SE541294C2 - Method and system for facilitating the manoeuvring of a vehicle on a road - Google Patents

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

Info

Publication number
SE541294C2
SE541294C2 SE1550506A SE1550506A SE541294C2 SE 541294 C2 SE541294 C2 SE 541294C2 SE 1550506 A SE1550506 A SE 1550506A SE 1550506 A SE1550506 A SE 1550506A SE 541294 C2 SE541294 C2 SE 541294C2
Authority
SE
Sweden
Prior art keywords
vehicle
road section
allowing
road
detecting
Prior art date
Application number
SE1550506A
Other versions
SE1550506A1 (en
Inventor
André Claesson
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 SE1550506A priority Critical patent/SE541294C2/en
Priority to BR102016008216A priority patent/BR102016008216A2/en
Priority to DE102016004737.2A priority patent/DE102016004737A1/en
Publication of SE1550506A1 publication Critical patent/SE1550506A1/en
Publication of SE541294C2 publication Critical patent/SE541294C2/en

Links

Classifications

    • 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
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/24—Radio transmission systems, i.e. using radiation field for communication between two or more posts
    • H04B7/26—Radio transmission systems, i.e. using radiation field for communication between two or more posts at least one of which is mobile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/10—Number of lanes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)

Abstract

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

Description

METHOD AND SYSTEM FOR FACILITATING THE MANOEUVRING OF A VEHICLE ON A ROAD TECHNICAL FIELD The invention relates to a method for facilitating the manoeuvring of a vehicle on a road, said road comprising a road section only allowing passage in one direction at a time of a vehicle according to the preamble of claim 1. The invention relates to a system for facilitating the manoeuvring of a vehicle on a road, said road comprising a road section only allowing passage in one direction at a time of a vehicle. The invention also relates to a vehicle. The invention in addition relates to a computer program and a computer program product.
BACKGROUND ART On public roads there are often actions taken to keep the vehicle speed down, especially in urban areas. Usually there are barriers placed in the roadway, speed bumps or similar. One typical example of an action taken to keep the vehicle speed down is to provide roads with a road section only allowing passage in one direction at a time of a vehicle.
Since there is no road direction that has the priority to drive first in such an example it is up to the drivers of the oncoming vehicles to find out who was here first and who shall drive before the other.
US20040128062 discloses a method for Vehicle-to Vehicle communication, for example by driving in to a small road where only one vehicle at a time may pass. Vehicles are given priority based on different criteria, for example such as distance to the narrow passage.
There is however a need to further increase safety by facilitating the manoeuvring of a vehicle on a road comprising a road section only allowing passage in one direction at a time.
OBJECTS OF THE INVENTION An object of the present invention is to provide a method for facilitating the manoeuvring of a vehicle on a road, said road comprising a road section only allowing passage in one direction at a time of a vehicle which facilitates further increasing the safety.
Another object of the present invention is to provide a system for facilitating the manoeuvring of a vehicle on a road, said road comprising a road section only allowing passage in one direction at a time of a vehicle which facilitates further increasing the safety.
SUMMARY OF THE INVENTION These and other objects, apparent from the following description, are achieved by a method, a system, a vehicle, a computer program and a computer program product, as set out in 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 facilitating the manoeuvring of a vehicle on a road, said road comprising a road section only allowing passage in one direction at a time of a vehicle. The method comprises the steps of: determining criteria for allowing a vehicle to pass said road section as a basis for said manoeuvring. The step of determining the criteria for allowing a vehicle to pass said road section comprises detecting appearing oncoming vehicles approaching said road section by means of detection means provided on board of said vehicle to be manoeuvred. Hereby safety is further improved by manoeuvring of a vehicle on a road comprising a road section only allowing passage in one direction at a time. This further provides redundancy to a Vehicle-to-Vehicle system. It is also likely that at least one of the vehicles being subject to such an approaching situation in connection to such a road section does not have a Vehicle-to-Vehicle system.
