audible warning means and / or tactile warning means. According to a variant, the visual warning means comprises a display unit and / or a flashing unit or the like. The audial the warning means includes yarning in the form of voice message and / or yarning in the form of audible alarms. The tactile warning means includes the influence of the steering wheel in the form of vibration / movement and / or the influence of the vehicle seat in the form of vibration and / or the influence of the pedal such as the accelerator pedal or brake pedal.

Medlet 120 fOr att vidtaga atgard innefattar enligt en utfOringsform medel 124 for att f6rhindra det ledande fordonet att byta korfalt eller forsvara f6r det ledande fordonet att byta korfalt vid sadan faststalld forekomst. Medlet 124 for att forhindra/forsvara korfaltsbyte inbegriper paverkan av det ledande fordonets styrformaga sasom rattutslag i riktning mot det angransande korfaltet i vilket risk foreligger. Medlet 120 for att vidtaga atgard innefattar enligt en variant den elektroniska styrenheten 100. The means 120 for taking action comprises, according to one embodiment, means 124 to prevent the conductive vehicle from changing coral or defending for it leading vehicle to change corphally at such a determined occurrence. The means 124 for preventing / defending the change of corphalt includes the influence of the steering gear of the conductive vehicle as a steering angle in the direction of the adjacent corphalt in which there is a risk. The means 120 for taking action includes according to a variant the electronic control unit 100.

Den elektroniska styrenheten 100 är signalansluten till medlet 110 for att detektera forekomst av bakifran ett ledande fordon sig narmande fordon via en lank 11. Den elektroniska styrenheten 100 är via lanken 11 anordnad att mottaga en signal fran medlet 110 representerande fordonsdata for forekomst av bakifran det ledande fordonet sig narmande fordon. The electronic control unit 100 is signal connected to the means 110 for detecting the presence of a conductive vehicle approaching from behind via a line 11. The electronic control unit 100 is arranged via the line 11 to receive a signal from the means 110 representing vehicle data for occurrence of the rear vehicle approaching the approaching vehicle.

Den elektroniska styrenheten 100 är signalansluten till medlet 200 for att faststalla en riskzon lopande i angransande korfalt bakat fran det ledande fordonet en bestarnd stracka via en lank 20. Den elektroniska styrenheten 100 är via lanken 20 anordnad att mottaga en signal fran medlet 200 representerande riskzonsdata for faststalld riskzon lopande i angransande korfalt bakat Than det ledande fordonet. The electronic control unit 100 is signal-connected to the means 200 to determine a risk zone running in adjacent coral backed from the conductive vehicle a solid distance via a line 20. The electronic control unit 100 is arranged via the line 20 to receive a signal from the means 200 representative risk zone data for established risk zone running in adjacent corphally baked Than the leading vehicle.

Den elektroniska styrenheten 100 är signalansluten till medlet 200a for att bestamma strackning hos namnda angransande korfalt via en lank 20a. Den elektroniska styrenheten 100 är via lanken 20a anordnad att mottaga en 14 signal fran medlet 200a representerande strackningsdata for strackning hos angransande korfalt f6r faststallande av riskzon bakat fran det ledande fordonet. The electronic control unit 100 is signal connected to the means 200a to determine the stretching of said adjacent corphalt via a link 20a. The electronic control unit 100 is arranged via the link 20a to receive one 14 signal from the means 200a representing stretching data for stretching of adjacent corphalt to determine the risk zone baked from the conductive vehicle.

Den elektroniska styrenheten 100 är signalansluten till medlet 210 for att fortlOpande faststalla referenspositioner hos det ledande fordonet relativt angransande korfalt till det ledande fordonets korfalt via en lank 21. Den elektroniska styrenheten 100 är via lanken 21 anordnad att mottaga en signal fran medlet 210 representerande referenspositionsdata for referenspositioner fOr faststallande av strackning hos angransande kOrfalt fOr faststallande av riskzon bakat fran det ledande fordonet. The electronic control unit 100 is signal connected to the means 210 for continuously determine reference positions of the conductive vehicle relatively adjacent corphalt to the corphalt of the conductive vehicle via a line 21. The electronic control unit 100 is arranged via the line 21 to receive a signal from the means 210 representing reference position data for reference positions for determining stretching of adjacent corals for determining risk zone baked from the leading vehicle.

