SE1550100A1 - Method, control unit and system for warning - Google Patents

Abstract

17 SUMMARY Method (600) and control unit (700) for in a vehicle (102), which is passing a stationaryvehicle (101), for warning a Vulnerable Road User, VRU (130) situated in a vicinity of thestationary vehicle (101), from the passing vehicle (102). The method (300) comprises re-ceiving (601) a wireless signal from the stationary vehicle (101), indicating presence of theVRU (130) in the vicinity of the stationary vehicle (101), detected by a sensor (110) on thestationary vehicle (101); and emitting (602) a warning from the passing vehicle (102), formaking the VRU (130) aware of the passing vehicle (102) when the wireless signal is re- ceived from the stationary vehicle (101 ). (Pubi. Fig. 1)

Description

1 METHOD, CONTROL UNIT AND SYSTEM FOR WARNING TECHNICAL FIELD This document relates to a method, a control unit and a system. More particularly, a method, a control unit and a system is described, for warning a road user situated in vicinity of a stationary vehicle, from another vehicle, approaching from behind.

BACKGROUND Non-motorised road users, such as e.g. pedestrians and cyclists as well as motorcyclists 10 and persons with disabilities and/ or reduced mobility and orientation are sometimes referred to as Vulnerable Road Users (VRU). This heterogeneous group is disproportionately represented in statistics on injuries and road traffic casualties.

A particularly dangerous scenario is when a VRU, such a pedestrian, is crossing the road ahead of a stationary vehicle or other obstruction, e.g. a bus at a bus stop. Passengers on the stationary bus may for example exit the bus from the front door and start crossing the road ahead of the bus. A driver in a vehicle approaching the bus from behind may not be able to see the crossing pedestrian, as the bus is blocking the sight, while the pedestrian may not see or hear the approaching vehicle due to the bus/ engine sound of the bus.

Another similar dangerous scenario is when a (large) vehicle has stopped at an unattended road crossing for letting a pedestrian pass, while an overtaking vehicle, or a vehicle in another lane may not notify the crossing pedestrian as the stopped vehicle blocks the sight of both the driver of the approaching vehicle and the pedestrian.

The above described scenarios may be in particular severe when the stationary vehicle is a large, sight blocking vehicle such as e.g. a bus, a truck or similar, but also a private car may block the sight of an undersized pedestrian, such as e.g. a child, a wheelchair user or a pet.

Parking a vehicle just before a pedestrian crossing is forbidden in some legislations, but may occur sometimes anyway due to lack of parking lots in traffic dense down town areas and/ or pure negligence. Further, vehicles sometimes temporarily stop at the area just before a crossing e.g. for letting off/ picking up a passenger or similar. Thus legislative regula- tion may not provide a fail proof solution in this case. 2 In addition, pedestrians sometimes try crossing the street on road sequences without any crossings and then enter into the roadway by passing in between two parked vehicle. Again, the VRU may be completely hidden for an approaching driver by the parked vehicle, while the VRU may not notice the approaching vehicle until he/ she is standing on the road in front of the vehicle.

As these described dangerous scenarios, and similar variants of them, may lead to severe accidents as an unprotected VRU is involved, it would be desired to find a solution for avoiding accidents.

SUMMARY It is therefore an object of this invention to solve at least some of the above problems and improve the traffic security.

According to a first aspect of the invention, this objective is achieved by a method in a vehicle, which is passing a stationary vehicle, for warning a VRU situated in a vicinity of the stationary vehicle, from the passing vehicle. The method comprises receiving a wireless signal from the stationary vehicle, indicating presence of the VRU in the vicinity of the stationary vehicle, detected by a sensor on the stationary vehicle. Further the method also comprises emitting a warning from the passing vehicle, for making the VRU aware of the passing vehicle when the wireless signal is received from the stationary vehicle.