According to an embodiment of the method the step of detecting appearing oncoming vehicles approaching said road section comprises the step of determining the category of an oncoming vehicle, said category comprising one or more of: emergency vehicles, buses, trucks, cars and vulnerable road users. By thus determining the category of oncoming vehicles prioritising which vehicle is to be allowed to pass first may be made for the vehicle having the greatest need, such as an emergency vehicle or a bus.
According to an embodiment of the method the step of detecting appearing oncoming vehicles approaching said road section comprises the step of detecting the distance to an oncoming vehicle. Hereby prioritising is further facilitated in that it may be determined which vehicle has the longest distance to the road section. This facilitates improving safety.
According to an embodiment of the method the step of detecting appearing oncoming vehicles approaching said road section comprises the step of detecting the distance for an oncoming vehicle to said road section. Hereby prioritising is further facilitated in that it may be determined which vehicle has the longest distance to the road section. This facilitates improving safety.
According to an embodiment of the method the step of detecting appearing oncoming vehicles approaching said road section comprises the step of detecting the speed of an oncoming vehicle. Hereby prioritising is further facilitated in that it may be determined which vehicle will reach the road section first. This facilitates improving safety.
According to an embodiment of the method the step of determining the criteria for allowing a vehicle to pass said road section comprises the step of detecting the distance to said road section for said vehicle to be manoeuvred. Hereby prioritising is further facilitated in that it may be determined which vehicle has the longest distance to the road section. This facilitates improving safety.
According to an embodiment of the method the step of determining the criteria for allowing a vehicle to pass said road section comprises the step of determining the extension of said road section. Hereby prioritising is further facilitated in that it may be determined how long it will take for a vehicle to pass the road section. This facilitates improving safety.
According to an embodiment the method comprises the step of presenting the determined criteria for allowing a vehicle to pass said road section for the operator of the vehicle. Herby the operator of the vehicle will be informed of the situation and may take necessary steps based on the information. This facilitates improving safety.
According to an embodiment the method comprises the step of controlling the manoeuvring of said vehicle based upon said determined criteria for allowing a vehicle to pass said road section. Hereby safety may be further improved in that the vehicle may e.g. be put to a halt automatically if it is determined that an impact may occur.
According to an embodiment the method comprises the step of determining current distribution and situation of passengers, wherein said allowing of passage is performed based on the determined current distribution and current situation of passengers comprising adapting the control of the manoeuvring in accordance with the determined current distribution and determined current situation of passengers. Hereby the comfort and safety of such passengers may be improved.
Specifically an object of the invention is achieved by a system for facilitating the manoeuvring of a vehicle on a road, said road comprising a road section only allowing passage in one direction at a time of a vehicle adapted to perform the methods as set out above.
The system further comprises the embodiments according to the dependent system claims 11-20.
The system according to the invention has the advantages according to the corresponding method claims.
BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which: Fig. 1 schematically illustrates side view of a vehicle according to the present invention; Fig. 2 schematically illustrates a plan view of the vehicle in fig. 1 on a road comprising a road section only allowing passage in one direction at a time of a vehicle; Fig. 3 schematically illustrates a system for facilitating the manoeuvring of a vehicle on a road, said road comprising a road section only allowing passage in one direction at a time of a vehicle according to an embodiment of the present invention; Fig. 4 schematically illustrates a block diagram of a method for facilitating the manoeuvring of a vehicle on a road, said road comprising a road section only allowing passage in one direction at a time of a vehicle according to an embodiment of the present invention; and Fig. 5 schematically illustrates a computer according to an embodiment of the present invention.
DETAILED DESCRIPTION Hereinafter the term “link” refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a nonphysical connector such as a wireless connection, for example a radio or microwave link.
Fig. 1 schematically illustrates a side view of a vehicle 1 according to the present invention. The exemplified vehicle 1 is a heavy vehicle in the shape of a bus. The vehicle according to the present invention could be any vehicle such as a truck or a car. The vehicle comprises a system for facilitating the manoeuvring of a vehicle on a road, said road comprising a road section only allowing passage in one direction at a time of a vehicle according to an embodiment of the present invention.
