SE1550506A1

SE1550506A1 - Method and system for facilitating the manoeuvring of a vehicle on a road

Info

Publication number: SE1550506A1
Application number: SE1550506A
Authority: SE
Inventors: Claesson André
Original assignee: Scania Cv Ab
Priority date: 2015-04-27
Filing date: 2015-04-27
Publication date: 2016-10-28
Also published as: SE541294C2; DE102016004737A1; BR102016008216A2

Abstract

The present invention relates to a method for facilitating the manoeuvring of a vehicle (1) on a road (R). Said road comprises a road section (RS) only allowing passage in one direction at a time of a vehicle (1, 2). The method comprises the steps of: determining criteria for allowing a vehicle to pass said road section (RS) as a basis for said manoeuvring. The step of determining the criteria for allowing a vehicle to pass said road section comprises detecting appearing oncoming vehicles (2) approaching said road section (RS) by means of detection means (110) provided on board of said vehicle (1) to be manoeuvred.The present invention relates to a system for facilitating the manoeuvring of a vehicle on a road comprising a road section only allowing passage in one direction at a time of a vehicle. The present invention also relates to a vehicle. The present invention also relates to a computer program and a computer program product.(Fig. 2)

Description

METHOD AND SYSTEM FOR FACILITATING THE MANOEUVRING OF AVEHICLE ON A ROAD TECHNICAL FIELD The invention relates to a method for facilitating the manoeuvring of a vehicleon a road, said road comprising a road section only allowing passage in onedirection at a time of a vehicle according to the preamble of claim 1. Theinvention relates to a system for facilitating the manoeuvring of a vehicle on aroad, said road comprising a road section only allowing passage in onedirection at a time of a vehicle. The invention also relates to a vehicle. Theinvention in addition relates to a computer program and a computer program product.

BACKGROUND ART On public roads there are often actions taken to keep the vehicle speeddown, especially in urban areas. Usually there are barriers placed in theroadway, speed bumps or similar. One typical example of an action taken tokeep the vehicle speed down is to provide roads with a road section onlyallowing passage in one direction at a time of a vehicle.

Since there is no road direction that has the priority to drive first in such anexample it is up to the drivers of the oncoming vehicles to find out who was here first and who shall drive before the other.

US20040128062 discloses a method for Vehicle-to Vehicle communication,for example by driving in to a small road where only one vehicle at a timemay pass. Vehicles are given priority based on different criteria, for example such as distance to the narrow passage.

There is however a need to further increase safety by facilitating themanoeuvring of a vehicle on a road comprising a road section only allowing passage in one direction at a time.

OBJECTS OF THE INVENTION An object of the present invention is to provide a method for facilitating themanoeuvring of a vehicle on a road, said road comprising a road section onlyallowing passage in one direction at a time of a vehicle which facilitatesfurther increasing the safety.

Another object of the present invention is to provide a system for facilitatingthe manoeuvring of a vehicle on a road, said road comprising a road sectiononly allowing passage in one direction at a time of a vehicle which facilitatesfurther increasing the safety.

SUMMARY OF THE INVENTION These and other objects, apparent from the following description, areachieved by a method, a system, a vehicle, a computer program and acomputer program product, as set out in the appended independent claims.Preferred embodiments of the method and the system are defined inappended dependent claims.

Specifically an object of the invention is achieved by a method for facilitatingthe manoeuvring of a vehicle on a road, said road comprising a road sectiononly allowing passage in one direction at a time of a vehicle. The methodcomprises the steps of: determining criteria for allowing a vehicle to pass saidroad section as a basis for said manoeuvring. The step of determining thecriteria for allowing a vehicle to pass said road section comprises detectingappearing oncoming vehicles approaching said road section by means of detection means provided on board of said vehicle to be manoeuvred.Hereby safety is further improved by manoeuvring of a vehicle on a roadcomprising a road section only allowing passage in one direction at a time.This further provides redundancy to a Vehicle-to-Vehicle system. lt is alsolikely that at least one of the vehicles being subject to such an approachingsituation in connection to such a road section does not have a Vehicle-to-Vehicle system.

According to an embodiment of the method the step of detecting appearingoncoming vehicles approaching said road section comprises the step ofdetermining the category of an oncoming vehicle, said category comprisingone or more of: emergency vehicles, buses, trucks, cars and vulnerable roadusers. By thus determining the category of oncoming vehicles prioritisingwhich vehicle is to be allowed to pass first may be made for the vehicle having the greatest need, such as an emergency vehicle or a bus.