According to a second aspect of the invention, this objective is achieved by a control unit in a vehicle. The control unit is configured for warning a VRU situated in a vicinity of another, stationary vehicle, from the vehicle when it passes the stationary vehicle. The control unit comprises a receiving circuit configured for receiving a signal from a receiver on the passing vehicle, indicating presence of the VRU in the vicinity of the stationary vehicle, detected by a sensor on the stationary vehicle. Further the control unit comprises a processor configured for generating a control signal to be transmitted to a warning emitting device for emitting a warning from the passing vehicle, for making the VRU aware of the passing vehicle, when the wireless signal is received from the stationary vehicle via the receiving circuit.

According to a third aspect of the invention, this objective is achieved by a computer pro-gram comprising program code for performing a method according to the first aspect when the computer program is executed in a control unit according to the second aspect. 3 According to a fourth aspect, this objective is achieved by a system for warning a VRU situated in a vicinity of a stationary vehicle, from a passing vehicle. The system comprises a sensor on the stationary vehicle, configured for detecting the VRU situated in a vicinity of a stationary vehicle. The system also comprises a transmitter on the stationary vehicle, configured for transmitting a wireless signal comprising information related to the detected VRU. Further, the system comprises a receiver on the passing vehicle, configured for receiving the wireless signal transmitted by the transmitter. Additionally the system comprises a control unit according to the second aspect and a warning emitting device on the passing vehicle, configured for emitting a warning, for making the VRU aware of the pass-10 ing vehicle.

Thanks to the described aspects, a VRU entering the road in front of a stationary vehicle is notified on another approaching vehicle in the driveway and is thereby warned from entering the road. Further, the driver in the approaching vehicle is alerted on the possible dan- ger and is informed about the VRU in front of the stationary vehicle. Thus increased traffic security is achieved.

Other advantages and additional novel features will become apparent from the subsequent detailed description.

FIGURES Embodiments of the invention will now be described in further detail with reference to the accompanying figures, in which: Figure 1illustrates an example of a traffic scenario and an embodiment of the inven- tion; Figure 2illustrates an example of a traffic scenario and an embodiment of the inven- tion; Figure 3illustrates an example of a traffic scenario and an embodiment of the inven- tion; Figure 4illustrates an example of a traffic scenario and an embodiment of the inven- tion; Figure illustrates an example of a traffic scenario and an embodiment of the inven- tion; Figure 6is a flow chart illustrating an embodiment of the method; and Figure 7is an illustration depicting a system according to an embodiment. 4 DETAILED DESCRIPTION Embodiments of the invention described herein are defined as a method, a control unit and a system, which may be put into practice in the embodiments described below. These em- bodiments may, however, be exemplified and realised in many different forms and are not to be limited to the examples set forth herein; rather, these illustrative examples of embodiments are provided so that this disclosure will be thorough and complete.

Still other objects and features may become apparent from the following detailed descrip- tion, considered in conjunction with the accompanying drawings. It is to be understood, however, that the drawings are designed solely for purposes of illustration and not as a definition of the limits of the herein disclosed embodiments, for which reference is to be made to the appended claims. Further, the drawings are not necessarily drawn to scale and, unless otherwise indicated, they are merely intended to conceptually illustrate the structures and procedures described herein.

Figure 1 illustrates a scenario with a system 100 for warning road users of a potential accident. A stationary vehicle 101 is approached from behind by another vehicle 102 driving in a driving direction 105, apparently intending to pass the stationary vehicle 101. A VRU 1such as e.g. a pedestrian is crossing the road in front of the stationary vehicle 101, walking in a direction 135, approximately perpendicular to the driving direction 10of the passing vehicle 102.

