SE1651251A1 - Method and system for facilitating safety for vulnerable road users in association with a vehicle - Google Patents

Method and system for facilitating safety for vulnerable road users in association with a vehicle

Info

Publication number
SE1651251A1
SE1651251A1 SE1651251A SE1651251A SE1651251A1 SE 1651251 A1 SE1651251 A1 SE 1651251A1 SE 1651251 A SE1651251 A SE 1651251A SE 1651251 A SE1651251 A SE 1651251A SE 1651251 A1 SE1651251 A1 SE 1651251A1
Authority
SE
Sweden
Prior art keywords
vehicle
connection
zones
vulnerable road
road users
Prior art date
Application number
SE1651251A
Other versions
SE541746C2 (en
Inventor
Hesse Johan
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1651251A priority Critical patent/SE541746C2/en
Priority to DE102017008612.5A priority patent/DE102017008612A1/en
Publication of SE1651251A1 publication Critical patent/SE1651251A1/en
Publication of SE541746C2 publication Critical patent/SE541746C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/24—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
    • B60Q1/247—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead for illuminating the close surroundings of the vehicle, e.g. to facilitate entry or exit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/32—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating vehicle sides, e.g. clearance lights
    • B60Q1/323—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating vehicle sides, e.g. clearance lights on or for doors
    • B60Q1/324—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating vehicle sides, e.g. clearance lights on or for doors for signalling that a door is open or intended to be opened
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G08G1/133—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2900/00—Features of lamps not covered by other groups in B60Q
    • B60Q2900/30—Lamps commanded by wireless transmissions

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a method for facilitating safety for vulnerable road users (VRU) in association with a vehicle (1). The method comprises the step of: generating at least one projection by illumination of at least part of an area in connection to the vehicle configured to define one or more zones (Z1 , Z1a, Z1b, Z1c, Z2a, Z2b, Z2c, Z3) on said at least part of an area in connection to the vehicle, said one or more zones being associated with a recommended behaviour for vulnerable road users. The method further comprises the steps of: determining whether one or more vulnerable road users (VRU) are appearing in said one or more zones; and, if one or more vulnerable road users are present in said one or more zones, controlling functions of said vehicle leading to vehicle behaviour possibly affecting said vulnerable road users (VRU) based upon the thus determined presence of vulnerable road user in said one or more zones.The present invention also relates to a system for facilitating safety for vulnerable road users in association with a vehicle. The present invention also relates to a vehicle. The present invention also relates to a computer program and a computer program product.