According to an embodiment of the method the step of detecting appearingoncoming vehicles approaching said road section comprises the step ofdetecting the distance to an oncoming vehicle. Hereby prioritising is furtherfacilitated in that it may be determined which vehicle has the longest distanceto the road section. This facilitates improving safety.

According to an embodiment of the method the step of detecting appearingoncoming vehicles approaching said road section comprises the step ofdetecting the distance for an oncoming vehicle to said road section. Herebyprioritising is further facilitated in that it may be determined which vehicle hasthe longest distance to the road section. This facilitates improving safety.

According to an embodiment of the method the step of detecting appearingoncoming vehicles approaching said road section comprises the step ofdetecting the speed of an oncoming vehicle. Hereby prioritising is furtherfacilitated in that it may be determined which vehicle will reach the roadsection first. This facilitates improving safety.

According to an embodiment of the method the step of determining thecriteria for allowing a vehicle to pass said road section comprises the step ofdetecting the distance to said road section for said vehicle to be manoeuvred.Hereby prioritising is further facilitated in that it may be determined whichvehicle has the longest distance to the road section. This facilitates improvingsafety.

According to an embodiment of the method the step of determining thecriteria for allowing a vehicle to pass said road section comprises the step ofdetermining the extension of said road section. Hereby prioritising is furtherfacilitated in that it may be determined how long it will take for a vehicle topass the road section. This facilitates improving safety.

According to an embodiment the method comprises the step of presentingthe determined criteria for allowing a vehicle to pass said road section for theoperator of the vehicle. Herby the operator of the vehicle will be informed ofthe situation and may take necessary steps based on the information. Thisfacilitates improving safety.

According to an embodiment the method comprises the step of controllingthe manoeuvring of said vehicle based upon said determined criteria forallowing a vehicle to pass said road section. Hereby safety may be furtherimproved in that the vehicle may e.g. be put to a halt automatically if it isdetermined that an impact may occur.

According to an embodiment the method comprises the step of determiningcurrent distribution and situation of passengers, wherein said allowing ofpassage is performed based on the determined current distribution andcurrent situation of passengers comprising adapting the control of themanoeuvring in accordance with the determined current distribution anddetermined current situation of passengers. Hereby the comfort and safety ofsuch passengers may be improved.

Specifically an object of the invention is achieved by a system for facilitatingthe manoeuvring of a vehicle on a road, said road comprising a road sectiononly allowing passage in one direction at a time of a vehicle adapted toperform the methods as set out above.

The system further comprises the embodiments according to the dependentsystem claims 11-20.

The system according to the invention has the advantages according to thecorresponding method claims.

BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention reference is made to thefollowing detailed description when read in conjunction with theaccompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which: Fig. 1 schematically illustrates side view of a vehicle according to the present invention; Fig. 2 schematically illustrates a plan view of the vehicle in fig. 1 on a roadcomprising a road section only allowing passage in one direction at a time ofa vehicle; Fig. 3 schematically illustrates a system for facilitating the manoeuvring of avehicle on a road, said road comprising a road section only allowing passagein one direction at a time of a vehicle according to an embodiment of the present invention; Fig. 4 schematically illustrates a block diagram of a method for facilitating themanoeuvring of a vehicle on a road, said road comprising a road section only allowing passage in one direction at a time of a vehicle according to an embodiment of the present invention; and Fig. 5 schematically illustrates a computer according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter the term “link” refers to a communication link which may be aphysical connector, such as an optoelectronic communication wire, or a non-physical connector such as a wireless connection, for example a radio or microwave link.

Fig. 1 schematically illustrates a side view of a vehicle 1 according to thepresent invention. The exemplified vehicle 1 is a heavy vehicle in the shapeof a bus. The vehicle according to the present invention could be any vehiclesuch as a truck or a car. The vehicle comprises a system for facilitating themanoeuvring of a vehicle on a road, said road comprising a road section onlyallowing passage in one direction at a time of a vehicle according to an embodiment of the present invention.

Fig. 2 schematically illustrates a plan view of the vehicle in fig. 1 on a road Rcomprising a road section RS only allowing passage in one direction at atime of a vehicle.

The road R illustrated in fig. 2 has a first roadway RW1 for traffic in onedirection and an adjacent second roadway RW2 for traffic in the oppositedirection. The road R comprises said road section RS in which the first andsecond roadways RW1, RW2 transfers into one roadway RW in which only one vehicle can pass at a time.

The vehicle 1 is travelling in the second roadway RW2 at a speed v1 andbeing at a distance D1 from the road section RS, i.e. from where the road R is tampering in to the road section RS. An oncoming vehicle is travelling inthe first roadway RW1 approaching the road section RS from the oppositeside of the road section RS at a speed v2 and being at a distance D2 fromthe road section RS, i.e. from where the road R is tampering in to the road section RS from the opposite side of the road section RS.