Any of the vehicles 101, 102 may comprise e.g. a truck, a bus or a car, or any similar vehi- cle or other means of conveyance. For enhanced clarity, the stationary vehicle 101 is referred to as a "vehicle" herein. However, the stationary vehicle 120 may be represented by any obstacle that may block or limit the sight for the driver in the passing vehicle 102, hindering him/ her to discover the cross walking pedestrian (and vice versa). Some examples of such obstacles which often are placed on the road side may be wagons, trailers, cara- vans, containers, mobile buildings etc. In some embodiments, the stationary vehicle 101 may comprise a building or other similar immobile structure. Further, any of the herein described vehicles 101, 102 may be driver controlled or driverless, autonomously controlled vehicles 101, 102 in some embodiments. However, for enhanced clarity, they are subsequently described as having a driver.

The stationary vehicle 101 may for example be a bus standing at a bus stop in a non- limiting example.

In the illustrated scenario, the VRU 130 is warned of the passing vehicle 102 while the driver in the passing vehicle 102 is notified of the VRU 130 in front of the stationary vehicle 101.

The vehicle 102, approaching the stationary vehicle 101 from behind, in the driving direction 105, may be detected with sensors such as e.g. camera, radar, an emitted wireless signal etc. at the stationary vehicle 101 in some embodiments. Further, a sensor 110 at the stationary vehicle 101 detects the VRU 130 moving towards, or already situated in a dan- 10 ger area close to the front portion of the stationary vehicle 101.

The stationary vehicle 101 may try to connect to the passing vehicle 102 via wireless communication to inform the passing vehicle driver of the detected VRU 130 in front of the stationary vehicle 101.

In some embodiments, for example when supported hardware is mounted on the stationary vehicle 102, a warning may be projected on the ground in the front of the stationary vehicle 101 to highlight for the VRU 130 that the vehicle 102 is approaching from behind and alerting the VRU 130 from crossing the road.

In some embodiments, e.g. when the stationary vehicle 101 is not enabled to project any such warning, the stationary vehicle 101 may inform the surroundings (both in the front and backwards) via external lights, sound etc., so that the VRU 130 as well as other surrounding vehicles 102 are alerted about the danger.

Further, the stationary vehicle 101 may comprise a transmitter 115 configured for transmitting a wireless signal comprising information related to the detected VRU 130. The wireless signal may be e.g. a Vehicle-to-Vehicle (V2V) signal, or any other wireless signal based on, or at least inspired by wireless communication technology such as Wi-Fi, Wireless Local Area Network (WLAN), Ultra Mobile Broadband (UMB), Bluetooth (BT), Near Field Communication (NFC) or infrared transmitter to name but a few possible examples of wireless communications.

The passing vehicle 102 comprises a receiver 120 for receiving the wireless signal trans-mitted by the transmitter 115 on the stationary vehicle 101. Thus receiving information about the VRU 130 detected in front of the stationary vehicle 101, the driver of the passing vehicle 102 may be attended to the approaching potential danger, and/ or an automatic 6 speed reduction may be initiated, and/ or a warning emitting device, such as a horn 1on the passing vehicle 102 may be activated for making the VRU 130 aware of the passing vehicle 102. The warning emitting device 125 may in other embodiments comprise flashing headlights, as illustrated in Figure 2 and/ or a projector as illustrated in Figures 3-4. Some or all of these warning emitting devices 125 may also be activated concurrently in some embodiments.

Thereby, an accident may be avoided as the VRU 130 is made aware of the passing vehicle 101 while at the same time the driver of the passing vehicle 102 is informed about the 10 hidden VRU 130 behind the stationary vehicle 101.

An advantage with letting the stationary vehicle 101 comprise a sensor for detecting the passing vehicle 102, and only emit wireless communication in case an approaching vehicle 102 is detected and a VRU 130 is detected in front of the stationary vehicle 101 is that en-ergy is saved, by not having to make any transmission when there is no other vehicle 102.

An advantage by using a sensor 110 on the stationary vehicle 101 for detecting the VRU 130, instead of a sensor on the passing vehicle 102 is that the sensor 110 on the stationary vehicle 101 will have a better coverage of the danger area in front of the stationary vehicle 20 101, when mounted appropriately.

