SE539693C2 - Method, control unit and system for warning a road user - Google Patents

Abstract

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

Description

METHOD, CONTROL UNIT AND SYSTEM FOR WARNING Å RÛÅÜ USER TECHNICAL FIELD This document relates to a method, a control unit and a system. I\/|ore particularly, a meth-od, a control unit and a system is described, for warning a road user situated in vicinity of astationary vehicle, from another vehicle, approaching from behind.

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

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

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

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

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

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

DE 10 2008 040 274 A1 describes a method for informing the driver of a vehicle aboutdanger of accident and involves detecting information about increased danger of accidentfrom the surroundings of the vehicle, and transmitting information to another vehicle in a wireless manner.

SUMMARY lt is therefore an object of this invention to solve at least some of the above problems andimprove the traffic security.

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

According to a second aspect of the invention, this objective is achieved by a control unit ina vehicle. The control unit is configured for warning a VRU situated in a vicinity of another,stationary vehicle, from the vehicle when it passes the stationary vehicle. The control unitcomprises a receiving circuit configured for receiving a signal from a receiver on the pass-ing vehicle, indicating presence of the VRU in the vicinity of the stationary vehicle, detectedby a sensor on the stationary vehicle. Further the control unit comprises a processor con-figured for generating a control signal to be transmitted to a warning emitting device foremitting a warning from the passing vehicle, for making the VRU aware of the passing ve-hicle, when the wireless signal is received from the stationary vehicle via the receiving cir- cuit.

According to a third aspect of the invention, this objective is achieved by a computer pro-gram comprising program code for performing a method according to the first aspect whenthe computer program is executed in a control unit according to the second aspect.

According to a fourth aspect, this objective is achieved by a system for warning a VRU sit-uated in a vicinity of a stationary vehicle, from a passing vehicle. The system comprises asensor on the stationary vehicle, configured for detecting the VRU situated in a vicinity of astationary vehicle. The system also comprises a transmitter on the stationary vehicle, con-figured for transmitting a wireless signal comprising information related to the detectedVRU. Further, the system comprises a receiver on the passing vehicle, configured for re-ceiving the wireless signal transmitted by the transmitter. Additionally the system compris-es a control unit according to the second aspect and a warning emitting device on thepassing vehicle, configured for emitting a warning, for making the VRU aware of the pass-ing vehicle.

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

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

FIGURES Embodiments of the invention will now be described in further detail with reference to theaccompanying figures, in which: Figure 1 illustrates an example of a traffic scenario and an embodiment of the inven-tion; Figure 2 illustrates an example of a traffic scenario and an embodiment of the inven-tion; Figure 3 illustrates an example of a traffic scenario and an embodiment of the inven-tion; Figure 4 illustrates an example of a traffic scenario and an embodiment of the inven- tion; Figure 5 illustrates an example of a traffic scenario and an embodiment of the inven-tion;Figure 6 is a flow chart illustrating an embodiment of the method; andFigure 7 is an illustration depicting a system according to an embodiment.

DETAILED DESCRIPTION Embodiments of the invention described herein are defined as a method, a control unit anda system, which may be put into practice in the embodiments described below. These em-bodiments may, however, be exemplified and realised in many different forms and are notto be limited to the examples set forth herein; rather, these illustrative examples of embod-iments are provided so that this disclosure will be thorough and complete.

Still other objects and features may become apparent from the following detailed descrip-tion, considered in conjunction with the accompanying drawings. lt is to be understood,however, that the drawings are designed solely for purposes of illustration and not as adefinition of the limits of the herein disclosed embodiments, for which reference is to bemade to the appended claims. Further, the drawings are not necessarily drawn to scaleand, unless othen/vise indicated, they are merely intended to conceptually illustrate thestructures and procedures described herein.

Figure 1 illustrates a scenario with a system 100 for warning road users of a potential ac-cident. A stationary vehicle 101 is approached from behind by another vehicle 102 drivingin a driving direction 105, apparently intending to pass the stationary vehicle 101. A VRU130 such as e.g. a pedestrian is crossing the road in front of the stationary vehicle 101,walking in a direction 135, approximately perpendicular to the driving direction 105 of the passing vehicle 102.