Den elektroniska styrenheten 100 är signalansluten till medlet 212 medel fOr att fortlopande faststalla referenspositionerna med forutbestamda intervall via en lank 22. Den elektroniska styrenheten 100 är via lanken 22 anordnad att mottaga en signal Than medlet 212 representerande referenspositionsdata att fortlopande faststalla referenspositionerna med forutbestamda intervall, dar intervallet kan vara strackintervall faststallda medelst medlet 212a eller tidsintervall faststallda medelst medlet 212b. Harvid mottages referenspositionsdata f6r strackintervall eller tidsintervall via lanken 22. Enligt en icke visad variant skulle den elektroniska styrenheten 100 kunna mottaga referenspositionsdata f6r strackintervall Than medlet 212a via en lank och referenspositionsdata for tidsintervall Than medlet 212b via en annan lank. The electronic control unit 100 is signal connected to the means 212 means for continuously determining the reference positions at predetermined intervals via a line 22. The electronic control unit 100 is arranged via the line 22 to receive a signal representing the position 21 data representing the means 212 continuously determine the reference positions at predetermined intervals, dar the interval may be stretch intervals determined by means 212a or time intervals determined by means 212b. In this case, reference position data is received for stretch intervals or time intervals via the line 22. According to a variant not shown, the electronic control unit 100 could receive reference position data for stretch interval Than means 212a via a lank and time position reference position data Than means 212b via another lank.

Den elektroniska styrenheten 100 är signalansluten till medlet 214a f6r att faststalla det ledande fordonets girvinkelhastighet via en lank 24a. Den elektroniska styrenheten 100 är via lanken 24a anordnad att mottaga en signal fran medlet 214a representerande girvinkelhastighetsdata for faststallande av eventuell krokning hos korfaltet i vilket det ledande fordonet fardas. The electronic control unit 100 is signal connected to the means 214a for determining the yaw velocity of the conductive vehicle via a link 24a. The electronic control unit 100 is arranged via the link 24a to receive one signal from means 214a representing gear angular velocity data for determining any curvature of the corphalt in which the conductive vehicle is traveling.

Den elektroniska styrenheten 100 är signalansluten till medlet 214b fOr att faststalla det ledande fordonets hastighet via en lank 24b. Den elektroniska styrenheten 100 är via lanken 24b anordnad att mottaga en signal Than medlet 214b representerande hastighetsdata f6r det ledande fordonet hastighet. The electronic control unit 100 is signal connected to the means 214b for determining the speed of the conductive vehicle via a link 24b. The electronic the control unit 100 is arranged via the line 24b to receive a signal Than means 214b representing speed data for the speed of the conductive vehicle.

Den elektroniska styrenheten 100 är signalansluten till navigationsmedlet 214c via en lank 24c. Den elektroniska styrenheten 100 är via lanken 24c anordnad att mottaga en signal fran navigationsmedlet 214c representerande kartdata fOr utbredning hos kOrfaltet i vilket det ledande fordonet fardas inbegripande eventuell krokning hos korfaltet. The electronic control unit 100 is signal connected to the navigation means 214c via and long 24c. The electronic control unit 100 is via the link 24c arranged to receive a signal from the navigating means 214c representing map data for propagation of the corrugation field in which the conductive vehicle travels, including any curvature of the corrugation field.

Den elektroniska styrenheten 100 är signalansluten till medlet 216a for att faststalla linjemarkeringar hos angransande kOrfalt via en lank 26a. Den elektroniska styrenheten 100 är via lanken 26a anordnad att mottaga en signal Than medlet 216a representerande avstandsdata for avstand till linjemarkeringar hos angransande kOrfalt. The electronic control unit 100 is signal connected to the means 216a for determine line markings of adjacent corals via a link 26a. The the electronic control unit 100 is arranged via the line 26a to receive a signal Than the means 216a representing distance data for distance to line markings of adjacent choruses.

Den elektroniska styrenheten 100 är signalansluten till medlet 216b for att faststalla virtuella linjemarkeringar hos angransande kOrfalt via en lank 26b. The electronic control unit 100 is signal connected to the means 216b for determine virtual line markings of adjacent corals via a link 26b.

Den elektroniska styrenheten 100 är via Ian ken 26b anordnad att mottaga en signal Iran medlet 216b representerande avstandsdata fOr avstand till virtuella linjemarkeringar hos angransande korfalt. The electronic control unit 100 is arranged via the line 26b to receive a signal from the means 216b representing distance data for distance to virtual line markings of adjacent corphthal.