An advantage by emitting a warning with a warning emitting device 125 on the passing vehicle 102 is that the VRU thereby will be notified of the approaching vehicle 102, but also that the driver of the passing vehicle 102 is made aware of the VRU in front of the station-ary vehicle 101.

Figure 2 schematically a scenario, similar to the previously discussed scenario illustrated in Figure 1, but seen from an above perspective. 30 In the illustrated scenario, the VRU 130 is walking in the direction 135 for crossing the road in front of the stationary vehicle 102. The VRU 130 is detected by the sensor 110 on the stationary vehicle 101. A wireless message is transmitted from the transmitter 115 on the stationary vehicle 101 to the receiver 120 on the passing vehicle 102. Upon receiving the wireless message, the driver of the passing vehicle 102 may be attended to the approach- ing potential danger in some embodiments, e.g. by a text message on a screen in the driver area in the vehicle 102, an acoustic warning from a loudspeaker in the driver area of the vehicle 102, a haptic signal or tactile feedback in the steering wheel, driver seat or simi- 7 lar. In some embodiments, no particular warning may be emitted dedicated for the driver in the passing vehicle 102, as he/ she may become aware of the potential danger when the warning emitting device 210, in this case the vehicle headlights 210 are activated upon reception of the wireless message.

Flashing with the vehicle headlights 210 may be in particular effective when driving in dark or obscure light conditions, such as at night time, in twilight, in fog, or when the sun is concealed by clouds. As previously mentioned, a plurality of warning emitting devices 125, 210 on the passing vehicle 102 may be activated simultaneously for warning the VRU 130, as 10 well as the driver of the passing vehicle 102 and possibly also other vehicles or road users in the vicinity.

In some embodiments, warning may be emitted by flashing vehicle headlights 210 at night time, and by activating the horn 125 in daytime. Thereby, the VRU 130 as well as the driver of the passing vehicle 102 may be notified of the danger in an effective way, while the disturbance of the warning for other road users or people living close is reduced. Dark or obscure light conditions may be detected by a photo detector, i.e. a sensor of light on the passing vehicle 102, in some embodiments. Alternatively, a device for obtaining time and date in combination with a positioning unit e.g. a GPS receiver, and a data base with stored values for dawn and twilight at different geographical positions at different dates may be used.

Figure 3 illustrates an example of how the previously scenario in Figure 1 and/ or Figure 2 may be perceived by the driver of the passing vehicle 102.

As previously described, the VRU 130 is residing in front of the stationary vehicle 101 in a blind spot, or at least obscured for the driver of the passing vehicle 102. The sensor 110 on the stationary vehicle 101 detects the VRU 130, as previously described and a wireless message is transmitted by the transmitter 115. The receiver 120 on the passing vehicle 30 102 receives the wireless message and emit a warning for making the VRU 130 aware of the passing vehicle 102.

In this embodiment, the passing vehicle 102 comprises a projector 310, such as e.g. a laser projector, a light projector or similar, for projecting a warning on a road segment in front of the passing vehicle 102, which may be visible for the VRU 130. 8 An arbitrary example of such projected warning is illustrated in Figure 4 illustrates an example of the previously scenario 100 in Figure 3 as seen from above.

An advantage with projecting a warning, with a sign, a symbol or text on the road area in front of the passing vehicle 102 and also the VRU 130 is that the probability of the driver and/ or the VRU 130 for perceiving the warning increases, as it is difficult to confuse with irrelevant light variations of vehicle head lights, which may be difficult to perceive in some environments, depending on surrounding light situation, also at night time. 10 An advantage with using laser light is that projected laser light has a high visibility upon reflection, and may also be provided in a distinctive colour for enhanced visibility.

Figure illustrates an example of how the previously illustrated scenario in Figure 1, Figure 2, Figure 3 and/ or Figure 4 may be perceived in an above view.