Description

|\/IETHOD AND SYSTEM FOR FACILITATING SAFETY FOR VULNERABLEROAD USERS IN ASSOCIATION WITH A VEHICLE TECHNICAL FIELD The invention relates to a method for facilitating safety for vulnerable roadusers in association with a vehicle according to the preamble of claim 1. Theinvention relates to a system for facilitating safety for vulnerable road users inassociation with a vehicle. The invention also relates to a vehicle. Theinvention in addition relates to a computer program and a computer program product.
BACKG ROUND ART Vulnerable road users being present in connection to vehicles such as trucksand buses may be subjected to risks depending on behaviour of thevulnerable road users and the situation comprising the type of vehicle. Atypical example is persons entering/exiting a bus where both the bus andexternal vehicles/road users such a cyclists may pose a safety concern.
WO15149813 discloses a warning system for a vehicle facilitating safety forvulnerable road users in association to the vehicle. The method comprisesone or more lights arranged on one or more positions of the vehicle forilluminating at least part of an area along the side, front and/or back of thevehicle configured to define one or more zones on said at least part of anarea. Said one or more zones are associated with a recommended behaviourfor vulnerable road users. Hereby vulnerable road users receive a visiblewarning wherein the risk of accidents/incidents may be reduced.
There is however a need to further facilitate safety for vulnerable road users in association with a vehicle.
OBJECTS OF THE INVENTION An object of the present invention is to provide a method for facilitating safetyfor vulnerable road users in association with a vehicle which reduces the riskof accidents/incidents involving said vulnerable road user in connection to said vehicle.
Another object of the present invention is to provide a system for facilitatingsafety for vulnerable road users in association with a vehicle which reducesthe risk of accidents/incidents involving said vulnerable road user inconnection to said vehicle.
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 on the appended independent claims.Preferred embodiments of the method and the system are defined in appended dependent claims.
Specifically an object of the invention is achieved by a method for facilitatingsafety for vulnerable road users in association with a vehicle. The methodcomprises the step of: generating at least one projection by illumination of atleast part of an area in connection to the vehicle configured to define one ormore zones on said at least part of an area in connection to the vehicle, saidone or more zones being associated with a recommended behaviour forvulnerable road users. The method further comprises the steps of:determining whether one or more vulnerable road users are appearing in saidone or more zones; and, if one or more vulnerable road users are present insaid one or more zones, controlling functions of said vehicle leading tovehicle behaviour possibly affecting said vulnerable road users based upon the thus determined presence of vulnerable road user in said one or more ZOHGS.
The step of generating at least one projection by illumination of at least partof an area in connection to the vehicle configured to define one or morezones on said at least part of an area in connection to the vehicle, said oneor more zones being associated with a recommended behaviour forvulnerable road users may comprise using any suitable means for suchgeneration. Said means for generating at least one projection by illuminationof at least part of an area in connection to the vehicle may comprise one ormore light sources for said projection by illumination, e.g. light emitting diodes.
The method comprises according to an embodiment the step of generating atleast one projection by illumination of at least part of an area in connection tothe vehicle for providing projected illuminated information for said vulnerable road users.
The step of generating at least one projection by illumination of at least partof an area in connection to the vehicle for providing projected illuminatedinformation for said vulnerable road users comprises according to anembodiment text information. Said text information may comprise informationabout e.g. bus number, destination, arrival, departure, time table etc. Said text information may comprise information warnings.
The step of generating at least one projection by illumination of at least partof an area in connection to the vehicle for providing projected illuminatedinformation for vulnerable road users may comprise projected illuminatedarrows, e.g. where entrance is in connection to one door and exit isconnection to other doors said arrows may indicate entrance and exits on the ground and inside the vehicle, e.g. a bus.
The step of generating at least one projection by illumination of at least partof an area in connection to the vehicle for providing projected illuminated information for vulnerable road users may comprise projected illuminatedinformation where to provide a que for vulnerable road users, i.e.passengers, waiting for a passenger vehicle such as a bus. According to anembodiment such a projected illuminated information about where to providea que may be adaptable based upon information of the surroundings. Forexample the projected i||umination for que recommendation may be adapteddue to an incoming bicyc|ist by e.g. providing a gap in the suggested que orredirecting the suggested que.
The step of: generating at least one projection by i||umination of at least partof an area in connection to the vehicle may comprise providingflashes/blinking projections in order to highlight the zone so as to further increase attention of vulnerable road users.
The step of: generating at least one projection by i||umination of at least partof an area in connection to the vehicle may comprise providing differentcolours of projected lights which may have different meaning, e.g. differentlevels of warning for the vulnerable road users. Thus, said defined zones may have different colours.
Said defined one or more zones on said at least part of an area in connectionto the vehicle may comprise one or more zones on at least part of an area onthe ground on one side of the vehicle and/or the opposite side of the vehicle.Said one or more zones on at least part of an area on one side of the vehicleand/or the opposite side of the vehicle may comprise one or more zones in connection to entrances, i.e. side doors of the vehicle.
Said defined one or more zones on said at least part of an area in connectionto the vehicle may comprise one or more zones on at least part of an area on the ground in front of the vehicle.
Said defined one or more zones on said at least part of an area in connectionto the vehicle may comprise one or more zones on at least part of an area on the ground in connection to the back of the vehicle. Said one or more zones on at least part of an area on the back of the vehicle may comprise a zone arranged in connection to the exhaust pipe of the vehicle.
Said defined one or more zones on said at least part of an area in connectionto the vehicle may comprise one or more internal zones on at least part of anarea inside the vehicle. Said one or more internal zones on at least part of anarea inside the vehicle may comprise one or more zones in connection to exits, i.e. side doors of the vehicle.
Said defined one or more zones on said at least part of an area in connectionto the vehicle may comprise one or more zones under the vehicle and/orabove the vehicle e.g. to indicate an electric vehicle or hybrid vehicle being charged.
The step of determining whether one or more vulnerable road users areappearing in said one or more zones may comprise the step of detectingvulnerable road users by means of detection means carried by the vehicleand/or detection means arranged in connection to infrastructure of a stopalong the route of the vehicle.
The step of determining whether one or more vulnerable road users areappearing in said one or more zones may comprise the step of detectingdirection of movement of said vulnerable road users relative to the vehicle and relative to said one or more zones.
The step of determining whether one or more vulnerable road users areappearing in said one or more zones may comprise the step of determiningthe position of said vulnerable road users relative to said vehicle and relative to said one or more zones.
The step of determining whether one or more vulnerable road users areappearing in said one or more zones may comprise the step of determiningvulnerable road user characteristics. Vulnerable road user characteristicsmay comprise kind of pedestrian comprising age, movement etc., distribution of a passenger/potential passenger of said vehicle comprising whether apassenger is standing up, an animal such as a dog, a person in a wheelchair, a baby carriage, or the like.
According to an embodiment the method comprises the step of determiningthe status of said functions leading to vehicle behaviour possibly affecting said vulnerable road users.
The step of controlling functions of said vehicle leading to vehicle behaviourpossibly affecting said vulnerable road users based upon the thusdetermined presence of vulnerable road user in said one or more zones maycomprise controlling one or more functions depending on the status of said functions in relation presence of vulnerable road users in said zones.
Said functions may comprise any function of said vehicle leading to vehiclebehaviour possibly affecting said vulnerable road users. Said function maycomprise functions relating to vehicle doors which may affect vulnerable roadusers external to the vehicle in connection to vehicle doors and/or inside thevehicle in connection to vehicle doors. Said function may comprise a levelregulating function of a level regulating configuration for adapting the level ofthe vehicle such as a kneeling function on e.g. a bus. Said function maycomprise a function for controlling any unit of a vehicle which may becontrolled such that it may affect vulnerable road users in connection to thevehicle such as a crane on a crane vehicle, any loading/unloading device ona vehicle comprising e.g. loading/unloading device on a garbage truck. Saidfunction may comprise functions relating to a charging operation of anelectric vehicle or a hybrid vehicle. Said function may comprise functionsrelating to prevention of the vehicle leaving the stop if one or more vulnerableroad users are present in said one or more of said defined zones. Preventionof the vehicle leaving may comprise brake functions, engine functions forsaid prevention, blockage of gas pedal, deactivation of gear shift function orthe like for preventing the vehicle to leave the stop.
According to an embodiment the method comprises the step of informing thedriver of the vehicle and/or vulnerable road users and/or the surroundings ingeneral of an activation of a function for controlling vehicle behaviour due to presence of vulnerable road user in said one or more zones.
According to an embodiment the method comprises the step of providingpossibility to override such an activation of a function for controlling vehiclebehaviour due to presence of vulnerable road user in said one or more ZOHGS.
By thus controlling functions of said vehicle leading to vehicle behaviourpossibly affecting said vulnerable road users based upon the thusdetermined presence of vulnerable road user in said one or more zones ifone or more vulnerable road users are present in said one or more zonesfurther reduces the risk of accidents/incidents involving said vulnerable roaduser in connection to said vehicle. Thus, safety is hereby improved.
According to an embodiment the method comprises the step of: activatingsaid generation of said least one projection by illumination of at least part ofan area in connection to the vehicle in connection to said vehicle appearingat a regular stop along the route of said vehicle.
Thus, for example, if the vehicle is a bus, the generation of projection byillumination is activated when the bus has arrived at the bus stop.
According to an embodiment the method comprises the step of determiningarrival of said vehicle at said regular stop. The step of determining arrival ofsaid vehicle at said regular stop may comprise using any suitable detectorunit/units carried by the vehicle and/or arranged in connection to theinfrastructure of the regular stop and/or any suitable positioning means fordetermining the position of the vehicle comprising any suitable GlobalNavigation Satellite System, GNSS, e.g. a global positioning system, GPS,and map data comprising information about such stops.
By thus activating said generation in connection to said vehicle appearing ata regular stop along the route of said vehicle said defined zone/zones areonly activated when required. Vulnerable road users may enter, i.e. will notreceive any warning/indication of not to enter, areas where zones will appearwhen there is no vehicle at such a stop. Zones may appear as a warning ofan incoming vehicle intending to stop, such zones according to anembodiment being created by illumination means arranged at said zoneswhen vehicle approach is determined, e.g. via vehicle-to-infrastructurecommunication arrangement between stop site and approaching vehicle.