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

The stationary vehicle 101 may for example be a bus standing at a bus stop in a non- limit- ing example. ln the illustrated scenario, the VBU 130 is warned of the passing vehicle 102 while thedriver in the passing vehicle 102 is notified of the VBU 130 in front of the stationary vehicle101.

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

The stationary vehicle 101 may try to connect to the passing vehicle 102 via wirelesscommunication to inform the passing vehicle driver of the detected VBU 130 in front of thestationary vehicle 101. ln some embodiments, for example when supported hardware is mounted on the stationaryvehicle 102, a warning may be projected on the ground in the front of the stationary vehicle101 to highlight for the VBU 130 that the vehicle 102 is approaching from behind and alert-ing the VBU 130 from crossing the road. ln some embodiments, e.g. when the stationary vehicle 101 is not enabled to project anysuch warning, the stationary vehicle 101 may inform the surroundings (both in the front andbackwards) via external lights, sound etc., so that the VBU 130 as well as other surround-ing vehicles 102 are alerted about the danger.

Further, the stationary vehicle 101 may comprise a transmitter 115 configured for transmit-ting a wireless signal comprising information related to the detected VBU 130. The wirelesssignal may be e.g. a Vehicle-to-Vehicle (V2V) signal, or any other wireless signal based on,or at least inspired by wireless communication technology such as Wi-Fi, Wireless LocalArea Network (WLAN), Ultra Mobile Broadband (Ul\/IB), Bluetooth (BT), Near Field Com-munication (NFC) or infrared transmitter to name but a few possible examples of wireless communications.

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

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

An advantage with letting the stationary vehicle 101 comprise a sensor for detecting thepassing vehicle 102, and only emit wireless communication in case an approaching vehicle102 is detected and a VRU 130 is detected in front of the stationary vehicle 101 is that en-ergy is saved, by not having to make any transmission when there is no other vehicle 102.

An advantage by using a sensor 110 on the stationary vehicle 101 for detecting the VRU130, instead of a sensor on the passing vehicle 102 is that the sensor 110 on the stationaryvehicle 101 will have a better coverage of the danger area in front of the stationary vehicle101, when mounted appropriately.

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

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

Flashing with the vehicle headlights 210 may be in particular effective when driving in darkor obscure light conditions, such as at night time, in twilight, in fog, or when the sun is con-cealed by clouds. As previously mentioned, a plurality of warning emitting devices 125, 210on the passing vehicle 102 may be activated simultaneously for warning the VRU 130, aswell as the driver of the passing vehicle 102 and possibly also other vehicles or road users in the vicinity. ln some embodiments, warning may be emitted by flashing vehicle headlights 210 at nighttime, and by activating the horn 125 in daytime. Thereby, the VRU 130 as well as the driverof the passing vehicle 102 may be notified of the danger in an effective way, while the dis-turbance of the warning for other road users or people living close is reduced. Dark or ob-scure light conditions may be detected by a photo detector, i.e. a sensor of light on thepassing vehicle 102, in some embodiments. Alternatively, a device for obtaining time anddate in combination with a positioning unit e.g. a GPS receiver, and a data base with storedvalues for dawn and twilight at different geographical positions at different dates may beused.

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

As previously described, the VRU 130 is residing in front of the stationary vehicle 101 in ablind spot, or at least obscured for the driver of the passing vehicle 102. The sensor 110 onthe stationary vehicle 101 detects the VRU 130, as previously described and a wirelessmessage is transmitted by the transmitter 115. The receiver 120 on the passing vehicle102 receives the wireless message and emit a warning for making the VRU 130 aware ofthe passing vehicle 102. ln this embodiment, the passing vehicle 102 comprises a projector 310, such as e.g. a la-ser projector, a light projector or similar, for projecting a warning on a road segment in frontof the passing vehicle 102, which may be visible for the VRU 130.

An arbitrary example of such projected warning is illustrated in Figure 4 illustrates an ex-ample of the previously scenario 100 in Figure 3 as seen from above.

An advantage with projecting a warning, with a sign, a symbol or text on the road area infront of the passing vehicle 102 and also the VRU 130 is that the probability of the driverand/ or the VRU 130 for perceiving the warning increases, as it is difficult to confuse withirrelevant light variations of vehicle head lights, which may be difficult to perceive in someenvironments, depending on surrounding light situation, also at night time.