Den elektroniska styrenheten 100 är signalansluten till medlet 120 fOr att vidtaga atgard vid faststalld f6rekomst av ett bakifran det ledande fordonet sig narmande fordon i namnda riskzon via en lank 12. Den elektroniska styrenheten 100 är via lanken 12 anordnad att sanda en signal till medlet 120 representerande atgardsdata inbegripande varningsdata for yarning av korfaltsbyte for det ledande fordonet och/eller hinderdata for att forhindragorsvara korfaltsbyte hos det ledande fordonet. The electronic control unit 100 is signal connected to the means 120 for take action in the event of a fixed occurrence of a rear view of the leading vehicle approaching the vehicle in said risk zone via a line 12. The electronic control unit 100 is arranged via the line 12 to send a signal to the means 120 representing action data including warning data for the occurrence of coral change for the conductive vehicle and / or obstacle data for prevent coral change in the conductive vehicle.

Den elektroniska styrenheten 100 är anordnad att behandla namnda referenspositionsdata,girvinkelhastighetsdata,hastighetsdata,i forekommande fall kartdata, aystandsdata fOr linjemarkeringar/virtuella linjemarkeringar for faststallande av riskzonsdata for riskzon lopande i 16 angransande korfalt bakat Than det ledande fordonet, samt att jamfora riskzonsdata med nannnda fordonsdata f6r f6rekomst av bakifran det ledande fordonet sig narmande fordon for att faststalla huruvida det bakifran det ledande fordonet sig narmande fordonet forefinns i namnda riskzon. Om det bakifran det ledande fordonet sig narmande fordonet forefinns i namnda riskzon är den elektroniska styrenheten anordnad att sanda atgardsdata inbegripande varningsdata for yarning av korfaltsbyte for det ledande fordonet och/eller hinderdata for att forhindra/forsvara korfaltsbyte hos det ledande fordonet till medlet 120. The electronic control unit 100 is arranged to process the said reference position data, gear angle velocity data, velocity data, i where applicable, map data, aystands data for line markings / virtual line markings for determining risk zone data for risk zone running in 16 adjacent coral back Than the conductive vehicle, and to compare risk zone data with said vehicle data for occurrence of the rear of the conductive vehicle approaching vehicle to determine whether the vehicle approaching from behind the conductive vehicle is present in said risk zone. About it from behind the leading vehicle approaching the vehicle is found in the name risk zone, the electronic control unit is arranged to send action data including warning data for the occurrence of coral change of the conductive vehicle and / or obstacle data to prevent / defend the change of coral of the conductive vehicle to the means 120.

Referenspositionerna faststalls medelst medlet 210 for att for att fortlopande bestamma referenspositioner. Medlet 210 for att for att fortlopande bestamma referenspositioner faststalls enligt en utforingsform medelst foljande ekvationer: D(t) = D(t1) — cos (ts*uo)*ts*v(1) D(t) = Dy(t-t) — sin (ts*uo)*ts*v(2) x-led avser positiva varden framat i det ledande fordonets riktning, y-led avser positiva varden till vanster i det ledande fordonets riktning I ekvationerna (1) och (2) ovan utgor: D avstand [m] till linjemarkering fran en referenspunkt hos det ledande fordonet 1, dar en sadan referenspunkt hos det ledande fordonet exempelvis kan utg6ras av mittpunkt pa bakaxeln, mittpunkt pa framaxeln, mittpunkt pa fordonets front eller motsvarande, v det ledande fordonets hastighet [m/s], w det ledande fordonets girvinkelhastighet (rad/s), och ts sampletid fOr uppdatering av referenspositioner. The reference positions are determined by the means 210 in order to be continuous determine reference positions. The means 210 for continuously determining reference positions is determined according to one embodiment by the following equations: D (t) = D (t1) - cos (ts * uo) * ts * v (1) D (t) = Dy (t-t) - sin (ts * uo) * ts * v (2) x-direction refers to the positive value in the direction of the leading vehicle, y-direction refers to the positive value to the left in the direction of the leading vehicle In equations (1) and (2) above: D is the distance [m] to line marking from a reference point of the conductive vehicle 1, where such a reference point of the conductive vehicle may, for example, be the center point of the rear axle, the center point of the front axle, the center point of the vehicle front or equivalent, the speed of the conductive vehicle [m / s], the turning angle of the conductive vehicle (rad / s), and the sampling time for updating reference positions.

Vid fortlopande faststallande av reserenspositionerna med forutbestamda 25 strackintervall skapas en ny referensposition regelbundet efter en forutbestamd stracka. 17 Vid fortlopande faststallande av reserenspositionerna med forutbestamda tidsintervall skapas en ny referensposition regelbundet efter en forutbestamd tid. When continuously determining the reserve positions with predetermined stretch intervals, a new reference position is created regularly after a predetermined distance. 17 When the reserve positions are determined continuously with predetermined time intervals, a new reference position is created regularly after a predetermined time.