As previously described, the VRU 130 is residing in front of the stationary vehicle 101 in a blind spot, or at least obscured for the driver of the passing vehicle 102. The sensor 110 on the stationary vehicle 101 detects the VRU 130, as previously described and a wireless message is transmitted by the transmitter 115. The receiver 120 on the passing vehicle 102 receives the wireless message and emit a warning for making the VRU 130 aware of the passing vehicle 102.

However, in this embodiment, warnings may be emitted both by the stationary vehicle 101 and the passing vehicle 102 in form of flashing with the headlights 5of the stationary vehicle 101 simultaneously with flashing with the headlights 120 of the passing vehicle 102, possibly in combination with activating the horn 115 of the passing vehicle 102.

An advantage thereby is that the probability for succeeding in warning the VRU 130 from crossing the road is further enhanced.

Figure 6 illustrates an example of a method 600 according to an embodiment. The flow chart in Figure 6 shows the method 600 for use in a vehicle 102 which is passing a stationary vehicle 101, for warning a VRU 130 situated in a vicinity of the stationary vehicle 101, from the passing vehicle 102.

The VRU 130 situated in the vicinity of the stationary vehicle 101 may typically be in front of the stationary vehicle 101, or at the pavement forward of the stationary vehicle 101, 9 heading in a direction 135, substantially perpendicular to the road, i.e. the VRU is intending to cross the road in front of the stationary vehicle 101.

In order to correctly be able to warn the VRU 130 situated in vicinity of the stationary vehi- cle 101, from the passing vehicle 102, the method 600 may comprise a number of steps 601-603. However, some of these steps 601-603 may be performed solely in some alternative embodiments, like e.g. step 603. Further, the described steps 601-603 may be performed in a somewhat different chronological order than the numbering suggests. The method 600 may comprise the subsequent steps: Step 601 comprises receiving a wireless signal from the stationary vehicle 101, indicating presence of the VRU 130 in the vicinity of the stationary vehicle 101, detected by a sensor 110 on the stationary vehicle 101.

The wireless signal may be e.g. a Vehicle-to-Vehicle (V2V) signal, or any other wireless signal based on, or at least inspired by wireless communication technology such as Wi-Fi, Wireless Local Area Network (WLAN), Ultra Mobile Broadband (UMB), Bluetooth (BT) or infrared transmitter to name but a few possible examples of wireless communications.

The sensor 110 may comprise e.g. a motion detector and/ or be based on a Passive Infrared (FIR) sensor sensitive to a person's skin temperature through emitted black body radiation at mid-infrared wavelengths, in contrast to background objects at room temperature; or by emitting a continuous wave of microwave radiation and detect motion through the principle of Doppler radar; or by emitting an ultrasonic wave an detecting and analysing the reflections; by a tomographic motion detection system based on detection of radio wave disturbances. The sensor 110 may however in some embodiments comprise a camera, a stereo camera, an infrared camera or a video camera and presence of a VRU 130 in the vicinity of the stationary vehicle 101 may be detected through image analysis.

The sensor 110 may be directed in particular to a dangerous zone in front of the stationary vehicle 101, where a present pedestrian may be invisible for the vehicle 102 approaching from behind.

Step 602 comprises emitting a warning from the passing vehicle 102, for making the VRU 130 aware of the passing vehicle 102, when the wireless signal is received from the stationary vehicle 101.

The emitted warning may comprise e.g. ignition of head lights 210 of the passing vehicle 102, flashing with said head lights 210, activating the horn 115 of the passing vehicle 102, projecting a warning on a road segment in front of the passing vehicle 102, or a combination thereof.

Step 603, which may be performed only in some alternative embodiments, may comprise transmitting a wireless signal, for informing any surrounding vehicle of the VRU 130 in the vicinity of the stationary vehicle 101. 10 Thereby, the VRU 130, as well as the driver in the passing vehicle 102 may be made aware of the presence of each other. Thus a possible accident may be avoided.