The method may comprise, in addition to said defined zones for warning saidvulnerable road users, the step of providing sound warnings and/or tactilewarning. Said sound warnings and/or tactile warnings are according to anembodiment arranged to be activated if a vulnerable road users enters one ormore of said defined zones.
According to an embodiment of the method the step of generating at leastone projection by illumination of at least part of an area in connection to thevehicle is performed by illumination means carried by said vehicle.
Hereby zones may always be activated in connection to the vehicleappearing at a stop, independent of lack of infrastructure with means forproviding zones. Hereby illumination at desired positions is facilitated. Herebyillumination internally, i.e. inside the vehicle such as in connection to exits, is facilitated.
According to an embodiment of the method the step of generating at leastone projection by illumination of at least part of an area in connection to thevehicle is performed by illumination means arranged in connection to aregular stop along the route of said vehicle. Hereby no extra equipment forillumination on the vehicle such as bus or at least less such equipment on thevehicle is required as the infrastructure itself has the ability to provide said zones or at least some of said zones.
According to an embodiment the method comprises the steps of: detectingsaid vehicle in connection to said regular stop; and activating said generationof said least one projection by illumination of at least part of an area inconnection to the vehicle. Hereby said defined zone/zones are only activatedwhen required. Vulnerable road users may enter, i.e. will not receive anywarning/indication of not to enter, areas where zones will appear when there is no vehicle at such a stop.
According to an embodiment of the method said one or more zones on saidat least part of an area in connection to the vehicle comprises one or morezones on board said vehicle and/or one or more zones external to thevehicle, and wherein the step of determining whether one or more vulnerableroad users are appearing in said one or more zones comprises the step ofdetermining vulnerable road user characteristics. By thus determining vehiclecharacteristics control of said functions of said vehicle leading to vehiclebehaviour possibly affecting said vulnerable road users in that thecharacteristics of an appearing vulnerable road user may affect the control ofsuch functions.
Specifically an object of the invention is achieved by a system for facilitatingsafety for vulnerable road users in association with a vehicle. The systemcomprises means for generating at least one projection by illumination of atleast part of an area in connection to the vehicle configured to define one ormore zones on said at least part of an area in connection to the vehicle, saidone or more zones being associated with a recommended behaviour forvulnerable road users. The system further comprises means for determiningwhether one or more vulnerable road users are appearing in said one ormore zones; and means for controlling functions of said vehicle leading tovehicle behaviour possibly affecting said vulnerable road users based uponthe thus determined presence of vulnerable road user in said one or morezones if one or more vulnerable road users are present in said one or more ZOHGS.
According to an embodiment the system comprises means for activating saidgeneration of said least one projection by illumination of at least part of anarea in connection to the vehicle in connection to said vehicle appearing at aregular stop along the route of said vehicle.
According to an embodiment of the system the means for generating at leastone projection by illumination of at least part of an area in connection to the vehicle comprises illumination means carried by said vehicle.
According to an embodiment of the system the means for generating at leastone projection by illumination of at least part of an area in connection to thevehicle comprises illumination means arranged in connection to a regular stop along the route of said vehicle.
According to an embodiment the system comprises means for detecting saidvehicle in connection to said regular stop; and means for activating saidgeneration of said least one projection by illumination of at least part of anarea in connection to the vehicle.
According to an embodiment of the system said one or more zones on saidat least part of an area in connection to the vehicle comprises one or morezones on board said vehicle and/or one or more zones external to thevehicle, and wherein the means for determining whether one or morevulnerable road users are appearing in said one or more zones comprises means for determining vulnerable road user characteristics.
The system for facilitating safety for vulnerable road users in association with a vehicle is adapted to perform the methods as set out herein.
The system according to the invention has the advantages according to thecorresponding methods as set out herein.
Specifically an object of the invention is achieved by a vehicle comprising asystem as set out herein. 11 Specifically an object of the invention is achieved by a computer program forfacilitating safety for vulnerable road users in association with a vehicle, saidcomputer program comprising program code which, when run on anelectronic control unit or another computer connected to the electronic control unit, causes the electronic control unit to perform methods as set out herein.
Specifically an object of the invention is achieved by a computer programproduct comprising a digital storage medium storing the computer program.
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 a side view of a vehicle according to the present invention; Fig. 2 schematically illustrates a plan view of the vehicle in fig. 1 positioned ata stop along the route of said vehicle according to an embodiment of the present invention; Fig. 3 schematically illustrates a system for facilitating safety for vulnerableroad users in association with a vehicle according to an embodiment of the present invention; Fig. 4 schematically illustrates a block diagram of a method for facilitatingsafety for vulnerable road users in association with 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. 12 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.
Hereinafter the term “vulnerable road user” refers to any road user inassociation with a vehicle and may be subject to any kind of accident orincident in connection to said vehicle such as a pedestrian, apassenger/potential passenger of said vehicle, an animal such as a dog, aperson in a wheel chair, a baby carriage, or the like. The term “vulnerable road user” also refers to a vulnerable road user object.
Hereinafter the term “vulnerable road user characteristics” refers to anycharacteristics of road user in association with a vehicle and may be subjectto any kind of accident or incident in connection to said vehicle such as kindetc., distribution of a of pedestrian comprising age, movement passenger/potential passenger of said vehicle comprising whether apassenger is standing up, an animal such as a dog, a person in a wheel chair, a baby carriage, or the like.
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 1 according to the present invention could be anysuitable vehicle such as a truck or a car. The vehicle may comprise or becomprised in a system l for facilitating safety for vulnerable road users inassociation with a vehicle according to the present invention.
The vehicle 1 in the shape of a bus 1 has a front end 1a and a rear end 1b. ltalso has an underside 1c facing towards the road R. The bus 1 has a busbody configuration 1e. The bus body configuration 1e comprises a bus body 13 and a chassis comprising a vehicle frame for supporting the bus body. Thebus 1 in this embodiment has a forward wheeled axle X1 and a powered rearwheeled axle X2. The vehicle according to the present invention may haveany suitable number of axles.
The bus 1 has a forward door device 2a, an intermediate door device 2b anda rear door device 2c which are intended for boarding and alighting, i.e.entering and exiting the bus.
The bus 1 is provided with a vehicle level regulating configuration foradapting the level of the bus body configuration 1e, i.e. for raising andlowering the bus body configuration so that the distance between the underside 1c of the bus 1 and the carriageway/road R is adapted.
The vehicle level regulating configuration for adapting the level of the busbody configuration may be any suitable level regulating configuration. Thevehicle level regulating configuration for adapting the level of the bus bodyconfiguration 1e is according to an embodiment an air suspension systemcomprising undepicted bellows units situated close to the respective axles toraise and lower the bus body configuration of the bus by regulation of air inthe bellows unit so that the distance between the underside 1c of the bus 1and the carriageway R is adapted, e.g. to facilitate boarding and alighting atthe forward, rear and/or intermediate door devices. By said raising andlowering, the bus body configuration 1e of the bus 1 is raised/lowered relativeto the axles X1 , X2.
Said doors 2a, 2b, 2c and said level regulating configuration for adapting thelevel of the bus body configuration constitute vehicle function that arecontrollable and when controlled may lead to vehicle behaviour possiblyaffecting vulnerable road users such as passengers/possible passengers present in connection to the bus. 14 Fig. 2 schematically illustrates a plan view of the vehicle 1 in fig. 1 positionedat a stop H along the route R of said vehicle according to an embodiment of the present invention.
Fig. 2 thus schematically illustrates a scenario involving a passengertransport vehicle 1 for passenger transport along a predetermined route Fi.The vehicle 1 is in this example a bus 1. The vehicle 1, i.e. the bus, hasstopped at a stop H/ stop site H for passenger transport vehicles, i.e. a busstop site H, for allowing passengers to enter and leave the bus. The bus stopsite comprises a bus shelter H1 for passengers, the bus shelter being part ofthe infrastructure in connection to the stop H. A road F¶1 for bicyclists andpedestrians is crossing said stop site H running along the road R. lf thevehicle 1 was an airport bus the reference sign H1 could represent e.g. amobile airport ramp.
The bus 1 has passenger exits and entrances 2a, 2b, 2c in the form of a frontdoor 2a, intermediate doors 2b and a back door 2c for passengers to enterand leave the bus 1. The bus 1 has an after treatment system comprising anexhaust pipe EP arranged at the backside 1b of the bus 1. ln order to facilitate safety for vulnerable road users in association with thevehicle 1 an embodiment of a system or part of a system for facilitating safetyfor vulnerable road users is illustrated in fig. 2.
Such a system has an electronic control unit 100 arranged in the vehicle.According to this embodiment there is also an electronic control unit 200arranged in the infrastructure of the stop H, here in connection to the busshelter H1.
Such a system comprises according to this embodiment illumination means112 carried by said vehicle 1 and illumination means 114 arranged inconnection to said regular stop H for generating at least one projection byillumination of at least part of an area in connection to the vehicle 1configured to define one or more zones Z1, Z1 a, Z1 b, Z1c, Z2a, Z2b, Z2c, Z3 on said at least part of an area in connection to the vehicle, said one or morezones being associated with a recommended behaviour for vulnerable roadusers. The means 112 and/or the means 114 may thus be used for saidgeneration of projection by i||umination for defining said zones.
Said defined one or more zones Z1, Z1a, Z1b, Z1c, Z2a, Z2b, Z2c, Z3 onsaid at least part of an area in connection to the bus 1 zones Z1, Z1a, Z1b,Z1 c on an area on the ground on the entrance side of the vehicle 1. Said oneor more zones Z1, Z1a, Z1b, Z1c comprise a zone Z1, Z1a, Z1b inconnection to each entrance, and a zone Z1 covering an area on the groundon said entrance side extending along the hole side of the bus 1 and beyond and extending outwardly beyond said road for bicyclists and pedestrians.
Said defined one or more zones Z1, Z1a, Z1b, Z1c, Z2a, Z2b, Z2c, Z3 onsaid at least part of an area in connection to the vehicle comprises a zone Z3arranged in connection to the exhaust pipe EP of the bus 1.
Said defined one or more zones Z1, Z1a, Z1b, Z1c, Z2a, Z2b, Z2c, Z3 onsaid at least part of an area in connection to the vehicle 1 comprises zonesZ2a, Z2b, Z2c in connection to each exit, i.e. side doors 2a, 2b, 2c of the bus1. ln fig. 2 vulnerable road users VRU are present in zones Z1, Z1 a and Z2b.
Such a system comprises according to this embodiment detection means122 carried by said vehicle 1 and means 124 arranged in connection to aregular stop along the route of said vehicle for determining whether one ormore vulnerable road users are appearing in said one or more zones. Themeans 122 and/or the means 124 may thus be used for determining, i.e.detecting, whether one or more vulnerable road users are appearing in said One OI' ITIOFG ZOHGS.
Such a system comprises means 140 for controlling functions of said vehicle1 leading to vehicle behaviour possibly affecting said vulnerable road users 16 based upon the thus determined presence of vulnerable road user in saidone or more zones if one or more vulnerable road users are present in saidone or more zones. Said means 140 is according to this embodimentarranged in the vehicle 1.