Fig. 2 schematically illustrates a plan view of the vehicle in fig. 1 on a road R comprising a road section RS only allowing passage in one direction at a time of a vehicle.
The road R illustrated in fig. 2 has a first roadway RW1 for traffic in one direction and an adjacent second roadway RW2 for traffic in the opposite direction. The road R comprises said road section RS in which the first and second roadways RW1, RW2 transfers into one roadway RW in which only one vehicle can pass at a time.
The vehicle 1 is travelling in the second roadway RW2 at a speed v1 and being at a distance D1 from the road section RS, i.e. from where the road R is tampering in to the road section RS. An oncoming vehicle is travelling in the first roadway RW1 approaching the road section RS from the opposite side of the road section RS at a speed v2 and being at a distance D2 from the road section RS, i.e. from where the road R is tampering in to the road section RS from the opposite side of the road section RS.
The vehicle comprises a system I for facilitating the manoeuvring of the vehicle 1 on the road R comprising the road section RS only allowing passage in one direction at a time comprising means 110 for determining the criteria for allowing a vehicle to pass said road section. The means for determining the criteria for allowing a vehicle to pass said road section comprises means 112 for detecting appearing oncoming vehicles approaching said road section, the vehicle 1 being provided with said means 112. The means 112 comprises one or more detector units such as camera units. The camera unit comprises according to this embodiment a front camera unit arranged at the front area of the vehicle. The means 112 is detecting the oncoming vehicle 2. Said means 112 comprises according to an embodiment one or more laser scanner units. Said means 112 comprises one or more radar units. Said means 112 comprises one or more sonar units.
The means 112 for detecting appearing oncoming vehicles approaching said road section comprises means for determining the category of an oncoming vehicle, said category comprising one or more of: emergency vehicles, buses, trucks, cars and vulnerable road users. Said means for determining the category of an oncoming vehicle may according to an embodiment comprise one or more 3D camera units such as so called Time-of-Flight camera units. Said camera units are configured to be arranged at suitable positions on the vehicle in order to obtain good detection of said objects.
The term “vulnerable road user” refers to any vehicle which relative to the vehicle 1 being manoeuvred carries vehicle operators and/or passengers that are vulnerable, should an accident, i.e. a collision between the vehicle 1 and the oncoming vehicle 2, occur on said road section RS. A vulnerable road user could be a motor cycle and its operator, a bicycle and its operator, a car and its operator e.g. if the vehicle being manoeuvred is a heavy vehicle such as a bus or a truck.
The means 112 for detecting appearing oncoming vehicles approaching said road section, e.g. one or more camera units 112 is configured to detect the distance D to said oncoming vehicle, the distance D2 for said oncoming vehicle to said road section RS and the speed of the .
The means 110 for determining the criteria for allowing a vehicle to pass said road section comprises means for detecting the distance D1 to said road section RS for said vehicle 1 to be manoeuvred and means for determining the extension L of said road section RS. The means for detecting the distance to said road section RS and means for determining the extension of said road section comprises one or more detector units which could be comprised in the means 112 or a separate detector unit.
The extension L of said road section RS may have any configuration such as curved configuration and/or sloped/inclined configuration.
The criteria for allowing a vehicle to pass is thus determined based on the thus determined category of the oncoming vehicle 2, speeds v1, v2 of the vehicles 1, 2, the extension L of the road section RS and the distances D1, D2, D. Hereby it is determined which vehicle will have the right to pass first. For example an emergency vehicle will most likely be allowed to pass first even if it will reach the road section RS later than another oncoming vehicle approaching from the opposite side of the road section.
Fig. 3 schematically illustrates a system I for facilitating the manoeuvring of a vehicle on a road, said road comprising a road section only allowing passage in one direction at a time of a vehicle according to an embodiment of the present invention.
The system I comprises an electronic control unit 100.