Fig. 4 illustrerar schematiskt framforande av ett ledande fordon 1 pa en 5 vagbana R1 med tre angransande kOrfalt Li, L2, L3, dar referenspositioner relativt till fordonet angransande korfalt faststallts. Fig. 4 schematically illustrates the driving of a conductive vehicle 1 on a lane R1 with three adjacent corphts L1, L2, L3, where reference positions relative to the vehicle adjacent corphthal are determined.

Fig. 4 illustrerar harvid en uppsattning referenspositioner DLA1, DLB1; DLA2, DLB2, DLA3, DLB3; DLA4, DLB4 bestamda medelst ekvationerna (1) och (2) ovan. Referenspositioner DLA1, DLB1; DLA2, DLB2; DLA3, DLB3; DLA4, DLB4 enligt fig. 4 har faststallts medelst ett system I enligt foreliggande uppfinning. Fig. 4 illustrates a set of reference positions DLA1, DLB1; DLA2, DLB2, DLA3, DLB3; DLA4, DLB4 determined by equations (1) and (2) above. Reference positions DLA1, DLB1; DLA2, DLB2; DLA3, DLB3; DLA4, DLB4 according to Fig. 4 has been determined by a system I according to the present invention.

Harvid framtages ett lampligt antal N referenspositioner DLA1, DLB1; DLA2, DLB2, DLA3, DLB3; DLA4, DLB4 i form av referenspunkter DLA1, DLB1; DLA2, DLB2; DLA3, DLB3; DLA4, DLB4. Avstand till linjemarkeringar Ml, M2 faststalls har for linjemarkeringen M2 omedelbart till vanster om det ledande fordonet 1 samt nasta linjemarkering M1 till vanster, dvs. linjemarkeringarna M1 M2 definierande angransande korfalt L2 till korfaltet L3 i vilket det ledande fordonet 1 fardas. Detta sker fortlopande varvid de aldsta referenspositionerna skrivs over nar det onskade antalet N referenspositioner faststallts. Referenspositionerna DLA1, DLA2, DLA3, DLA4 representerar fortlopande faststallda avstand till linjemarkeringar M2 onnedelbart till vanster om det ledande fordonet 1 och referenspositionerna DLB1, DLB2, DLB3, DLB4 linjemarkeringarna M1 till vanster om linjemarkeringarna M2. Harvid fastsalls medelst referenspositionerna DLA1, DLB1; DLA2, DLB2; DLA3, DLB3; DLA4, DLB4 fortlopande en riskzon sasom framgar av fig. 5a. A suitable number of N reference positions DLA1, DLB1 is produced; DLA2, DLB2, DLA3, DLB3; DLA4, DLB4 in the form of reference points DLA1, DLB1; DLA2, DLB2; DLA3, DLB3; DLA4, DLB4. Distance to line markings M1, M2 is fixed for the line marking M2 immediately to the left of the leading vehicle 1 and next line marking M1 to the left, ie. the line markings M1 M2 defining adjacent corphalt L2 to the corphalt L3 in which the conductive vehicle 1 travels. This takes place continuously, whereby the oldest reference positions are overwritten when the desired number of N reference positions has been determined. The reference positions DLA1, DLA2, DLA3, DLA4 represent continuously fixed distance to line markings M2 indivisible to left about the leading vehicle 1 and the reference positions DLB1, DLB2, DLB3, DLB4 the line markings M1 to the left of the line markings M2. This is determined by means of the reference positions DLA1, DLB1; DLA2, DLB2; DLA3, DLB3; DLA4, DLB4 continuously a risk zone as shown in Fig. 5a.

Fig. 5a illustrerar schematiskt framforande i pilens P1 riktning av ett ledande fordon 1 pa vagbanan R1 enligt fig. 4 med tre angransande korfalt L1, L2, L3 baserat pa de fortlopande faststallda referenspositionerna. Vagbanan R1 och scenariot motsvarar det illustrerat i fig. 1a. med motsvarande detektionsomrade Al. Har faststalls en riskzon Z1 baserat pa fortlopande 18 faststallda referenspositioner. Medelst systemet I enligt fOreliggande uppfinning faststalls det detekterade bakifran det ledande fordonet 1 i pilens P2 riktning sig narmande fordonet 2 inte befinner sig i den faststallda riskzonen Z1 varvid ingen atgard vid korfaltsbyte vidtages, till skillnad Than kand teknik dar onoclig yarning sker vid korfaltsbyte. Fig. 5a schematically illustrates advancement in the direction of the arrow P1 of a conductor vehicle 1 on the lane R1 according to Fig. 4 with three adjacent corphts L1, L2, L3 based on the continuously determined reference positions. The lane R1 and the scenario correspond to that illustrated in Fig. 1a. with the corresponding detection area Al. Has established a risk zone Z1 based on continuous 18 established reference positions. By means of the system I according to the present invention, the detected from behind the conductive vehicle 1 in the direction of the arrow P2 approaching the determined vehicle 2 is not located in the determined risk zone Z1, whereby no action is taken in case of corphal change, unlike Than kand technique where onoclig yarning occurs at coral change.