The vehicle comprises a system I for facilitating the manoeuvring of thevehicle 1 on the road R comprising the road section RS only allowingpassage in one direction at a time comprising means 110 for determining thecriteria for allowing a vehicle to pass said road section. The means fordetermining the criteria for allowing a vehicle to pass said road section112 forapproaching said road section, the vehicle 1 being provided with said means comprises means detecting appearing oncoming vehicles112. The means 112 comprises one or more detector units such as cameraunits. The camera unit comprises according to this embodiment a frontcamera unit arranged at the front area of the vehicle. The means 112 isdetecting the oncoming vehicle 2. Said means 112 comprises according toan embodiment one or more laser scanner units. Said means 112 comprises one or more radar units. Said means 112 comprises one or more sonar units.

The means 112 for detecting appearing oncoming vehicles approaching saidroad section comprises means for determining the category of an oncomingvehicle, said category comprising one or more of: emergency vehicles,buses, trucks, cars and vulnerable road users. Said means for determiningthe category of an oncoming vehicle may according to an embodimentcomprise one or more 3D camera units such as so called Time-of-Flightcamera units. Said camera units are configured to be arranged at suitable positions on the vehicle in order to obtain good detection of said objects.

The term “vulnerable road user” refers to any vehicle which relative to thevehicle 1 being manoeuvred carries vehicle operators and/or passengers thatare vulnerable, should an accident, i.e. a collision between the vehicle 1 and the oncoming vehicle 2, occur on said road section RS. A vulnerable road user could be a motor cycle and its operator, a bicycle and its operator, a carand its operator e.g. if the vehicle being manoeuvred is a heavy vehicle suchas a bus or a truck.

The means 112 for detecting appearing oncoming vehicles approaching saidroad section, e.g. one or more camera units 112 is configured to detect thedistance D to said oncoming vehicle, the distance D2 for said oncomingvehicle to said road section RS and the speed of the _ The means 110 for determining the criteria for allowing a vehicle to pass saidroad section comprises means for detecting the distance D1 to said roadsection RS for said vehicle 1 to be manoeuvred and means for determiningthe extension L of said road section RS. The means for detecting thedistance to said road section RS and means for determining the extension ofsaid road section comprises one or more detector units which could be comprised in the means 112 or a separate detector unit.

The extension L of said road section RS may have any configuration such ascurved configuration and/or sloped/inclined configuration.

The criteria for allowing a vehicle to pass is thus determined based on thethus determined category of the oncoming vehicle 2, speeds v1, v2 of thevehicles 1, 2, the extension L of the road section RS and the distances D1,D2, D. Hereby it is determined which vehicle will have the right to pass first.For example an emergency vehicle will most likely be allowed to pass firsteven if it will reach the road section RS later than another oncoming vehicleapproaching from the opposite side of the road section.

Fig. 3 schematically illustrates a system I for facilitating the manoeuvring of avehicle on a road, said road comprising a road section only allowing passagein one direction at a time of a vehicle according to an embodiment of the present invention.

The system I comprises an electronic control unit 100.

The system I comprises means 110 for determining criteria for allowing avehicle to pass said road section as a basis for said manoeuvring.

The means 110 for determining the criteria for allowing a vehicle to pass saidroad section comprises means 112 for detecting appearing oncomingvehicles approaching said road section provided on board of said vehicle tobe manoeuvred. The means 112 comprises at least one detector unit such asa camera unit. The camera unit is according to an embodiment arranged atthe front area of the vehicle. Said means 112 comprises according to anembodiment one or more laser scanner units. Said means 112 comprises one or more radar units. Said means 112 comprises one or more sonar units.

The means 112 for detecting appearing oncoming vehicles approaching saidroad section comprises means 112a for determining the category of anoncoming vehicle, said category comprising one or more of: emergencyvehicles, buses, trucks, cars and vulnerable road users. The means 112a fordetermining the category of an oncoming vehicle comprises any suitabledetector unit such as one or more 3D camera units such as so called Time-of-Flight camera units. Said camera units are configured to be arranged atsuitable positions on the vehicle in order to obtain good detection of saidobjects. According to an embodiment data of different categories such asemergency vehicles, buses, trucks, cars and vulnerable road users arestored in a storing means, for example in the electronic control unit 100. Themeans 112a for determining the category of an oncoming vehicle comprisescomparing the thus detected vehicle with said stored categories so as todetermine the category of the oncoming vehicle.