The system I comprises means 110 for determining criteria for allowing a vehicle to pass said road section as a basis for said manoeuvring.
The means 110 for determining the criteria for allowing a vehicle to pass said road section comprises means 112 for detecting appearing oncoming vehicles approaching said road section provided on board of said vehicle to be manoeuvred. The means 112 comprises at least one detector unit such as a camera unit. The camera unit is according to an embodiment arranged at the front area of the vehicle. Said means 112 comprises according to an embodiment one or more laser scanner units. Said means 112 comprises one or more radar units. Said means 112 comprises one or more sonar units.
The means 112 for detecting appearing oncoming vehicles approaching said road section comprises means 112a for determining the category of an oncoming vehicle, said category comprising one or more of: emergency vehicles, buses, trucks, cars and vulnerable road users. The means 112a for determining the category of an oncoming vehicle comprises any suitable detector unit such as one or more 3D camera units such as so called Timeof-Flight camera units. Said camera units are configured to be arranged at suitable positions on the vehicle in order to obtain good detection of said objects. According to an embodiment data of different categories such as emergency vehicles, buses, trucks, cars and vulnerable road users are stored in a storing means, for example in the electronic control unit 100. The means 112a for determining the category of an oncoming vehicle comprises comparing the thus detected vehicle with said stored categories so as to determine the category of the oncoming vehicle.
The means 112 for detecting appearing oncoming vehicles approaching said road section comprises means 112b for detecting the distance to an oncoming vehicle. Said means 112b comprises according to an embodiment one or more camera units. Said means 112b comprises according to an embodiment one or more laser scanner units. Said means 112b comprises one or more radar units. Said means 112b comprises one or more sonar units.
The means 112 for detecting appearing oncoming vehicles approaching said road section comprises means 112c for detecting the distance for an oncoming vehicle to said road section. Said means 112c comprises according to an embodiment one or more camera units. Said means 112c comprises according to an embodiment one or more laser scanner units. Said means 112c comprises one or more radar units. Said means 112c comprises one or more sonar units. The means 112c for detecting the distance for an oncoming vehicle to said road section comprises according to an embodiment detecting the distance to the oncoming vehicle and detecting the distance to the end of the road section for the vehicle to be manoeuvred, which corresponds to the beginning of the road section for the oncoming vehicle.
The means 112 for detecting appearing oncoming vehicles approaching said road section comprises means 112d for detecting the speed of an oncoming vehicle. Said means 112d comprises according to an embodiment one or more camera units. Said means 112d comprises according to an embodiment one or more laser scanner units. Said means 112d comprises one or more radar units. Said means 112d comprises one or more sonar units.
The means 110 for determining the criteria for allowing a vehicle to pass said road section comprises means 114 for detecting the distance to said road section for said vehicle to be manoeuvred. Said means 114 comprises according to an embodiment one or more camera units. Said means 114 comprises according to an embodiment one or more laser scanner units.
The means 110 for determining the criteria for allowing a vehicle to pass said road section comprises means 116 for determining the extension of said road section. Said means 116 comprises according to an embodiment one or more camera units. Said means 116 comprises according to an embodiment one or more laser scanner units.
The means 110 for determining the criteria for allowing a vehicle to pass said road section comprises means 118 for determining the speed for said vehicle to be manoeuvred. The means 118 comprises according to an embodiment the speedometer of the vehicle.
The system I comprises means 120 for presenting the determined criteria for allowing a vehicle to pass said road section for the operator of the vehicle. The means 120 for presenting the determined criteria for allowing a vehicle to pass said road section for the operator of the vehicle comprises according to an embodiment visual means 122 for visual presentation, said visual presentation comprising presenting information about the determined criteria for allowing the vehicle to pass, i.e. if the vehicle may pass or need to stop to allow the oncoming vehicle to pass, on a display, by projection of a light source, said projection according to a variant being on the ground surface in connection to the vehicle. The visual means for visual presentation comprises according to an embodiment one or more display units for displaying said presentation of information regarding determined criteria for allowing the vehicle to pass.