Said doors 2a, 2b, 2c, level regulating configuration for adapting the level ofthe bus, e.g. kneeling, and the exhaust pipe EP/ after treatment systemconstitute vehicle functions that are controllable and when controlled maylead to vehicle behaviour possibly affecting vulnerable road users VRU suchas passengers/possible passengers present in connection to the bus.
Thus, control of such functions may be adapted due to the presence ofvulnerable road users based on the status of the function. For example adoor may be prevented from being opened if a vulnerable road user risksbeing injured by the door. A kneeling operation may be prevented as long asthere is a risk that a vulnerable road user may be hurt.
Such a system comprises means 134 for detecting said vehicle in connectionto said regular stop H which according to this embodiment is arranged inconnection to the infrastructure of the stop H, here the bus shelter H1, andoperably connected to the electronic control unit 200. The means 114 andmeans 124 are also operably connected to the electronic control unit 200.When it has been detected that the bus 1 has appeared/ is appearing at thestop H activation of said generation of said least one projection byillumination of at least part of an area in connection to the bus 1 and thus definition of said zones is initiated.
The vehicle comprises according to an embodiment means for establishingcontact with infrastructure in connection to such regular stops within avehicle-to-infrastructure communication arrangement for extractinginformation about vulnerable road users VRU in connection to the stop and possible other information and for sending information such as information 17 about activation of illumination means 114 arranged in connection to the regular stop H along the route R of said vehicle 1.
The means for establishing contact with infrastructure in connection to suchregular stops within a vehicle-to-infrastructure communication arrangement is according to an embodiment comprised in said electronic control unit 100.
The electronic control unit 100 is signal connected to the electronic controlunit 200 via links and are arranged to send and receive a signals therebetween, said electronic control units 100, 200 being part of said vehicle-to- infrastructure communication arrangement.
Fig. 3 schematically illustrates a system I for facilitating safety for vulnerableroad users in association with a vehicle according to an embodiment of the present invention.
The system I comprises an electronic control unit 100 configured to be arranged in said vehicle.
The system I comprises according to an embodiment an electronic controlunit 200 configured to be arranged in connection to a stop along the route ofsaid vehicle. The system may comprise electronic control units at any stopalong the route of the vehicle. The electronic control unit 200 is configured to be external to said vehicle.
The system I comprises means 110 for generating at least one projection byillumination of at least part of an area in connection to the vehicle configuredto define one or more zones on said at least part of an area in connection tothe vehicle, said one or more zones being associated with a recommended behaviour for vulnerable road users.
Said defined one or more zones on said at least part of an area in connectionto the vehicle may comprise one or more zones on at least part of an area onthe ground on one side of the vehicle and/or the opposite side of the vehicle.Said one or more zones on at least part of an area on one side of the vehicle 18 and/or the opposite side of the vehicle may comprise one or more zones inconnection to entrances, i.e. side doors of the vehicle. A bus for regular trafficin e.g. a city normally has entrances/exits on only one side of the bus,whereas e.g. an airport bus generally has entrances/exits on both sides ofthe bus.
Said defined one or more zones on said at least part of an area in connectionto the vehicle may comprise one or more zones on at least part of an area on the ground in front of the vehicle.
Said defined one or more zones on said at least part of an area in connectionto the vehicle may comprise one or more zones on at least part of an area onthe ground in connection to the back of the vehicle. Said one or more zoneson at least part of an area on the back of the vehicle may comprise a zonearranged in connection to the exhaust pipe of the vehicle.
Said defined one or more zones on said at least part of an area in connectionto the vehicle may comprise one or more internal zones on at least part of anarea inside the vehicle. Said one or more internal zones on at least part of anarea inside the vehicle may comprise one or more zones in connection to exits, i.e. side doors of the vehicle.
Thus, according to an embodiment of the system I said one or more zoneson said at least part of an area in connection to the vehicle comprises one ormore zones on board said vehicle and/or one or more zones external to the vehicle.
Said means 110 for generating at least one projection by illumination of atleast part of an area in connection to the vehicle may comprise any suitableprojection means comprising one or more light sources for said projection byillumination. According to an embodiment said means 110 for generating atleast one projection by illumination of at least part of an area in connection tothe vehicle comprises light emitting diodes (LED), which may comprise a setof LEDs. Thus said one or more light sources may comprise a set of LEDs. 19 According to an embodiment of the system the means 110 for generating atleast one projection by illumination of at least part of an area in connection tothe vehicle comprises illumination means 112 carried by said vehicle. Saidillumination means 112 carried by said vehicle is carried by the vehicle in anysuitable way and thus mounted to the vehicle, incorporated in said vehicle, and/or integrated in said vehicle in any suitable way.
Said illumination means 112 carried by said vehicle may comprise one ormore light sources arranged in connection to one side of the vehicle and/orthe opposite side of the vehicle for external illumination of at least part of anarea on said one side and/or opposite side of the vehicle defining one ormore zones. Said one or more light sources arranged on one side of thevehicle and/or the opposite side of the vehicle for external illumination of maybe arranged for illuminating one or more zones in connection to entrances, i.e. side doors of the vehicle, defining one or more zones.
Said illumination means 112 carried by said vehicle may comprise one ormore light sources arranged in connection to the front of the vehicle forexternal illumination of at least part of an area on the ground in connection tothe front of the vehicle defining one or more zones on at least part of an area in front of the vehicle.
Said illumination means 112 carried by said vehicle may comprise one ormore light sources arranged in connection to the back of the vehicle forexternal illumination of at least part of an area on the ground in connection tothe back of the vehicle defining one or more zones on at least part of an areaon the ground in connection to the back of the vehicle.
Said illumination means 112 carried by said vehicle may comprise one ormore light sources arranged in connection to the back of the vehicle forexternal illumination of at least part of an area in back of the vehicle definingone or more zones on at least part of an area on the ground in connection to the back of the vehicle.
Said illumination means 112 carried by said vehicle may comprise one ormore light sources arranged inside the vehicle for internal illumination of atleast part of an area defining one or more internal zones comprising e.g. one or more internal zones in connection to exits, i.e. side doors of the vehicle.
According to an embodiment of the system I the means 110 for generating atleast one projection by illumination of at least part of an area in connection tothe vehicle comprises illumination means 114 arranged in connection to a regular stop along the route of said vehicle.
Said illumination means 114 arranged in connection to a regular stop alongthe route of said vehicle may be arranged in any suitable way to anyinfrastructure in connection to said regular stop such as a bus shelter, a stopsign, a building or the like and thus mounted to such infrastructure,incorporated in such infrastructure, and/or integrated in such infrastructure in any suitable way.
Said illumination means 114 arranged in connection to a regular stop alongthe route of said vehicle may comprise one or more light sources arranged inconnection to such infrastructure so as to facilitate illuminating at least part ofan area in connection to a vehicle at said stop defining one or more zones on at least part of an area on the ground in connection to said vehicle.
The system l further comprises means 120 for determining whether one or more vulnerable road users are appearing in said one or more zones.
Said means 120 for determining whether one or more vulnerable road usersare appearing in said one or more zones comprises detection means 122carried by said vehicle for detecting vulnerable road users in said one or ITIOFG ZOnGS.
The detection means 122 comprises according to an embodiment one or more camera units. The detection means 122 comprises according to an 21 embodiment one or more laser scanner sensor units. The detection means 122 comprises according to an embodiment one or more sonar sensor units.
The detection means 122 comprises means 122a for detecting direction ofmovement of said vulnerable road users relative to the vehicle and relative tosaid one or more zones. The means 122a for detecting direction ofmovement of said vulnerable road users may comprise any suitable detectionmeans. The means 122a for detecting direction of movement of thevulnerable road users comprises according to an embodiment one or more camera units.
The detection means 122 comprises means 122b for determining the positionof said vulnerable road users relative to said vehicle and relative to said oneor more zones. The means 122b for determining the position of saidvulnerable road users may comprise any suitable detection means such as one or more camera units and/or one or more sonar sensor units.
The detection means 122 comprises means 122c for determining vulnerableroad user characteristics. The means 122c for determining vulnerable roaduser characteristics comprises any suitable detection means such as one or more camera units.
Said means 120 for determining whether one or more vulnerable road usersare appearing in said one or more zones may be connected to, comprised in,comprise, arranged to be controlled by or arranged to control said means 110for generating at least one projection by illumination of at least part of an areain connection to the vehicle configured to define one or more zones on saidat least part of an area in connection to the vehicle so as to facilitate determining possible vulnerable road users in said one or more zones.
Said means 120 for determining whether one or more vulnerable road users are appearing in said one or more zones comprises detection means 124 22 arranged in connection to a regular stop along the route of said vehicle for detecting vulnerable road users in said one or more zones.
The detection means 124 comprises according to an embodiment one ormore camera units. The detection means 124 comprises according to anembodiment one or more laser scanner sensor units. The detection means 124 comprises according to an embodiment one or more sonar sensor units.
The detection means 124 comprises means 124a for detecting direction ofmovement of said vulnerable road users relative to the vehicle and relative tosaid one or more zones. The means 124a for detecting direction ofmovement of said vulnerable road users may comprise any suitable detectionmeans. The means 124a for detecting direction of movement of thevulnerable road users comprises according to an embodiment one or more camera units.
The detection means 124 comprises means 124b for determining the positionof said vulnerable road users relative to said vehicle and relative to said oneor more zones. The means 124b for determining the position of saidvulnerable road users may comprise any suitable detection means such as one or more camera units and/or one or more sonar sensor units.
The detection means 124 comprises means 124c for determining vulnerableroad user characteristics. The means 124c for determining vulnerable roaduser characteristics comprises any suitable detection means such as one or more camera units.
Vulnerable road user characteristics may comprise kind of pedestriancomprising age, movement etc., distribution of a passenger/potentialpassenger of said vehicle comprising whether a passenger is standing up, an animal such as a dog, a person in a wheel chair, a baby carriage, or the like 23 Thus, the means 120 for determining whether one or more vulnerable roadusers are appearing in said one or more zones comprises means 124c for determining vulnerable road user Characteristics.
According to an embodiment the system comprises means 130 for activatingsaid generation of said least one projection by illumination of at least part ofan area in connection to the vehicle in connection to said vehicle appearingat a regular stop along the route of said vehicle.