Fig. 5b illustrerar schematiskt framforande i pilens riktning P1 av ett ledande fordon 1 pa en vagbana R1 med tva angransande korfalt Li, L2 dar ett bakifran det ledande fordonet 1 sig narmande fordon 2 som framf6rs i pilens P2 riktning detekteras enligt en utfOringsform av fOreliggande uppfinning. Fig. 5b schematically illustrates driving in the direction of the arrow P1 of a conductive vehicle 1 on a lane R1 with two adjacent corals L1, L2 where a vehicle 2 approaching from behind the leading vehicle 1 driving in the direction of the arrow P2 is detected according to an embodiment of the present invention. .

Vagbanan R2 och scenariot motsvarar det illustrerat i fig. lb med motsvarande detektionsomrade A2. Har faststalls en riskzon Z2 baserat pa fortlopande faststallda referenspositioner. Medelst systemet I enligt foreliggande uppfinning faststalls det detekterade bakifran det ledande fordonet 1 i pilens P2 riktning sig narmande fordonet 2 befinna sig i den faststallda riskzonen Z2 varvid atgard vid korfaltsbyte vidtages, till skillnad fran kand teknik dar ingen yarning sker vid korfaltsbyte. The lane R2 and the scenario correspond to that illustrated in Fig. 1b with the corresponding detection area A2. Has established a risk zone Z2 based on continuously established reference positions. By means of the system I according to the present invention, the detected from behind the conductive vehicle 1 is determined in the direction of the arrow P2 approaching the vehicle 2 to be in the established risk zone Z2, whereby action is taken in the event of a change of coral, in contrast from a state of the art where no yarning occurs when changing coral.

Sasom franngar av fig. 5a och 5b satts strackan Zia, Z2a med vilken namnda riskzon Z1, Z2 är anordnad att lopa bakat i namnda angransande korfalt L2 fran namnda ledande fordon 1 att overstiga rackvidden Al a, A2a for detekteringen av namnda bakifran det ledande fordonet 1 sig narnnande fordonet 2. As is apparent from Figs. 5a and 5b, the distance Zia, Z2a with which said risk zone Z1, Z2 is arranged to loop backwards in said adjacent coral L2 from said conductive vehicle 1 is set to exceed the rack width A1, A2a for the detection of said from behind the conductive vehicle 1 itself approaching the vehicle 2.

Fig. 6 visar schematiskt ett blockschema av ett forfarande for att riskbedorna korfaltsbyte vid framforande av ett ledande fordon pa en vagbana med atminstone tva angransande korfalt enligt en utforingsform av foreliggande 25 uppfinning. Fig. 6 schematically shows a block diagram of a method for changing the risk of coral asphalt when driving a conductive vehicle on a lane with at least two adjacent corphalt according to an embodiment of the present invention.

Enligt en utforingsform innefattar forfarandet f6r att riskbed6ma korfaltsbyte vid framforande av ett ledande fordon pa en vagbana med atminstone tva angransande korfalt ett f6rsta steg S1 . I detta steg detekteras forekonnst av bakifran det ledande fordonet sig narmande fordon. 19 Enligt en utfOringsform innefattar forfarandet for att riskbedOma korfaltsbyte vid framfOrande av ett ledande fordon pa en vagbana med atminstone tva angransande kOrfalt ett andra steg S2. I detta steg bestams utifran angivelser rorande strackning hos ett bestamt korfalt i vilket det ledande fordonet framfOres strackning hos atminstone ett angransande kOrfalt baserat pa fortlopande faststallda referenspositioner hos det ledande fordonet relativt namnda angransande korfalt for att faststalla en riskzon lopande i namnda angransande korfalt bakat Than namnda ledande fordon en bestarnd stracka. According to one embodiment, the method for risk-assessing the change of corphalt when driving a conductive vehicle on a lane with at least two adjacent corphalt comprises a first step S1. In this step, the approach of the vehicle approaching from behind the detecting vehicle is detected. 19 According to one embodiment, the method for risk assessing coral change when driving a conductive vehicle on a lane with at least two adjacent corals comprises a second step S2. In this step, based on indications concerning the tension of a particular corphalt in which the conductive vehicle is determined stretching is performed at at least one adjacent corphalt based on continuously established reference positions of the conductive vehicle relative to said adjacent corphalt to determine a risk zone running in said adjacent corphalt behind said conductive vehicle a fixed distance.