The means 112 for detecting appearing oncoming vehicles approaching saidroad section comprises means 112b for detecting the distance to anoncoming vehicle. Said means 112b comprises according to an embodimentone or more camera units. Said means 112b comprises according to an embodiment one or more laser scanner units. Said means 112b comprises one or more radar units. Said means 112b comprises one or more sonarunits.

The means 112 for detecting appearing oncoming vehicles approaching saidroad section comprises means 112c for detecting the distance for anoncoming vehicle to said road section. Said means 112c comprisesaccording to an embodiment one or more camera units. Said means 112ccomprises according to an embodiment one or more laser scanner units.Said means 112c comprises one or more radar units. Said means 112ccomprises one or more sonar units. The means 112c for detecting thedistance for an oncoming vehicle to said road section comprises according toan embodiment detecting the distance to the oncoming vehicle and detectingthe distance to the end of the road section for the vehicle to be manoeuvred,which corresponds to the beginning of the road section for the oncoming vehicle.

The means 112 for detecting appearing oncoming vehicles approaching saidroad section comprises means 112d for detecting the speed of an oncomingvehicle. Said means 112d comprises according to an embodiment one ormore camera units. Said means 112d comprises according to anembodiment one or more laser scanner units. Said means 112d comprisesone or more radar units. Said means 112d comprises one or more sonar units.

The means 110 for determining the criteria for allowing a vehicle to pass saidroad section comprises means 114 for detecting the distance to said roadsection for said vehicle to be manoeuvred. Said means 114 comprisesaccording to an embodiment one or more camera units. Said means 114 comprises according to an embodiment one or more laser scanner units.

The means 110 for determining the criteria for allowing a vehicle to pass saidroad section comprises means 116 for determining the extension of said roadsection. Said means 116 comprises according to an embodiment one or 11 more camera units. Said means 116 comprises according to an embodiment One Ol' mOFG laSel' SCannel' UnltS.

The means 110 for determining the criteria for allowing a vehicle to pass saidroad section comprises means 118 for determining the speed for said vehicleto be manoeuvred. The means 118 comprises according to an embodimentthe speedometer of the vehicle.

The system I comprises means 120 for presenting the determined criteria forallowing a vehicle to pass said road section for the operator of the vehicle.The means 120 for presenting the determined criteria for allowing a vehicle topass said road section for the operator of the vehicle comprises according toan embodiment visual means 122 for visual presentation, said visualpresentation comprising presenting information about the determined criteriafor allowing the vehicle to pass, i.e. if the vehicle may pass or need to stop toallow the oncoming vehicle to pass, on a display, by projection of a lightsource, said projection according to a variant being on the ground surface inconnection to the vehicle. The visual means for visual presentationcomprises according to an embodiment one or more display units fordisplaying said presentation of information regarding determined criteria for allowing the vehicle to pass.

The means 120 for presenting the determined criteria for allowing a vehicle topass said road section for the operator of the vehicle comprises according toan embodiment sound means 124 for audible presentation such as an alarm, a voice or the like.

The means 120 for presenting the determined criteria for allowing a vehicle topass said road section for the operator of the vehicle comprises according toan embodiment tactile means 126 such as vibrating/moving the seat of theoperator, the steering wheel, the gas pedal, the brake pedal or the like so asto draw attention to the operator of the upcoming road section and oncomingvehicle. 12 The system I comprises means 130 for controlling the manoeuvring of saidvehicle based upon said determined criteria for allowing a vehicle to passsaid road section. The means 130 for controlling the manoeuvring of saidvehicle comprises any suitable control unit. The means 130 for controlling themanoeuvring of said vehicle is according to an embodiment comprised in theelectronic control unit 100. The means 130 for controlling the manoeuvring ofsaid vehicle comprises controlling the powertrain of the vehicle, i.e. the speedof the vehicle, the transmission of the vehicle, the brakes of the vehicle, thesteering of the vehicle and/or any other function of the vehicle that mayimprove safety. The means 130 for controlling the manoeuvring of saidvehicle is configured to automatically control the vehicle based upon saiddetermined criteria for allowing a vehicle to pass said road section. Themeans 130 for controlling the manoeuvring of said vehicle is thus operablyconnected to the powertrain of the vehicle for said control.

The system I comprises means 140 for determining current distribution andsituation of passengers wherein said allowing of passage is configured to beperformed based on the determined current distribution and current situationof passengers comprising adapting the control of the manoeuvring inaccordance with the determined current distribution and determined currentsituation of passengers. Said means 140 may comprise any suitable detectormeans such as camera unit, optical sensor units, laser scanners, pressuresensors or the like. Determining current state of passengers comprisessensing whether a passenger is sitting down or standing up; and sensing theexistence of passenger aid devices such as cane, wheel chair, baby carriageor the like.