Said means 130 for activating said generation of said least one projection byillumination of at least part of an area in connection to the vehicle inconnection to said vehicle appearing at a regular stop along the route of saidvehicle comprises means 132 carried by said vehicle for determining arrivalof said vehicle at said regular stop.
Said means 132 for determining arrival of said vehicle at said regular stopmay comprise any suitable detector unit carried by said vehicle for detecting said regular stop.
Said means 132 for determining arrival of said vehicle at said regular stopmay comprise any suitable positioning means for determining the position ofthe vehicle comprising any suitable Global Navigation Satellite System,GNSS, e.g. a global positioning system, GPS, and map data comprisinginformation about such stops.
Said means 130 for activating said generation of said least one projection byillumination of at least part of an area in connection to the vehicle inconnection to said vehicle appearing at a regular stop along the route of saidvehicle comprises means 134 for detecting said vehicle in connection to said regular stop.
The system I thus comprises detection means 134 arranged in connection toa regular stop along the route of said vehicle for detecting said vehicle inconnection to said regular stop. 24 The means 134 for detecting said vehicle in connection to said regular stopcomprises according to an embodiment one or more camera units. Themeans 134 for detecting said vehicle in connection to said regular stopcomprises according to an embodiment one or more laser scanner sensorunits. The means 134 for detecting said vehicle in connection to said regular stop comprises according to an embodiment one or more sonar sensor units.
The system l further comprises means 140 for controlling functions of saidvehicle leading to vehicle behaviour possibly affecting said vulnerable roadusers based upon the thus determined presence of vulnerable road user insaid one or more zones if one or more vulnerable road users are present in said one or more zones.
Said functions may comprise any function of said vehicle leading to vehiclebehaviour possibly affecting said vulnerable road users. Said function maycomprise functions relating to vehicle doors which may affect vulnerable roadusers external to the vehicle in connection to vehicle doors and/or inside thevehicle in connection to vehicle doors. Said function may comprise a levelregulating function of a level regulating configuration for adapting the level ofthe vehicle such as a kneeling function on e.g. a bus. Said function maycomprise a function for controlling any unit of a vehicle which may becontrolled such that it may affect vulnerable road users in connection to thevehicle such as a crane on a crane vehicle, any loading/unloading device ona vehicle comprising e.g. loading/unloading device on a garbage truck.
Said means 140 for controlling functions of said vehicle leading to vehiclebehaviour possibly affecting said vulnerable road users comprises means142 for determining the status of one or more of said functions leading tovehicle behaviour possibly affecting said vulnerable road users.
The vehicle comprises according to an embodiment means for establishingcontact with infrastructure in connection to such regular stops within a vehicle-to-infrastructure communication arrangement for extracting information about vulnerable road users in connection to the stop andpossible other information and for sending information such as informationabout activation of i||umination means 114 arranged in connection to a regular stop along the route of said vehicle.
The means for establishing contact with infrastructure in connection to suchregular stops within a vehicle-to-infrastructure communication arrangement is according to an embodiment comprised in said electronic control unit 100.
According to an embodiment the electronic control unit 100 is signalconnected to the electronic control unit 200 via a link 100a. The electroniccontrol unit 100 is via the link 100a arranged to receive a signal from saidelectronic control unit 200 representing data for vulnerable road users in said One OI' ITIOFG ZOHGS.
According to an embodiment the electronic control unit 100 is signalconnected to the electronic control unit 200 via a link 100b. The electroniccontrol unit 100 is via the link 100b arranged to send a signal to saidelectronic control unit 200 representing data for activation of said i||uminationmeans for i||umination of at least part of an area in connection to the vehicledefining one or more zones on said at least part of an area in connection to the vehicle.
By thus connecting the electronic control units 100, 200 the vehicle and infrastructure may efficiently share and process relevant information.
The electronic control unit 100 is signal connected to the i||umination means112 carried by said vehicle for generating at least one projection byi||umination of at least part of an area in connection to the vehicle via a link12a. The electronic control unit 100 is via the link 12a arranged to send asignal to said means 112 representing data for activation of said i||uminationmeans for i||umination of at least part of an area in connection to the vehicledefining one or more zones on said at least part of an area in connection to the vehicle. The signal from said means 112 may comprise data for which 26 light sources to be activated for illumination and/or which areas to be illuminated/which zones to be defined.
The electronic control unit 100 is signal connected to the illumination means112 carried by said vehicle for generating at least one projection byillumination of at least part of an area in connection to the vehicle via a link12b. The electronic control unit 100 is via the link 12b arranged to receive asignal from said means 112 representing data for activation of said illumination means.
The electronic control unit 200 is signal connected to the illumination means114 arranged in connection to a regular stop along the route of said vehiclefor generating at least one projection by illumination of at least part of an areain connection to the vehicle via a link 14a. The electronic control unit 200 isvia the link 14a arranged to send a signal to said means 114 representingdata for activation of said illumination means for illumination of at least part ofan area in connection to the vehicle defining one or more zones on said atleast part of an area in connection to the vehicle. The signal from said means114 may comprise data for which light sources to be activated for illuminationand/or which areas to be illuminated/which zones to be defined.
The electronic control unit 200 is signal connected to the illumination means114 arranged in connection to a regular stop along the route of said vehiclefor generating at least one projection by illumination of at least part of an areain connection to the vehicle via a link 14b. The electronic control unit 200 isvia the link 14b arranged to receive a signal from said means 114 representing data for activation of said illumination means.
The electronic control unit 100 is signal connected to the means 122 carriedby said vehicle for detecting vulnerable road users in said one or more zonesvia a link 22a. The electronic control unit 100 is via the link 22a arranged tosend a signal to said means 122 representing data for defined zones. 27 The electronic control unit 100 is signal connected to the means 122 carriedby said vehicle for detecting vulnerable road users in said one or more zonesvia a link 22b. The electronic control unit 100 is via the link 22b arranged toreceive a signal from said means 122 representing data for vulnerable roadusers in said one or more zones. The data for vulnerable road users in saidone or more zones may comprise data for movement of vulnerable roadusers and/or data for position of vulnerable road users and/or data forvulnerable road user characteristics.
The electronic control unit 200 is signal connected to the means 124arranged in connection to a regular stop along the route of said vehicle fordetecting vulnerable road users in said one or more zones via a link 24a. Theelectronic control unit 200 is via the link 24a arranged to receive a signal fromsaid means 124 representing data for defined zones.
The electronic control unit 200 is signal connected to the means 124arranged in connection to a regular stop along the route of said vehicle fordetecting vulnerable road users in said one or more zones via a link 24b. Theelectronic control unit 200 is via the link 24b arranged to receive a signal fromsaid means 124 representing data for vulnerable road users in said one ormore zones. The data for vulnerable road users in said one or more zonesmay comprise data for movement of vulnerable road users and/or data forposition of vulnerable road users and/or data for vulnerable road usercharacteristics.
The electronic control unit 100 is signal connected to the means 132 carriedby said vehicle for determining arrival of said vehicle at said regular stop viaa link 32. The electronic control unit 100 is via the link 32 arranged to receivea signal from said means 132 representing data for appearance of saidvehicle at said regular stop.
The electronic control unit 100 is signal connected to the means 130 for activating said generation of said least one projection by illumination of at 28 least part of an area in connection to the vehicle in connection to said vehicleappearing at a regular stop along the route of said vehicle via a link 30a. Theelectronic control unit 100 is via the link 30a arranged to send a signal to saidmeans 130 representing data for activation of said least one projection by illumination.
The electronic control unit 100 is signal connected to the means 130 foractivating said generation of said least one projection by illumination of atleast part of an area in connection to the vehicle in connection to said vehicleappearing at a regular stop along the route of said vehicle via a link 30a. Theelectronic control unit 100 is via the link 30a arranged to receive a signal fromsaid means 130 representing data for activation of said least one projection by illumination.
The electronic control unit 200 is signal connected to the means 134arranged in connection to a regular stop along the route of said vehicle fordetecting said vehicle in connection to said regular stop via a link 34. Theelectronic control unit 200 is via the link 34 arranged to receive a signal fromsaid means 134 representing data for appearance of said vehicle at said regular stop.
The electronic control unit 200 is signal connected to the means 130 foractivating said generation of said least one projection by illumination of atleast part of an area in connection to the vehicle in connection to said vehicleappearing at a regular stop along the route of said vehicle via a link 30b. Theelectronic control unit 200 is via the link 30b arranged to send a signal to saidmeans 130 representing data for activation of said least one projection by illumination.
The electronic control unit 200 is signal connected to the means 130 foractivating said generation of said least one projection by illumination of atleast part of an area in connection to the vehicle in connection to said vehicleappearing at a regular stop along the route of said vehicle via a link 30c. The 29 electronic control unit 200 is via the link 30c arranged to receive a signal fromsaid means 130 representing data for activation of said least one projection by illumination.
The electronic control unit 100 is signal connected to the means 142 fordetermining the status of one or more of said functions leading to vehiclebehaviour possibly affecting said vulnerable road users via a link 42. Theelectronic control unit 100 is via the link 42 arranged to receive a signal fromsaid means 142 representing data for status of one or more of said functionsleading to vehicle behaviour possibly affecting said vulnerable road users.
The electronic control unit 100 is signal connected to the means 140 forcontrolling functions of said vehicle leading to vehicle behaviour possiblyaffecting said vulnerable road users based upon the thus determinedpresence of vulnerable road user in said one or more zones if one or morevulnerable road users are present in said one or more zones via a link 40.The electronic control unit 100 is via the link 40 arranged to send a signal tosaid means 140 representing data for controlling functions of said vehicleleading to vehicle behaviour possibly affecting said vulnerable road users.For example said data for controlling functions of said vehicle leading tovehicle behaviour possibly affecting said vulnerable road users may comprisedata for not opening vehicle doors due to vulnerable road users being inzones in connection to doors so that there is a risk of accident or data foropening doors if there are no vulnerable road users in those zones.
Fig. 4 schematically illustrates a block diagram of a method for facilitatingsafety for vulnerable road users in association with a vehicle according to an embodiment of the present invention.
According to the embodiment the method for facilitating safety for vulnerableroad users in association with a vehicle comprises a step S1. ln this step atleast one projection is generated by illumination of at least part of an area inconnection to the vehicle configured to define one or more zones on said at least part of an area in connection to the vehicle, said one or more zones being associated with a recommended behaviour for vulnerable road users.