Enligt en utfOringsform innefattar forfarandet fOr att riskbedOma korfaltsbyte vid framforande av ett ledande fordon pa en vagbana med atminstone tva angransande korfalt ett tredje steg S3. I detta steg tages forekomst av ett bakifran det ledande fordonet sig narmande fordon i namnda riskzon som underlag for att varna for korfaltsbyte. According to one embodiment, the method for risk assessing involves coral replacement when driving a conductive vehicle on a lane with at least two adjacent corals a third step S3. In this step, the occurrence of a vehicle approaching from behind the leading vehicle in the said risk zone is taken as a basis for warning of the change of coral.

Med hanvisning till fig. 7, visas ett diagram av ett utforande av en anordning 500. Styrenheten 100 som beskrivs med hanvisning till fig. 3 kan i ett utforande innefatta anordningen 500. Anordningen 500 innefattar ett ickeflyktigt minne 520, en databehandlingsenhet 510 och ett las/skriv-minne 550. Det icke-flyktiga minnet 520 har en f6rsta minnesdel 530 van i ett datorprogram, sa som ett operativsystem, är lagrat for att styra funktionen hos anordningen 500. Vidare innefattar anordningen 500 en buss-controller, en seriell kommunikationsport, I/O-organ, en ND-omvandlare, en tids- och datum innnatnings- och overforingsenhet, en handelseraknare och en avbrytningscontroller (ej visade). Det icke-flyktiga minnet 520 har ocksa en andra minnesdel 540. Referring to Fig. 7, a diagram of an embodiment of a device is shown 500. The control unit 100 described with reference to Fig. 3 can in one The device 500 includes a non-volatile memory 520, a data processing unit 510 and a read / write memory 550. The non-volatile memory 520 has a first memory portion 530 of a computer program, such as an operating system, is stored to control the function of the device 500. Furthermore, the device 500 comprises a bus controller, a serial communication port, I / O means, an ND converter, a time and date input and transfer unit, a trade calculator and an interrupt controller (not shown). The non-volatile memory 520 also has a second memory portion 540.

Det tillhandahalles ett datorprogram P som innefattar rutiner for att riskbedonna korfaltsbyte vid frannforande av ett ledande fordon pa en vagbana med atminstone tva angransande korfalt enligt det innovativa forfarandet. Programmet P innefattar rutiner for att detektera forekomst av bakifran det ledande fordonet sig narmande fordon. Programmet P innefattar rutiner for att utifran angivelser rorande strackning hos ett bestamt kOrfalt i vilket det ledande fordonet framfores bestamma strackning hos atminstone ett angransande korfalt baserat pa fortlopande faststallda referenspositioner hos det ledande fordonet relativt namnda angransande kOrfalt fOr att faststalla en riskzon lopande i namnda angransande korfalt bakat Than namnda ledande fordon en bestarnd stracka. Programmet P innefattar rutiner for att taga forekonnst av ett bakifran det ledande fordonet sig narnnande fordon i namnda riskzon som underlag for att varna for korfaltsbyte. Progrannmet P kan vara lagrat pa ett exekverbart vis eller pa komprimerat vis i ett minne 560 och/eller i ett las/skrivminne 550. A computer program P is provided which includes routines for risking coral change when driving a conductive vehicle on a lane with at least two adjacent corals according to the innovative procedure. The program P includes routines for detecting the presence of rear-approaching vehicles approaching from behind the conductive vehicle. The program P includes routines for, on the basis of information concerning the tensioning of a particular coral in which the conductive vehicle is advanced to determine the stretching of at least one adjacent corphalt based on continuously established reference positions of the conductive vehicle relative to said adjacent corphthal to determine a risk zone running in said adjacent corphalt behind Than said leading vehicle a standing distance. Program P includes routines to take the occurrence of a vehicle from behind the leading vehicle in the said risk zone as a basis for warning of coral change. The program P can be stored in an executable manner or in a compressed manner in a memory 560 and / or in a read / write memory 550.