The electronic control unit 100 is operably connected to the means 110 fordetermining criteria for allowing a vehicle to pass said road section as a basisfor said manoeuvring via a link 10. The electronic control unit 100 is via thelink 10 arranged to receive a signal from said means 110 representing datafor criteria for allowing a vehicle to pass. 13 The electronic control unit 100 is operably connected to the means 112 fordetecting appearing oncoming vehicles approaching said road sectionprovided on board of said vehicle to be manoeuvred via a link 12. Theelectronic control unit 100 is via the link 12 arranged to receive a signal from said means 112 representing data relating to appearing oncoming vehicle.

The electronic control unit 100 is operably connected to the means 112a fordetermining the category of an oncoming vehicle, said category comprisingone or more of: emergency vehicles, buses, trucks, cars and vulnerable roadusers via a link 12a. The electronic control unit 100 is via the link 12aarranged to receive a signal from said means 112a representing data forcategory of an oncoming vehicle.

The electronic control unit 100 is operably connected to the means 112b fordetecting the distance to an oncoming vehicle via a link 12b. The electroniccontrol unit 100 is via the link 12b arranged to receive a signal from said means 112b representing data for distance to an oncoming vehicle.

The electronic control unit 100 is operably connected to the means 112c fordetecting the distance for an oncoming vehicle to said road section via a link12c. The electronic control unit 100 is via the link 12c arranged to receive asignal from said means 112c representing data for distance for an oncoming vehicle to said road section.

The electronic control unit 100 is operably connected to the means 112d fordetecting the speed of an oncoming vehicle via a link 12d. The electroniccontrol unit 100 is via the link 12d arranged to receive a signal from said means 112d representing data for speed of an oncoming vehicle.

The electronic control unit 100 is operably connected to the means 114 fordetecting the distance to said road section for said vehicle to be manoeuvredvia a link 14. The electronic control unit 100 is via the link 14 arranged toreceive a signal from said means 114 representing data for distance to saidroad section for said vehicle to be manoeuvred. 14 The electronic control unit 100 is operably connected to the means 116 fordetermining the extension of said road section via a link 16. The electroniccontrol unit 100 is via the link 16 arranged to receive a signal from saidmeans 116 representing data for extension of said road section.

The electronic control unit 100 is operably connected to the means 118 fordetermining the speed for said vehicle to be manoeuvred via a link 18. Theelectronic control unit 100 is via the link 18 arranged to receive a signal fromsaid means 118 representing data for speed for said vehicle to be manoeuvred.

The electronic control unit 100 is operably connected to the means 120 forpresenting the determined criteria for allowing a vehicle to pass said roadsection for the operator of the vehicle via a link 20. The electronic control unit100 is via the link 20 arranged to send a signal to said means 120representing presentation data for determined criteria for allowing a vehicle topass said road section.

The electronic control unit 100 is operably connected to the visual means 122for visual presentation via a link 22. The electronic control unit 100 is via thelink 22 arranged to send a signal to said means 122 representing visualpresentation data for determined criteria for allowing a vehicle to pass saidroad section.

The electronic control unit 100 is operably connected to the sound means124 for audible presentation via a link 24. The electronic control unit 100 isvia the link 24 arranged to send a signal to said means 124 representingaudible presentation data for determined criteria for allowing a vehicle topass said road section.

The electronic control unit 100 is operably connected to the tactile means126 via a link 26. The electronic control unit 100 is via the link 26 arranged tosend a signal to said means 126 representing data for tactile presentation.

The electronic control unit 100 is operably connected to the means 130 forcontrolling the manoeuvring of said vehicle based upon said determinedcriteria for allowing a vehicle to pass said road section via a link 30. Theelectronic control unit 100 is via the link 30 arranged to send a signal to saidmeans 130 representing control data for controlling the manoeuvring of saidvehicle based upon said determined criteria for allowing a vehicle to passsaid road section.

The electronic control unit 100 is operably connected to the means 140 fordetermining current distribution and situation of passengers via a link 40. Theelectronic control unit 100 is via the link 40 arranged to receive a signal fromsaid means 140 representing data for current distribution and situation ofpassengers. The control of the manoeuvring is according to an embodimentadapted based in accordance with the current distribution and current situation of passengers.

The electronic control unit 100 is arranged to process said, data relating toappearing oncoming vehicle comprising data for category of an oncomingvehicle, data for distance to an oncoming vehicle, data for distance for anoncoming vehicle to said road section, data for speed of an oncomingvehicle, data for distance to said road section for said vehicle to bemanoeuvred data for extension of said road section and data for speed forsaid vehicle to be manoeuvred so as to determine data for criteria for allowing a vehicle to pass said road section.