An advantage with using laser light is that projected laser light has a high visibility uponreflection, and may also be provided in a distinctive colour for enhanced visibility.

Figure 5 illustrates an example of how the previously illustrated scenario in Figure 1, Fig-ure 2, Figure 3 and/ or Figure 4 may be perceived in an above view.

As previously described, the VRU 130 is residing in front of the stationary vehicle 101 in ablind spot, or at least obscured for the driver of the passing vehicle 102. The sensor 110 onthe stationary vehicle 101 detects the VRU 130, as previously described and a wirelessmessage is transmitted by the transmitter 115. The receiver 120 on the passing vehicle102 receives the wireless message and emit a warning for making the VRU 130 aware ofthe passing vehicle 102.

However, in this embodiment, warnings may be emitted both by the stationary vehicle 101and the passing vehicle 102 in form of flashing with the headlights 510 of the stationaryvehicle 101 simultaneously with flashing with the headlights 120 of the passing vehicle 102,possibly in combination with activating the horn 115 of the passing vehicle 102.

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

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

The VRU 130 situated in the vicinity of the stationary vehicle 101 may typically be in frontof the stationary vehicle 101, or at the pavement fon/vard of the stationary vehicle 101,heading in a direction 135, substantially perpendicular to the road, i.e. the VRU is intendingto cross the road in front of the stationary vehicle 101. ln order to correctly be able to warn the VRU 130 situated in vicinity of the stationary vehi-cle 101, from the passing vehicle 102, the method 600 may comprise a number of steps601-603. However, some of these steps 601 -603 may be performed solely in some alterna-tive embodiments, like e.g. step 603. Further, the described steps 601-603 may be per-formed in a somewhat different chronological order than the numbering suggests. Themethod 600 may comprise the subsequent steps: Step 601 comprises receiving a wireless signal from the stationary vehicle 101, indicatingpresence of the VRU 130 in the vicinity of the stationary vehicle 101, detected by a sensor110 on the stationary vehicle 101.

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

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

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

Step 602 comprises emitting a warning from the passing vehicle 102, for making the VRU130 aware of the passing vehicle 102, when the wireless signal is received from the sta-tionary vehicle 101.

The emitted warning may comprise e.g. ignition of head lights 210 of the passing vehicle102, flashing with said head lights 210, activating the horn 115 of the passing vehicle 102,projecting a warning on a road segment in front of the passing vehicle 102, or a combina-tion thereof.

Step 603, which may be performed only in some alternative embodiments, may comprisetransmitting a wireless signal, for informing any surrounding vehicle of the VRU 130 in thevicinity of the stationary vehicle 101.

Thereby, the VRU 130, as well as the driver in the passing vehicle 102 may be madeaware of the presence of each other. Thus a possible accident may be avoided.

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

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

The control unit 700 comprises a receiving circuit 710 configured for receiving a signal froma receiver 120 on the passing vehicle 102, indicating presence of the VRU 130 in the vicini-ty of the stationary vehicle 101, detected by a sensor 110 on the stationary vehicle 101.

Further, the control unit 700 comprises a processor 720 configured for generating a controlsignal to be transmitted to a warning emitting device 125, 210, 310 for emitting a warningfrom the passing vehicle 102, for making the VRU 130 aware of the passing vehicle 102,when the wireless signal is received from the stationary vehicle 101 via the receiving circuit710. Thereby, also the driver of the passing vehicle 102 is alerted. 11 The warning emitting device 125, 210, 310 on the passing vehicle 102, also comprised inthe system 100, may comprise e.g. the horn 125, the headlights 210, a projector 310, orsimilar device, such as e.g. a laser projector 310 for projecting a warning on a road seg-ment in front of the passing vehicle 102. The warning emitting device 125, 210, 310 is con-figured for emitting a warning, for making the VRU 130 aware of the passing vehicle 102. ln some embodiments, also a warning emitting device 510 on the stationary vehicle may beactivated simultaneously, in order to enhance the warning and further minimise the risk of the VRU 130 not perceiving the danger of the situation.