Figure 7 illustrates an embodiment of a system 100 for warning a VRU 130 situated in a vicinity of a stationary vehicle 101, from a passing vehicle 102. The system 100 may per-form at least some of the previously described steps 601-603 according to the method 600 described above and illustrated in Figure 6.

The system 100 may comprise a control unit 700, in the passing vehicle 102. The control unit is configured for warning a VRU 130 situated in a vicinity of a stationary vehicle 101 20 from the vehicle 102 when passing the stationary vehicle 101.

The control unit 700 comprises a receiving circuit 7configured for receiving a signal from a receiver 120 on the passing vehicle 102, indicating presence of the VRU 130 in the vicinity of the stationary vehicle 101, detected by a sensor 110 on the stationary vehicle 101.

Further, the control unit 700 comprises a processor 7configured for generating a control signal to be transmitted to a warning emitting device 125, 210, 310 for emitting a warning from the passing vehicle 102, for making the VRU 130 aware of the passing vehicle 102, when the wireless signal is received from the stationary vehicle 101 via the receiving circuit 710. Thereby, also the driver of the passing vehicle 102 is alerted.

The warning emitting device 125, 210, 310 on the passing vehicle 102, also comprised in the system 100, may comprise e.g. the horn 125, the headlights 210, a projector 310, or similar device, such as e.g. a laser projector 310 for projecting a warning on a road seg- ment in front of the passing vehicle 102. The warning emitting device 125, 210, 310 is configured for emitting a warning, for making the VRU 130 aware of the passing vehicle 102. 11 In some embodiments, also a warning emitting device 510 on the stationary vehicle may be activated simultaneously, in order to enhance the warning and further minimise the risk of the VRU 130 not perceiving the danger of the situation.

Such processor 720 may comprise one or more instances of a processing circuit, i.e. a Central Processing Unit (CPU), a processing unit, a processing circuit, an Application Specific Integrated Circuit (ASIC), a microprocessor, or other processing logic that may interpret and execute instructions. The herein utilised expression "processor" may thus represent a processing circuitry comprising a plurality of processing circuits, such as, e.g., any, 10 some or all of the ones enumerated above.

Furthermore, the control unit 700 may comprise a memory 7in some embodiments. The optional memory 725 may comprise a physical device utilised to store data or programs, i.e., sequences of instructions, on a temporary or permanent basis. According to some em- bodiments, the memory 725 may comprise integrated circuits comprising silicon-based transistors. The memory 725 may comprise e.g. a memory card, a flash memory, a USB memory, a hard disc, or another similar volatile or non-volatile storage unit for storing data such as e.g. ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), EEPROM (Electrically Erasable PROM), etc. in different em- bodiments.

Further, the control unit 700 may comprise a signal transmitter 730. The signal transmitter 730 may be configured for transmitting a control signal to be received by the warning emitting device 125, 210, 310. The control signal triggers the warning emitting device 125, 210, 310 to emit the warning.

The system 100 further comprises a sensor 110 on the stationary vehicle 101, configured for detecting the VRU 130 situated in a vicinity of a stationary vehicle 101.

The sensor 110 may comprise e.g. a motion detector and/ or be based on a Passive Infrared (PIR) sensor sensitive to a person's skin temperature through emitted black body radiation at mid-infrared wavelengths, in contrast to background objects at room temperature; or by emitting a continuous wave of microwave radiation and detect motion through the principle of Doppler radar; or by emitting an ultrasonic wave an detecting and analysing the reflections; by a tomographic motion detection system based on detection of radio wave disturbances. The sensor 110 may however in some embodiments comprise a camera, a 12 stereo camera, an infrared camera or a video camera and presence of a VRU 130 in the vicinity of the stationary vehicle 101 may be detected through image analysis.

Further the system 100 comprises a transmitter 115 on the stationary vehicle 101, configured for transmitting a wireless signal comprising information related to the detected VRU 130.