Fig. 4 schematically illustrates a block diagram of a method for facilitating themanoeuvring of a vehicle on a road, said road comprising a road section onlyallowing passage in one direction at a time of a vehicle according to an embodiment of the present invention.

According to the embodiment the method for facilitating the manoeuvring of avehicle on a road, said road comprising a road section only allowing passagein one direction at a time of a vehicle comprises a step S1. ln this step criteria 16 for allowing a vehicle to pass said road section is determined as a basis for said manoeuvring.

According to the embodiment the step of determining the criteria for allowinga vehicle to pass said road section comprises a step S1a. ln this stepappearing oncoming vehicles approaching said road section are detected bymeans of detection means provided on board of said vehicle to be manoeuvred.

According to an embodiment of the method the step S1a of detectingappearing oncoming vehicles approaching said road section comprises thestep of determining the category of an oncoming vehicle, said categorycomprising one or more of: emergency vehicles, buses, trucks, cars andvulnerable road users.

According to an embodiment of the method the step S1a of detectingappearing oncoming vehicles approaching said road section comprises thestep of detecting the distance to an oncoming vehicle.

According to an embodiment of the method the step S1a of detectingappearing oncoming vehicles approaching said road section comprises the step of detecting the distance for an oncoming vehicle to said road section.

According to an embodiment of the method the step S1a of detectingappearing oncoming vehicles approaching said road section comprises thestep of detecting the speed of an oncoming vehicle.

According to an embodiment of the method the step S1 of determining thecriteria for allowing a vehicle to pass said road section comprises the step ofdetecting the distance to said road section for said vehicle to be manoeuvred.

According to an embodiment of the method the step S1 of determining thecriteria for allowing a vehicle to pass said road section comprises the step of determining the extension of said road section. 17 According to an embodiment the method comprises the steps of presentingthe determined criteria for allowing a vehicle to pass said road section for theoperator of the vehicle.

According to an embodiment the method comprises the step of controllingthe manoeuvring of said vehicle based upon said determined criteria forallowing a vehicle to pass said road section.

According to an embodiment the method comprises the step of determiningcurrent distribution and situation of passengers, wherein said allowing isperformed based on the determined current distribution and current situationof passengers comprising adapting the control of the manoeuvring inaccordance with the determined current distribution and determined current situation of passengers.

With reference to figure 5, a diagram of an apparatus 500 is shown. Thecontrol unit 100 described with reference to fig. 3 may according to anembodiment comprise apparatus 500. Apparatus 500 comprises a non-volatile memory 520, a data processing device 510 and a read/write memory550. Non-volatile memory 520 has a first memory portion 530 wherein acomputer program, such as an operating system, is stored for controlling thefunction of apparatus 500. Further, apparatus 500 comprises a bus controller,a serial communication port, I/O-means, an A/D-converter, a time date entryand transmission unit, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second memory portion 540.

A computer program P is provided comprising routines for facilitating themanoeuvring of a vehicle on a road, said road comprising a road section onlyallowing passage in one direction at a time of a vehicle according to theinnovative method. The program P comprises routines for determining criteriafor allowing a vehicle to pass said road section as a basis for saidmanoeuvring. The routines for determining criteria for allowing a vehicle to pass said road section as a basis for said manoeuvring comprises routines 18 for detecting appearing oncoming vehicles approaching said road section bymeans of detection means provided on board of said vehicle to bemanoeuvred. The routines for detecting appearing oncoming vehiclesapproaching said road section by means of detection means provided onboard of said vehicle to be manoeuvred comprises routines for determiningthe category of an oncoming vehicle, said category comprising one or moreof: emergency vehicles, buses, trucks, cars and vulnerable road users. Theroutines for detecting appearing oncoming vehicles approaching said roadsection comprises routines for detecting the distance to an oncoming vehicle.The routines for detecting appearing oncoming vehicles approaching saidroad section comprises routines for detecting the distance for an oncomingvehicle to said road section. The routines for detecting appearing oncomingvehicles approaching said road section comprises routines for detecting thespeed of an oncoming vehicle. The routines for determining criteria forallowing a vehicle to pass said road section as a basis for said manoeuvringcomprises routines for detecting the distance to said road section for saidvehicle to be manoeuvred. The routines for determining criteria for allowing avehicle to pass said road section as a basis for said manoeuvring comprisesroutines for determining the extension of said road section. The computerprogram P comprises routines for presenting the determined criteria forallowing a vehicle to pass said road section for the operator of the vehicle.The computer program P comprises routines for controlling the manoeuvringof said vehicle based upon said determined criteria for allowing a vehicle topass said road section. The program P comprises routines for determiningcurrent distribution and situation of passengers, wherein said allowing isperformed based on the determined current distribution and current situationof passengers comprising adapting the control of the manoeuvring inaccordance with the determined current distribution and determined currentsituation of passengers. The computer program P may be stored in anexecutable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550. 19 When it is stated that data processing device 510 performs a certain functionit should be understood that data processing device 510 performs a certainpart of the program which is stored in separate memory 560, or a certain partof the program which is stored in read/write memory 550.