Such processor 720 may comprise one or more instances of a processing circuit, i.e. aCentral Processing Unit (CPU), a processing unit, a processing circuit, an Application Spe-cific Integrated Circuit (ASIC), a microprocessor, or other processing logic that may inter-pret and execute instructions. The herein utilised expression “processor” may thus repre-sent a processing circuitry comprising a plurality of processing circuits, such as, e.g., any, some or all of the ones enumerated above.

Furthermore, the control unit 700 may comprise a memory 725 in some embodiments. Theoptional memory 725 may comprise a physical device utilised to store data or programs,i.e., sequences of instructions, on a temporary or permanent basis. According to some em-bodiments, the memory 725 may comprise integrated circuits comprising silicon-basedtransistors. The memory 725 may comprise e.g. a memory card, a flash memory, a USBmemory, a hard disc, or another similar volatile or non-volatile storage unit for storing datasuch as e.g. ROIVI (Read-Only l\/lemory), PROIVI (Programmable Read-Only Memory),EPROIVI (Erasable PROIVI), EEPROIVI (Electrically Erasable PROIVI), etc. in different em-bodiments.

Further, the control unit 700 may comprise a signal transmitter 730. The signal transmitter730 may be configured for transmitting a control signal to be received by the warning emit-ting device 125, 210, 310. The control signal triggers the warning emitting device 125, 210,310 to emit the warning.

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

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

Further the system 100 comprises a transmitter 115 on the stationary vehicle 101, config-ured for transmitting a wireless signal comprising information related to the detected VRU130.

The wireless signal may be e.g. a Vehicle-to-Vehicle (V2V) signal, or any other wirelesssignal based on, or at least inspired by wireless communication technology such as Wi-Fi,Wireless Local Area Network (WLAN), Ultra Mobile Broadband (Ul\/IB), Bluetooth (BT),Near Field Communication (NFC) or infrared transmitter to name but a few possible exam- ples of wireless communications. ln addition, the system 100 comprises a receiver 120 on the passing vehicle 102, config-ured for receiving the wireless signal transmitted by the transmitter 115.

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

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

Furthermore, in some optional embodiments, the system 100 may comprise a warningemitting device 510 on the stationary vehicle 101, configured for emitting a warning, formaking the VRU 130 aware of the passing vehicle 102, together with the warning emittedby the warning emitting device 125, 210, 310 on the passing vehicle 102. The warningemitting device 510 on the stationary vehicle 101 may comprise e.g. a horn, a pair of headlights 510, and/ or a laser projector for projecting a warning on a road segment in front ofthe stationary vehicle 101. 13 However, in some alternative embodiments, the system 100 may comprise additional unitsfor performing the method 600 according to steps 601-603.

The above described steps 601-603 to be performed in the system 100 may be imple-mented through the one or more processors 720 within the control unit 700, together withcomputer program product for performing at least some of the functions of the steps 601-603. Thus a computer program product, comprising instructions for performing the steps601-603 in the control unit 700 may perform the method 600 comprising at least some ofthe steps 601-603 for warning a VRU 130 situated in a vicinity of a stationary vehicle 101from the vehicle 102, when the computer program is loaded into the one or more proces-sors 720 of the control unit 700.

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

The computer program product mentioned above may be provided for instance in the formof a data carrier carrying computer program code for performing at least some of the steps601-603 according to some embodiments when being loaded into the one or more proces-sors 720 of the control unit 700. The data carrier may be, e.g., a hard disk, a CD ROIVI disc,a memory stick, an optical storage device, a magnetic storage device or any other appro-priate medium such as a disk or tape that may hold machine readable data in a non-transitory manner. The computer program product may furthermore be provided as com-puter program code on a server and downloaded to the control unit 700 remotely, e.g., over an Internet or an intranet connection.

The terminology used in the description of the embodiments as illustrated in the accompa-nying drawings is not intended to be limiting of the described method 600; the control unit700; the computer program; the system 100 and/ or the vehicle 102. Various changes,substitutions and/ or alterations may be made, without departing from invention embodi-ments as defined by the appended claims.

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

Claims (10)

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

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

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

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

5. A computer program comprising program code for performing a method (600) ac-cording to any of claims 1-3 when the computer program is executed in a processor (720)in a control unit (700), according to claim 4. 16

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

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

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

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

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