Nar det är beskrivet att databehandlingsenheten 510 utf6r en viss funktion ska det forstas att databehandlingsenheten 510 utfor en viss del av programmet vilket är lagrat i minnet 560, eller en viss del av programmet som är lagrat i las/skrivminnet 550. When it is described that the data processing unit 510 performs a certain function it should be understood that the data processing unit 510 executes a certain part of the program which is stored in the memory 560, or a certain part of the program which is stored in the read / write memory 550.

Databehandlingsanordningen 510 kan kommunicera med en dataport 599 via en databuss 515. Det icke-flyktiga minnet 520 är avsett for kommunikation med databehandlingsenheten 510 via en databuss 512. Det separata minnet 560 är avsett att kommunicera med databehandlingsenheten 510 via en databuss 511. Las/skrivminnet 550 är anordnat att kommunicera med databehandlingsenheten 510 via en databuss 514. Till dataporten 599 kan t.ex. lankarna forbundna med styrenheterna 200; 300 anslutas. The data processing device 510 can communicate with a data port 599 via a data bus 515. The non-volatile memory 520 is for communication with the data processing unit 510 via a data bus 512. The separate memory 560 is intended to communicate with the data processing unit 510 via a data bus 511. The read / write memory 550 is arranged to communicate with the data processing unit 510 via a data bus 514. To the data port 599, for example the links connected to the control units 200; 300 connected.

Nar data mottages pa dataporten 599 lagras det temporart i den andra minnesdelen 540. Nar mottaget indata temporart har lagrats, är databehandlingsenheten 510 iordningstalld att utfora exekvering av kod pa ett vis som beskrivits ovan. De mottagna signalerna pa dataporten 599 kan anvandas av anordningen 500 for att detektera forekomst av bakifran det ledande fordonet sig narnnande fordon. De mottagna signalerna pa dataporten 599 kan anvandas av anordningen 500 for att utifran angivelser rorande strackning hos ett bestamt korfalt i vilket det ledande fordonet framfores bestamma strackning hos atminstone ett angransande korfalt baserat pa fortlopande faststallda referenspositioner hos det ledande 21 fordonet relativt namnda angransande korfalt for att faststalla en riskzon lopande i namnda angransande kOrfalt bakat fran namnda ledande fordon en bestamd stracka. De mottagna signalerna pa dataporten 599 kan anvandas av anordningen 500 for att taga forekomst av ett bakifran det ledande fordonet sig narmande fordon i namnda riskzon som underlag for att varna for korfaltsbyte. When data is received on the data port 599, it is temporarily stored in the second memory part 540. Once the received input data has been temporarily stored, the data processing unit 510 is ready to perform code execution in a manner described above. The received signals on the data port 599 can is used by the device 500 to detect the presence of rear-end vehicles approaching from behind the conductive vehicle. The received signals on the data port 599 can be used by the device 500 to determine, based on indications, the stretching of a particular corphthal in which the conductive vehicle is advanced, the stretching of at least one adjacent corphalt based on consecutively established reference positions of the leading 21 the vehicle relative to said adjacent corphalt to determine a risk zone running in said adjacent corphal behind a said distance from said conductive vehicle. The received signals on the data port 599 may be used by the device 500 to detect the occurrence of a the vehicle is approaching vehicles in the said risk zone as a basis for warning of a change of coral.

Delar av metoderna beskrivna hari kan utfOras av anordningen 500 med hjalp av databehandlingsenheten 510 som Icor programmet lagrat i minnet 560 eller las/skrivminnet 550. Nar anordningen 500 kir programmet, exekveras hari beskrivna forfaranden. Parts of the methods described herein may be performed by the device 500 using the data processing unit 510 which the Icor program stored in the memory 560 or the read / write memory 550. When the device 500 runs the program, procedures described herein.

Beskrivningen ovan av de fOredragna utfOringsformerna av fOreliggande uppfinning har tillhandahallits i illustrerande och beskrivande syfte. Den är inte avsedd att vara uttOmmande eller begransa uppfinningen till de beskrivna varianterna. Uppenbarligen kommer manga modifieringar och variationer att framga for fackmannen. Utforingsformerna har valts och beskrivits for att bast forklara principerna av uppfinningen och dess praktiska tillampningar, och darmed mojliggora for en fackman att forsta uppfinningen for olika utfOringsformer och med de olika modifieringarna som är lampliga for det avsedda bruket. 22 The above description of the preferred embodiments of the present invention has been provided for illustrative and descriptive purposes. It is not intended to be exhaustive or to limit the invention to the variations described. Obviously, many modifications and variations to be apparent to those skilled in the art. The embodiments have been selected and described in order to best explain the principles of the invention and its practical applications, and thereby enable a person skilled in the art to understand the invention for different embodiments and with the various modifications which are suitable for the intended use. 22