Data processing device 510 may communicate with a data communicationsport 599 by means of a data bus 515. Non-volatile memory 520 is adaptedfor communication with data processing device 510 via a data bus 512.Separate memory 560 is adapted for communication with data processingdevice 510 via a data bus 511. Read/write memory 550 is adapted forcommunication with data processing device 510 via a data bus 514. To thedata communications port 599 e.g. the links connected to the control units100; 200; 300 may be connected.

When data is received on data port 599 it is temporarily stored in secondmemory portion 540. When the received input data has been temporarilystored, data processing device 510 is set up to perform execution of code ina manner described above. The signals received on data port 599 can beused by apparatus 500 for determining criteria for allowing a vehicle to passsaid road section as a basis for said manoeuvring. The signals used fordetermining criteria for allowing a vehicle to pass said road section as a basisfor said manoeuvring comprises signals for detecting appearing oncomingvehicles approaching said road section by means of detection meansprovided on board of said vehicle to be manoeuvred. The signals used fordetecting appearing oncoming vehicles approaching said road section bymeans of detection means provided on board of said vehicle to bemanoeuvred comprises signals for determining the category of an oncomingvehicle, said category comprising one or more of: emergency vehicles,buses, trucks, cars and vulnerable road users. The signals used for detectingappearing oncoming vehicles approaching said road section comprisessignals for detecting the distance to an oncoming vehicle. The signals used for detecting appearing oncoming vehicles approaching said road section comprises signals for detecting the distance for an oncoming vehicle to saidroad section. The signals used for detecting appearing oncoming vehiclesapproaching said road section comprises signals for detecting the speed ofan oncoming vehicle. The signals used for determining criteria for allowing avehicle to pass said road section as a basis for said manoeuvring comprisessignals for detecting the distance to said road section for said vehicle to bemanoeuvred. The signals used for determining criteria for allowing a vehicleto pass said road section as a basis for said manoeuvring comprises signalsfor determining the extension of said road section. The signals received ondata port 599 can be used by apparatus 500 for presenting the determinedcriteria for allowing a vehicle to pass said road section for the operator of thevehicle. The signals received on data port 599 can be used by apparatus 500for controlling the manoeuvring of said vehicle based upon said determinedcriteria for allowing a vehicle to pass said road section. The signals receivedon data port 599 can be used by apparatus 500 for determining currentdistribution and situation of passengers, wherein said allowing is performedbased on the determined current distribution and current situation ofpassengers comprising adapting the control of the manoeuvring inaccordance with the determined current distribution and determined current situation of passengers.

Parts of the methods described herein can be performed by apparatus 500by means of data processing device 510 running the program stored inseparate memory 560 or read/write memory 550. When apparatus 500 runsthe program, parts of the methods described herein are executed.

The foregoing description of the preferred embodiments of the presentinvention has been provided for the purposes of illustration and description. ltis not intended to be exhaustive or to limit the invention to the precise formsdisclosed. Obviously, many modifications and variations will be apparent topractitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical 21 applications, thereby enabling others skilled in the art to understand theinvention for various embodiments and with the various modifications as are suited to the particular use contempiated.

Claims

1. A method for facilitating the manoeuvring of a vehicle (1) on a road (R),said road comprising a road section (RS) only allowing passage in onedirection at a time of a vehicle (1, 2), comprising the steps of: determining(S1) criteria for allowing a vehicle to pass said road section (RS) as a basisfor said manoeuvring, characterized in that the step of determining thecriteria for allowing a vehicle to pass said road section comprises detecting(S1a) appearing oncoming vehicles (2) approaching said road section (RS)by means of detection means (112) provided on board of said vehicle (1) to be manoeuvred.

2. A method according to claim 1, wherein the step of detecting (S1a)appearing oncoming vehicles approaching said road section (RS) comprisesthe step of determining the category of an oncoming vehicle (2), saidcategory comprising one or more of: emergency vehicles, buses, trucks, carsand vulnerable road users.

3. A method according to claim 1 or 2, wherein the step of detecting (S1a)appearing oncoming vehicles (2) approaching said road section (RS) comprises the step of detecting the distance (D) to an oncoming vehicle (2).