The means 120 for presenting the determined criteria for allowing a vehicle to pass said road section for the operator of the vehicle comprises according to an embodiment sound means 124 for audible presentation such as an alarm, a voice or the like.
The means 120 for presenting the determined criteria for allowing a vehicle to pass said road section for the operator of the vehicle comprises according to an embodiment tactile means 126 such as vibrating/moving the seat of the operator, the steering wheel, the gas pedal, the brake pedal or the like so as to draw attention to the operator of the upcoming road section and oncoming vehicle.
The system I comprises means 130 for controlling the manoeuvring of said vehicle based upon said determined criteria for allowing a vehicle to pass said road section. The means 130 for controlling the manoeuvring of said vehicle comprises any suitable control unit. The means 130 for controlling the manoeuvring of said vehicle is according to an embodiment comprised in the electronic control unit 100. The means 130 for controlling the manoeuvring of said vehicle comprises controlling the powertrain of the vehicle, i.e. the speed of the vehicle, the transmission of the vehicle, the brakes of the vehicle, the steering of the vehicle and/or any other function of the vehicle that may improve safety. The means 130 for controlling the manoeuvring of said vehicle is configured to automatically control the vehicle based upon said determined criteria for allowing a vehicle to pass said road section. The means 130 for controlling the manoeuvring of said vehicle is thus operably connected to the powertrain of the vehicle for said control.
The system I comprises means 140 for determining current distribution and situation of passengers wherein said allowing of passage is configured to be performed based on the determined current distribution and current situation of passengers comprising adapting the control of the manoeuvring in accordance with the determined current distribution and determined current situation of passengers. Said means 140 may comprise any suitable detector means such as camera unit, optical sensor units, laser scanners, pressure sensors or the like. Determining current state of passengers comprises sensing whether a passenger is sitting down or standing up; and sensing the existence of passenger aid devices such as cane, wheel chair, baby carriage or the like.
The electronic control unit 100 is operably connected to the means 110 for determining criteria for allowing a vehicle to pass said road section as a basis for said manoeuvring via a link 10. The electronic control unit 100 is via the link 10 arranged to receive a signal from said means 110 representing data for criteria for allowing a vehicle to pass.
The electronic control unit 100 is operably connected to the means 112 for detecting appearing oncoming vehicles approaching said road section provided on board of said vehicle to be manoeuvred via a link 12. The electronic control unit 100 is via the link 12 arranged to receive a signal from said means 112 representing data relating to appearing oncoming vehicle.
The electronic control unit 100 is operably connected to the means 112a for determining the category of an oncoming vehicle, said category comprising one or more of: emergency vehicles, buses, trucks, cars and vulnerable road users via a link 12a. The electronic control unit 100 is via the link 12a arranged to receive a signal from said means 112a representing data for category of an oncoming vehicle.
The electronic control unit 100 is operably connected to the means 112b for detecting the distance to an oncoming vehicle via a link 12b. The electronic control unit 100 is via the link 12b arranged to receive a signal from said means 112b representing data for distance to an oncoming vehicle.
The electronic control unit 100 is operably connected to the means 112c for detecting the distance for an oncoming vehicle to said road section via a link 12c. The electronic control unit 100 is via the link 12c arranged to receive a signal from said means 112c representing data for distance for an oncoming vehicle to said road section.
The electronic control unit 100 is operably connected to the means 112d for detecting the speed of an oncoming vehicle via a link 12d. The electronic control unit 100 is via the link 12d arranged to receive a signal from said means 112d representing data for speed of an oncoming vehicle.
The electronic control unit 100 is operably connected to the means 114 for detecting the distance to said road section for said vehicle to be manoeuvred via a link 14. The electronic control unit 100 is via the link 14 arranged to receive a signal from said means 114 representing data for distance to said road section for said vehicle to be manoeuvred.
The electronic control unit 100 is operably connected to the means 116 for determining the extension of said road section via a link 16. The electronic control unit 100 is via the link 16 arranged to receive a signal from said means 116 representing data for extension of said road section.