According to the embodiment the method for facilitating safety for vulnerableroad users in association with a vehicle comprises a step S2. ln this step it isdetermined whether one or more vulnerable road users are appearing in said One OI' ITIOFG ZOHGS.
According to the embodiment the method for facilitating safety for vulnerableroad users in association with a vehicle comprises a step S3. ln this step, ifone or more vulnerable road users are present in said one or more zones,functions of said vehicle leading to vehicle behaviour possibly affecting saidvulnerable road users are controlled based upon the thus determined presence of vulnerable road user in said one or more zones.
The step of generating at least one projection by illumination of at least partof an area in connection to the vehicle configured to define one or morezones on said at least part of an area in connection to the vehicle, said oneor more zones being associated with a recommended behaviour forvulnerable road users may comprise using any suitable means for suchgeneration. Said means for generating at least one projection by illuminationof at least part of an area in connection to the vehicle may comprise one ormore light sources for said projection by illumination, e.g. light emittingdiodes.
The method comprises according to an embodiment the step of generating atleast one projection by illumination of at least part of an area in connection tothe vehicle for providing projected illuminated information for said vulnerable road users.
The step of generating at least one projection by illumination of at least partof an area in connection to the vehicle for providing projected illuminatedinformation for said vulnerable road users comprises according to an embodiment text information. Said text information may comprise information 31 about e.g. bus number, destination, arrival, departure, time table etc. Said text information may comprise information warnings.
The step of generating at least one projection by i||umination of at least partof an area in connection to the vehicle for providing projected illuminatedinformation for vulnerable road users may comprise projected illuminatedarrows, e.g. where entrance is in connection to one door and exit isconnection to other doors said arrows may indicate entrance and exits on theground and inside the vehicle, e.g. a bus.
The step of generating at least one projection by i||umination of at least partof an area in connection to the vehicle for providing projected illuminatedinformation for vulnerable road users may comprise projected illuminatedinformation where to provide a que for vulnerable road users, i.e.passengers, waiting for a passenger vehicle such as a bus. According to anembodiment such a projected illuminated information about where to providea que may be adaptable based upon information of the surroundings. Forexample the projected i||umination for que recommendation may be adapteddue to an incoming bicyclist by e.g. providing a gap in the suggested que orredirecting the suggested que.
The step of determining whether one or more vulnerable road users areappearing in said one or more zones may comprise the step of detectingvulnerable road users by means of detection means carried by the vehicleand/or detection means arranged in connection to infrastructure of a stop along the route of the vehicle.
The step of determining whether one or more vulnerable road users areappearing in said one or more zones may comprise the step of detectingdirection of movement of said vulnerable road users relative to the vehicle and relative to said one or more zones.
The step of determining whether one or more vulnerable road users areappearing in said one or more zones may comprise the step of determining 32 the position of said vulnerable road users relative to said vehicle and relative to said one or more zones.
The step of determining whether one or more vulnerable road users areappearing in said one or more zones may comprise the step of determiningvulnerable road user Characteristics. Vulnerable road user characteristicsmay comprise kind of pedestrian comprising age, movement etc., distributionof a passenger/potential passenger of said vehicle comprising whether apassenger is standing up, an animal such as a dog, a person in a wheelchair, a baby carriage, or the like.
According to an embodiment the method comprises the step of determiningthe status of said functions leading to vehicle behaviour possibly affectingsaid vulnerable road users.
The step of controlling functions of said vehicle leading to vehicle behaviourpossibly affecting said vulnerable road users based upon the thusdetermined presence of vulnerable road user in said one or more zones maycomprise controlling one or more functions depending on the status of said functions in relation presence of vulnerable road users in said zones.
Said functions may comprise any function of said vehicle leading to vehiclebehaviour possibly affecting said vulnerable road users. Said function maycomprise functions relating to vehicle doors which may affect vulnerable roadusers external to the vehicle in connection to vehicle doors and/or inside thevehicle in connection to vehicle doors. Said function may comprise a levelregulating function of a level regulating configuration for adapting the level ofthe vehicle such as a kneeling function on e.g. a bus. Said function maycomprise a function for controlling any unit of a vehicle which may becontrolled such that it may affect vulnerable road users in connection to thevehicle such as a crane on a crane vehicle, any loading/unloading device ona vehicle comprising e.g. loading/unloading device on a garbage truck. Saidfunction may comprise functions relating to a charging operation of an 33 electric vehicle or a hybrid vehicle. Said function may comprise functionsrelating to prevention of the vehicle leaving the stop if one or more vulnerableroad users are present in said one or more of said defined zones. Preventionof the vehicle leaving may comprise brake functions, engine functions forsaid prevention, blockage of gas pedal, deactivation of gear shift function or the like for preventing the vehicle to leave the stop.
According to an embodiment the method comprises the step of informing thedriver of the vehicle and/or vulnerable road users and/or the surroundings ingeneral of an activation of a function for controlling vehicle behaviour due to presence of vulnerable road user in said one or more zones.
According to an embodiment the method comprises the step of: activatingsaid generation of said least one projection by illumination of at least part ofan area in connection to the vehicle in connection to said vehicle appearingat a regular stop along the route of said vehicle.
According to an embodiment the method comprises the step of determiningarrival of said vehicle at said regular stop. The step of determining arrival ofsaid vehicle at said regular stop may comprise using any suitable detectorunit/units carried by the vehicle and/or arranged in connection to theinfrastructure of the regular stop and/or any suitable positioning means fordetermining the position of the vehicle comprising any suitable GlobalNavigation Satellite System, GNSS, e.g. a global positioning system, GPS,and map data comprising information about such stops.
The method may comprise, in addition to said defined zones for warning saidvulnerable road users, the step of providing sound warnings and/or tactilewarning. Said sound warnings and/or tactile warnings are according to anembodiment arranged to be activated if a vulnerable road users enters one or more of said defined zones. 34 According to an embodiment of the method the step of generating at leastone projection by illumination of at least part of an area in connection to thevehicle is performed by illumination means carried by said vehicle.
According to an embodiment of the method the step of generating at leastone projection by illumination of at least part of an area in connection to thevehicle is performed by illumination means arranged in connection to a regular stop along the route of said vehicle.
According to an embodiment the method comprises the steps of: detectingsaid vehicle in connection to said regular stop; and activating said generationof said least one projection by illumination of at least part of an area inconnection to the vehicle.
According to an embodiment of the method said one or more zones on saidat least part of an area in connection to the vehicle comprises one or morezones on board said vehicle and/or one or more zones external to thevehicle, and wherein the step of determining whether one or more vulnerableroad users are appearing in said one or more zones comprises the step ofdetermining vulnerable road user characteristics.
With reference to figure 5, a diagram of an apparatus 500 in the form of acomputer 500 is shown. The control unit 100 described with reference to fig.3 may according to an embodiment comprise apparatus 500. Apparatus 500comprises a non-volatile memory 520, a data processing device 510 and aread/write memory 550. Non-volatile memory 520 has a first memory portion530 wherein a computer program, such as an operating system, is stored forcontrolling the function of apparatus 500. Further, apparatus 500 comprises abus controller, a serial communication port, l/O-means, an A/D-converter, atime date entry and transmission unit, an event counter and an interruptcontroller (not shown). Non-volatile memory 520 also has a second memoryportion 540.
A computer program P is provided comprising for routines for facilitatingsafety for vulnerable road users in association with a vehicle according to anembodiment of the present invention according to the method. The programP comprises routines for generating at least one projection by i||umination ofat least part of an area in connection to the vehicle configured to define oneor more zones on said at least part of an area in connection to the vehicle,said one or more zones being associated with a recommended behaviour forvulnerable road users. The program P comprises routines for determiningwhether one or more vulnerable road users are appearing in said one ormore zones. The program P comprises routines for controlling functions ofsaid vehicle leading to vehicle behaviour possibly affecting said vulnerableroad users based upon the thus determined presence of vulnerable road userin said one or more zones if one or more vulnerable road users are present insaid one or more zones. The program P comprises routines for activatingsaid generation of said least one projection by i||umination of at least part ofan area in connection to the vehicle in connection to said vehicle appearingat a regular stop along the route of said vehicle. The routines for generatingat least one projection by i||umination of at least part of an area in connectionto the vehicle is performed by i||umination means carried by said vehicle. Theroutines for generating at least one projection by i||umination of at least partof an area in connection to the vehicle is performed by i||umination meansarranged in connection to a regular stop along the route of said vehicle. Theprogram P comprises routines for detecting said vehicle in connection to saidregular stop. The program P comprises routines for activating said generationof said least one projection by i||umination of at least part of an area inconnection to the vehicle. 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.
When it is stated that data processing device 510 performs a certain functionit should be understood that data processing device 510 performs a certain 36 part of the program which is stored in separate memory 560, or a certain part of 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 generating at least one projection by illuminationof at least part of an area in connection to the vehicle configured to defineone or more zones on said at least part of an area in connection to thevehicle, said one or more zones being associated with a recommendedbehaviour for vulnerable road users. The signals received on data port 599can be used by apparatus 500 determining whether one or more vulnerableroad users are appearing in said one or more zones. The signals used forgenerating at least one projection by illumination of at least part of an area inconnection to the vehicle is performed by illumination means carried by saidvehicle. The signals used for generating at least one projection byillumination of at least part of an area in connection to the vehicle isperformed by illumination means arranged in connection to a regular stopalong the route of said vehicle. The signals received on data port 599 can beused by apparatus 500 detecting said vehicle in connection to said regularstop. The signals received on data port 599 can be used by apparatus 500 37 activating said generation of said least one projection by illumination of at least part of an area in connection to the vehicle.
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 runs the 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 describedin order to best explain the principles of the invention and its practicalapplications, 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 contemplated.