The wireless signal may be e.g. a Vehicle-to-Vehicle (V2V) signal, or any other wireless signal based on, or at least inspired by wireless communication technology such as Wi-Fi, 10 Wireless Local Area Network (WLAN), Ultra Mobile Broadband (UMB), Bluetooth (BT), Near Field Communication (NFC) or infrared transmitter to name but a few possible examples of wireless communications.

In addition, the system 100 comprises a receiver 120 on the passing vehicle 102, configured for receiving the wireless signal transmitted by the transmitter 115.

The system 100 may further in some embodiments comprise a transmitter 120 on the passing vehicle 102 configured for transmitting a wireless signal, for informing any surrounding vehicle of the VRU 130 in the vicinity of the stationary vehicle 101.

The wireless signal may be e.g. a Vehicle-to-Vehicle (V2V) signal, or any of the other types of wireless signals earlier described.

Furthermore, in some optional embodiments, the system 100 may comprise a warning emitting device 510 on the stationary vehicle 101, configured for emitting a warning, for making the VRU 130 aware of the passing vehicle 102, together with the warning emitted by the warning emitting device 125, 210, 310 on the passing vehicle 102. The warning emitting device 510 on the stationary vehicle 101 may comprise e.g. a horn, a pair of head lights 510, and/ or a laser projector for projecting a warning on a road segment in front of the stationary vehicle 101.

However, in some alternative embodiments, the system 100 may comprise additional units for performing the method 600 according to steps 601-603.

The above described steps 601-603 to be performed in the system 100 may be implemented through the one or more processors 720 within the control unit 700, together with computer program product for performing at least some of the functions of the steps 601- 13 603. Thus a computer program product, comprising instructions for performing the steps 601-603 in the control unit 700 may perform the method 600 comprising at least some of the steps 601-603 for warning a VRU 130 situated in a vicinity of a stationary vehicle 101 from the vehicle 102, when the computer program is loaded into the one or more proces- sors 720 of the control unit 700.

Further, some embodiments may comprise a vehicle 102, comprising the control unit 700, configured for warning the VRU 130 situated in the vicinity of the stationary vehicle 101, from the vehicle 102 when passing the stationary vehicle 101, according to at least some of 10 the steps 601-603.

The computer program product mentioned above may be provided for instance in the form of a data carrier carrying computer program code for performing at least some of the steps 601-603 according to some embodiments when being loaded into the one or more proces- sors 720 of the control unit 700. The data carrier may be, e.g., a hard disk, a CD ROM disc, a memory stick, an optical storage device, a magnetic storage device or any other appropriate medium such as a disk or tape that may hold machine readable data in a non-transitory manner. The computer program product may furthermore be provided as computer program code on a server and downloaded to the control unit 700 remotely, e.g., over an Internet or an intranet connection.

The terminology used in the description of the embodiments as illustrated in the accompanying drawings is not intended to be limiting of the described method 600; the control unit 700; the computer program; the system 100 and/ or the vehicle 102. Various changes, substitutions and/ or alterations may be made, without departing from invention embodiments as defined by the appended claims.

As used herein, the term "and/ or" comprises any and all combinations of one or more of the associated listed items. The term "or" as used herein, is to be interpreted as a mathe- matical OR, i.e., as an inclusive disjunction; not as a mathematical exclusive OR (XOR), unless expressly stated otherwise. In addition, the singular forms "a", "an" and "the" are to be interpreted as "at least one", thus also possibly comprising a plurality of entities of the same kind, unless expressly stated otherwise. It will be further understood that the terms "includes", "comprises", "including" and/ or "comprising", specifies the presence of stated features, actions, integers, steps, operations, elements, and/ or components, but do not preclude the presence or addition of one or more other features, actions, integers, steps, operations, elements, components, and/ or groups thereof. A single unit such as e.g. a 14 processor may fulfil the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. A computer program may be stored/ distributed on a suitable medium, such as an optical storage medium or a solid- 5 state medium supplied together with or as part of other hardware, but may also be distributed in other forms such as via Internet or other wired or wireless communication system.