Claims

PATENT REQUIREMENTS

A method for the risk of coral change when driving a conductive vehicle (1) on a lane (R1, R2) with at least two adjacent corphalt (L1, L2, L3), comprising the step of: detecting (Si) occurrence of from behind the conductive the vehicle (1) approaching vehicle (2), characterized by the steps of: based on indications concerning the stretching of a particular corphthal in which the conductive vehicle (1) is performed, determining (S2) the stretching of at least one adjacent corphthal based on consecutive fixed reference positions (Dbm DLB1; DLA23 DLB2; DLA33 DLB3; DLA43 DLB4) of the conductive vehicle relative to said adjacent coral to determine a risk zone (Z1, Z2) running in said adjacent corphal backed from said conductive vehicle (1) a certain distance, and to take ( S3) Occurrence of a vehicle (2) approaching from behind the conductive vehicle (1) in the said risk zone (Z1, Z2) as a basis for taking action in the event of a corphalt change.

The method of claim 1, wherein the reference positions (DLA13 DLB1; DLA23 DLB2, DLA33 DLB3; DLA4, DLB4) are determined consecutively at predetermined intervals.

A method according to claim 2, wherein the intervals are stretch intervals along the vehicle's carriageway.

The method of claim 2, wherein the intervals are time intervals.

A method according to any one of claims 1-4, comprising the step of determining the stretching of said adjacent corphalt based on parameters relating to the advance of the conductive vehicle (1), which parameters include the angular velocity and velocity of the conductive vehicle.

The method of claim 5, wherein said determining the tension of said adjacent corphalt involves determining the distance relative to the conductive vehicle. 23

A method according to any one of claims 1-6, wherein the distance (Zia, Z2a) with which said risk zone (Z1, Z2) runs baked in said adjacent corphalt (L2) -Iran said conductive vehicle (1) is set to Exceed the rack width (Ala , A2a) for the detection of the said from behind the conductive vehicle (1) approaching the vehicle.

A system for the risk of coral change when driving a conductive vehicle (1) on a lane (R1, R2) with at least two adjacent corals (L1, L2, L3), comprising means (110) for detecting the presence of from behind the conductive the vehicle itself approaching vehicle, characterized by means (200) for determining a risk zone (Z1, Z2) running in said adjacent coral backed from said conductive vehicle a certain distance, comprising means (200a) for based on indications concerning the stretching of a certain corphthal in which the conductive vehicle is advanced to determine the tension of at least one adjacent corphalt including means (210) for continuously determining reference positions (DLA1, DLB1; DLA23 DLB2; DLA33 DLB3; DLA4, DLB4) of the conductive vehicle relative to said adjacent fixed coral. risk zone (Z1, Z2), and means (120) for taking the occurrence of a vehicle (2) approaching from behind the conductive vehicle (1) in the said risk zone (Z1, Z2) as a basis for to take action when changing coral.

The system of claim 8, wherein the means (210) for determining the reference positions (DLA13 DLB1; DLA23 DLB2; DLA33 DLB3; DLA4, DLB4) comprises means (212) for continuously determining the reference positions (DLAi, DLB1; DLA2, DLB2; DLA3 , DLB3; DLA4, DLB4) at predetermined intervals.

The system of claim 9, wherein the intervals are stretch intervals along the vehicle lane 25.

The system of claim 9, wherein the intervals are time intervals.

A system according to any one of claims 8-11, comprising means (200a, 214) for determining the tension of said adjacent coral based on 24 parameters relating to the advance of the conductive vehicle, which parameters include the angular velocity and velocity of the conductive vehicle.

The system of claim 12, wherein said means (200a) for determining tension of said adjacent corphalt includes means (216) for determining distance relative to the conductive vehicle.

A system according to any one of claims 8-13, wherein the track (Zia, Z2a) with which said risk zone (Z1, Z2) runs backwards in said adjacent corphalt (L2) from said conductive vehicle (1) is set to exceed the rack width (Ala, A2a) for the detection of the said from behind the conductive vehicle (1) approaching the vehicle.

Motor vehicle comprising a system (I) according to any one of claims 8-14.

Computer program (P) for the risk of changing the coral when driving a conductive vehicle on a roadway at least two adjacent corals, wherein said computer program (P) comprises program code which, when caused by an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), the electronic control unit for performing the steps according to claims 1-7.

A computer program product comprising a digital storage medium which stores the computer program according to claim 16. 1/6 Kand technique / z R1r- / I. / ..7 Al P2 ZA1 2 ..... r \ J Ll L2 L3