Claims (15)

38 CLAIIVIS
1. A method for facilitating safety for vulnerable road users (VRU) inassociation with a vehicle (1), comprising the step of: generating (S1) at leastone projection by illumination of at least part of an area in connection to thevehicle configured to define one or more zones (Z1, Z1 a, Z1 b, Z1c, Z2a, Z2b,Z2c, Z3) on said at least part of an area in connection to the vehicle, said oneor more zones being associated with a recommended behaviour forvulnerable road users, characterized by the steps of: determining (S2)whether one or more vulnerable road users are appearing in said one ormore zones; and, if one or more vulnerable road users (VRU) are present insaid one or more zones, controlling (S3) functions of said vehicle leading tovehicle behaviour possibly affecting said vulnerable road users based uponthe thus determined presence of vulnerable road user in said one or more ZOHGS.
2. A method according to claim 1, comprising the step of: activating saidgeneration of said at least one projection by illumination of at least part of anarea in connection to the vehicle in connection to said vehicle appearing at a regular stop (H) along the route of said vehicle.
3. A method according to claim 1 or 2, wherein the step of generating atleast one projection by illumination of at least part of an area in connection tothe vehicle is performed by illumination means carried by said vehicle.
4. A method according to any of claims 1-3, wherein the step of generatingat least one projection by illumination of at least part of an area in connectionto the vehicle is performed by illumination means arranged in connection to a regular stop along the route of said vehicle.
5. A method according to claim 4, comprising the steps: of detecting saidvehicle in connection to said regular stop (H); and activating said generationof said least one projection by illumination of at least part of an area in connection to the vehicle. 39
6. A method according to any of claims 1-5, wherein said one or morezones (Z1, Z1a, Z1 b, Z1c, Z2a, Z2b, Z2c, Z3) on said at least part of an areain connection to the vehicle comprises one or more zones (Z2a, Z2b, Z2c) onboard said vehicle and/or one or more zones (Z1, Z1 a, Z1 b, Z1c, Z3) externalto the vehicle, and wherein the step of determining whether one or morevulnerable road users are appearing in said one or more zones comprises the step of determining vulnerable road user characteristics.
7. A system for facilitating safety for vulnerable road users (VRU) inassociation with a vehicle (1), comprising means (110) for generating at leastone projection by illumination of at least part of an area in connection to thevehicle configured to define one or more zones (Z1, Z1 a, Z1 b, Z1c, Z2a, Z2b,Z2c, Z3) on said at least part of an area in connection to the vehicle, said oneor more zones being associated with a recommended behaviour forvulnerable road users, characterized by means (120) for determiningwhether one or more vulnerable road users (VRU) are appearing in said oneor more zones; and means (140) for controlling functions of said vehicleleading to vehicle behaviour possibly affecting said vulnerable road usersbased upon the thus determined presence of vulnerable road user in saidone or more zones if one or more vulnerable road users are present in said One OI' ITIOFG ZOHGS.
8. A system according to claim 7, comprising means (130) for activatingsaid generation of said least one projection by illumination of at least part ofan area in connection to the vehicle in connection to said vehicle appearingat a regular stop (H) along the route of said vehicle.
9. A system according to claim 7 or 8, wherein the means (110) forgenerating at least one projection by illumination of at least part of an area inconnection to the vehicle comprises illumination means (112) carried by saidvehicle (1).
10. A system according to any of claims 7-9, wherein the means (110) forgenerating at least one projection by illumination of at least part of an area inconnection to the vehicle comprises illumination means (114) arranged inconnection to a regular stop (H) along the route of said vehicle (1 ).
11.A system according to claim 10, comprising means (132, 134) fordetecting said vehicle in connection to said regular stop (H); and means(130) for activating said generation of said least one projection by illuminationof at least part of an area in connection to the vehicle.
12. A system according to any of claims 7-11, wherein said one or morezones (Z1, Z1a, Z1 b, Z1c, Z2a, Z2b, Z2c, Z3) on said at least part of an areain connection to the vehicle comprises one or more zones (Z2a, Z2b, Z2c) onboard said vehicle and/or one or more zones (Z1, Z1 a, Z1 b, Z1c, Z3) externalto the vehicle, and wherein the means (120) for determining whether one ormore vulnerable road users (VRU) are appearing in said one or more zonescomprises means (122c, 124c)) for determining vulnerable road usercharacteristics.
13. A vehicle (1) comprising a system according to any of claims 8-12.
14.A computer program (P) for, 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 1-6.
15. A computer program product comprising a digital storage medium storing the computer program according to claim 14.
SE1651251A 2016-09-22 2016-09-22 Method and system for facilitating safety for vulnerable road users in association with a vehicle SE541746C2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE1651251A SE541746C2 (en) 2016-09-22 2016-09-22 Method and system for facilitating safety for vulnerable road users in association with a vehicle
DE102017008612.5A DE102017008612A1 (en) 2016-09-22 2017-09-13 Method and system for promoting the safety of vulnerable road users in connection with a vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1651251A SE541746C2 (en) 2016-09-22 2016-09-22 Method and system for facilitating safety for vulnerable road users in association with a vehicle