4. A method according to any of claims 1-3, wherein the step of detecting(S1a) appearing oncoming vehicles (2) approaching said road section (RS)comprises the step of detecting the distance (D2) for an oncoming vehicle (2) to said road section (RS).

5. A method according to any of claims 1-4, wherein the step of detectingappearing oncoming vehicles (2) approaching said road section (RS)comprises the step of detecting the speed of an oncoming vehicle (2).

6. A method according to any of claims 1-5, wherein the step of determiningthe criteria for allowing a vehicle to pass said road section (RS) comprises 23 the step of detecting the distance to said road section (RS) for said vehicle(1) to be manoeuvred.

7. A method according to any of claims 1-6, wherein the step of determiningthe criteria for allowing a vehicle to pass said road section (RS) comprises the step of determining the extension (L) of said road section (RS).

8. A method according to any of claims 1-7, comprising the steps ofpresenting the determined criteria for allowing a vehicle to pass said roadsection (RS) for the operator of the vehicle.

9. A method according to any of claims 1-8, comprising the step ofcontrolling the manoeuvring of said vehicle (1) based upon said determinedcriteria for allowing a vehicle to pass said road section (RS).

10.A method according to any of claims 1-9, comprising the step ofdetermining current distribution and situation of passengers, wherein saidallowing of passage is performed based on the determined currentdistribution and current situation of passengers comprising adapting thecontrol of the manoeuvring in accordance with the determined current distribution and determined current situation of passengers.

11. A system (I) for facilitating the manoeuvring of a vehicle (1) on a road (R),said road comprising a road section (RS) only allowing passage in onedirection at a time of a vehicle (1, 2), comprising means (110) for determiningcriteria for allowing a vehicle to pass said road section (RS) as a basis forsaid manoeuvring, characterized in that the means (110) for determiningthe criteria for allowing a vehicle (1, 2) to pass said road section (RS)comprises means (112) for detecting appearing oncoming vehicles (2)approaching said road section (RS) provided on board of said vehicle (1) to be manoeuvred.

12. A system according to claim 11, wherein the means (112) for detectingappearing oncoming vehicles (2) approaching said road section (RS) 24 comprises means (112a) for determining the category of an oncoming vehicle(2), said category comprising one or more of: emergency vehicles, buses,trucks, cars and vulnerable road users.

13.A system according to c|aim 11 or 2, wherein the means (112) fordetecting appearing oncoming vehicles (2) approaching said road section(RS) comprises means (112b) for detecting the distance (D) to an oncomingvehicle (2).

14. A system according to any of claims 11-13, wherein the means (112) fordetecting appearing oncoming vehicles (2) approaching said road section(RS) comprises means (112c) for detecting the distance (D2) for anoncoming vehicle (2) to said road section (RS).

15. A system according to any of claims 11-14, wherein the means (112) fordetecting appearing oncoming vehicles (2) approaching said road section(RS) comprises means (112d) for detecting the speed (v2) of an oncomingvehicle (2).

16. A system according to any of claims 11-15, wherein the means (110) fordetermining the criteria for allowing a vehicle to pass said road section (RS)comprises means (114) for detecting the distance (D1) to said road section(RS) for said vehicle (1) to be manoeuvred.

17. A system according to any of claims 11-16, wherein the means (110) fordetermining the criteria for allowing a vehicle to pass said road section (RS)comprises means (116) for determining the extension (L) of said road section(RS).

18. A system according to any of claims 11-17, comprising means (120) forpresenting the determined criteria for allowing a vehicle to pass said road section (RS) for the operator of the vehicle.

19. A system according to any of claims 11-18, comprising means (130) forcontrolling the manoeuvring of said vehicle (11) based upon said determined criteria for allowing a vehicle to pass said road section (RS).

20. A system according to any of claims 11-19, comprising means (140) fordetermining current distribution and situation of passengers wherein saidallowing of passage is configured to be performed based on the determinedcurrent distribution and current situation of passengers comprising adaptingthe control of the manoeuvring in accordance with the determined current distribution and determined current situation of passengers.

21 _ A vehicle (1) comprising a system (l) according to any of claims 11-20.

22. A computer program (P) for facilitating the manoeuvring of a vehicle (1)on a road, said road comprising a road section only allowing passage in onedirection at a time of a vehicle, said computer program (P) comprisingprogram code which, when run on an electronic control unit (100) or anothercomputer (500) connected to the electronic control unit (100), causes theelectronic control unit to perform the steps according to claim 1-10.

23. A computer program product comprising a digital storage medium storing the computer program according to claim 22.