Claims (10)

1. A method (600) in a vehicle (102), which is passing a stationary vehicle (101), for warning a Vulnerable Road User, VRU (130) situated in a vicinity of the stationary vehicle (101), from the passing vehicle (102), wherein the method (300) comprises: receiving (601) a wireless signal from the stationary vehicle (101), indicating pres- ence of the VRU (130) in the vicinity of the stationary vehicle (101), detected by a sensor (110) on the stationary vehicle (101); and emitting (602) a warning, for making the VRU (130) aware of the passing vehicle (102) when the wireless signal is received from the stationary vehicle (101).

2. The method (600) according to claim 1, wherein the emitted (602) warning comprises ignition of head lights (210) of the passing vehicle (102), flashing with said head lights (210), activating the horn (125) of the passing vehicle (102), projecting a warning on a road segment in front of the passing vehicle (102), or a combination thereof.

3. The method (600) according to any of claims 1-2, further comprising: transmitting (603) a wireless signal, for informing any surrounding vehicle of the VRU (130) in the vicinity of the stationary vehicle (101).

4. A control unit (700) in a vehicle (102), configured for warning a Vulnerable Road User, VRU (130) situated in a vicinity of a stationary vehicle (101) from the vehicle (102), which control unit (700) comprises: a receiving circuit (710) configured for receiving a signal from a receiver (120) on the passing vehicle (102), indicating presence of the VRU (130) in the vicinity of the stationary vehicle (101), detected by a sensor (110) on the stationary vehicle (101); and a processor (720) configured for generating a control signal to be transmitted to a warning emitting device (125, 210, 310) for emitting a warning, making the VRU (130) aware of the passing vehicle (102), when the wireless signal is received from the stationary vehicle (101) via the receiving circuit (710).

5. A computer program comprising program code for performing a method (600) ac- cording to any of claims 1-3 when the computer program is executed in a processor (720) in a control unit (700), according to claim 4.

6. A system (100) for warning a Vulnerable Road User, VRU (130) situated in a vicin- ity of a stationary vehicle (101), from a passing vehicle (102), wherein the system (100) comprises: 16 a sensor (110) on the stationary vehicle (101), configured for detecting the VRU (130) situated in a vicinity of a stationary vehicle (101); a transmitter (115) on the stationary vehicle (101), configured for transmitting a wireless signal comprising information related to the detected VRU (130); a receiver (120) on the passing vehicle (102), configured for receiving the wireless signal transmitted by the transmitter (115) on the stationary vehicle (101); a control unit (700) in the passing vehicle (102), according to claim 4; and a warning emitting device (125, 210, 310) on the passing vehicle (102), configured for emitting a warning, for making the VRU (130) aware of the passing vehicle (102).

7. The system (100) according to claim 6, further comprising a transmitter (120) on the passing vehicle (102) configured for transmitting a wireless signal, for informing any surrounding vehicle of the VRU (130) in the vicinity of the stationary vehicle (101).

8. The system (100) according to any of claims 6-7, wherein the warning emitting device (125, 210, 310) on the passing vehicle (102) comprises a horn (125), a pair of head lights (210), and/ or a laser projector (310) for projecting a warning on a road segment in front of the passing vehicle (102).

9. The system (100) according to any of claim 6 or claim 7, further comprising a warning emitting device (510) on the stationary vehicle (101), configured for emitting a warning, for making the VRU (130) aware of the passing vehicle (102), together with the warning emitted by the warning emitting device (125, 210, 310) on the passing vehicle (102), wherein the warning emitting device (510) on the stationary vehicle (101) comprises a horn, a pair of head lights (510), and/ or a laser projector for projecting a warning on a road segment in front of the stationary vehicle (101).

10. The system (100) according to any of claims 6-9, wherein the transmitter (115) and the receiver (120) respectively are configured for vehicle-to-vehicle, V2V, wireless communication. 1/