Publications (2)

Publication Number Publication Date
SE1651251A1 true SE1651251A1 (en) 2018-03-23
SE541746C2 SE541746C2 (en) 2019-12-10

Family

ID=61302570

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1651251A SE541746C2 (en) 2016-09-22 2016-09-22 Method and system for facilitating safety for vulnerable road users in association with a vehicle

Country Status (2)

Country Link
DE (1) DE102017008612A1 (en)
SE (1) SE541746C2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4005872A1 (en) * 2020-11-30 2022-06-01 Toyota Jidosha Kabushiki Kaisha Alerting system

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE542680C2 (en) * 2018-07-10 2020-06-23 Scania Cv Ab A method for controlling a vehicle lighting device, a control device, a vehicle lighting device, a vehicle, a computer program and a computer-readable medium
LU101212B1 (en) * 2019-05-15 2020-11-16 Alpha Ec Ind 2018 S A R L Bus with a safety lighting system for road users
LU101213B1 (en) 2019-05-15 2020-11-16 Alpha Ec Ind 2018 S A R L Bus with a variable height warning signal

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DK178269B1 (en) 2014-04-04 2015-10-26 Fairwood Innovation As A warning system for a vehicle and a vehicle comprising such a warning system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4005872A1 (en) * 2020-11-30 2022-06-01 Toyota Jidosha Kabushiki Kaisha Alerting system

Also Published As

Publication number Publication date
DE102017008612A1 (en) 2018-03-22
SE541746C2 (en) 2019-12-10

Similar Documents

Publication Publication Date Title
SE1651251A1 (en) Method and system for facilitating safety for vulnerable road users in association with a vehicle
KR101747375B1 (en) Apparatus and method for vehicle remote controlling and remote driving system
US20180356828A1 (en) Vehicle control apparatus
CN107526311B (en) System and method for detection of objects on exterior surface of vehicle
CN110239527B (en) Vehicle control device, vehicle control method, and storage medium
US9165460B2 (en) Pedestrian warning light system for vehicles with illumination in different directions
KR20200143216A (en) Vehicle control device provided in vehicle and vehicle control method
US10919439B2 (en) Virtual vehicle protective fence
US10710611B2 (en) Vehicle control device mounted on vehicle and method for controlling the vehicle
KR101981105B1 (en) Vehicle and autonomous delivery system using the vehicle
US11572084B2 (en) Integrated systems for passenger bus
SE539046C2 (en) Method and system for warning for vulnerable road users in connection to a non-moving vehicle
KR20190133146A (en) Tonneau cover
CN103010025B (en) A kind of vehicle safety starting control method and realize the device of the method
KR101916431B1 (en) Autonomous Vehicle and operating method for the same
US20220126870A1 (en) Detection of small objects under an autonomous vehicle chassis
US9020730B2 (en) Safety interlock system with side area detection
US20210334904A1 (en) Insurance guidance system and method for autonomous vehicle
CN114889630A (en) Hazardous condition warning for package delivery operations
US10486592B2 (en) Pedestrian detection system
SE1451327A1 (en) Method and system for controlling the entrance/exit level ofa bus body of a bus for facilitating for passengers to enter and exit the bus
CN207037465U (en) Parking system based on data platform
CN107323453A (en) A kind of vehicle safety on path detection stops alignment system
US11682242B1 (en) Facilitation of ingress to a passenger compartment of a vehicle
US20240208513A1 (en) Advanced driver assistance systems and a vehicle having the same

Legal Events

Date Code Title Description
NUG Patent has lapsed