The electronic control unit 100 is operably connected to the means 118 for determining the speed for said vehicle to be manoeuvred via a link 18. The electronic control unit 100 is via the link 18 arranged to receive a signal from said means 118 representing data for speed for said vehicle to be manoeuvred.
The electronic control unit 100 is operably connected to the means 120 for presenting the determined criteria for allowing a vehicle to pass said road section for the operator of the vehicle via a link 20. The electronic control unit 100 is via the link 20 arranged to send a signal to said means 120 representing presentation data for determined criteria for allowing a vehicle to pass said road section.
The electronic control unit 100 is operably connected to the visual means 122 for visual presentation via a link 22. The electronic control unit 100 is via the link 22 arranged to send a signal to said means 122 representing visual presentation data for determined criteria for allowing a vehicle to pass said road section.
The electronic control unit 100 is operably connected to the sound means 124 for audible presentation via a link 24. The electronic control unit 100 is via the link 24 arranged to send a signal to said means 124 representing audible presentation data for determined criteria for allowing a vehicle to pass said road section.
The electronic control unit 100 is operably connected to the tactile means 126 via a link 26. The electronic control unit 100 is via the link 26 arranged to send a signal to said means 126 representing data for tactile presentation.
The electronic control unit 100 is operably connected to the means 130 for controlling the manoeuvring of said vehicle based upon said determined criteria for allowing a vehicle to pass said road section via a link 30. The electronic control unit 100 is via the link 30 arranged to send a signal to said means 130 representing control data for controlling the manoeuvring of said vehicle based upon said determined criteria for allowing a vehicle to pass said road section.
The electronic control unit 100 is operably connected to the means 140 for determining current distribution and situation of passengers via a link 40. The electronic control unit 100 is via the link 40 arranged to receive a signal from said means 140 representing data for current distribution and situation of passengers. The control of the manoeuvring is according to an embodiment adapted based in accordance with the current distribution and current situation of passengers.
The electronic control unit 100 is arranged to process said, data relating to appearing oncoming vehicle comprising data for category of an oncoming vehicle, data for distance to an oncoming vehicle, data for distance for an oncoming vehicle to said road section, data for speed of an oncoming vehicle, data for distance to said road section for said vehicle to be manoeuvred data for extension of said road section and data for speed for said vehicle to be manoeuvred so as to determine data for criteria for allowing a vehicle to pass said road section.
Fig. 4 schematically illustrates a block diagram of a method for facilitating the manoeuvring of a vehicle on a road, said road comprising a road section only allowing passage in one direction at a time of a vehicle according to an embodiment of the present invention.
According to the embodiment the method for facilitating the manoeuvring of a vehicle on a road, said road comprising a road section only allowing passage in one direction at a time of a vehicle comprises a step S1. In this step criteria for allowing a vehicle to pass said road section is determined as a basis for said manoeuvring.
According to the embodiment the step of determining the criteria for allowing a vehicle to pass said road section comprises a step S1a. In this step appearing oncoming vehicles approaching said road section are detected by means of detection means provided on board of said vehicle to be manoeuvred.
According to an embodiment of the method the step S1a of detecting appearing oncoming vehicles approaching said road section comprises the step of determining the category of an oncoming vehicle, said category comprising one or more of: emergency vehicles, buses, trucks, cars and vulnerable road users.
According to an embodiment of the method the step S1a of detecting appearing oncoming vehicles approaching said road section comprises the step of detecting the distance to an oncoming vehicle.
According to an embodiment of the method the step S1a of detecting appearing oncoming vehicles approaching said road section comprises the step of detecting the distance for an oncoming vehicle to said road section.
According to an embodiment of the method the step S1a of detecting appearing oncoming vehicles approaching said road section comprises the step of detecting the speed of an oncoming vehicle.
According to an embodiment of the method the step S1 of determining the criteria for allowing a vehicle to pass said road section comprises the step of detecting the distance to said road section for said vehicle to be manoeuvred.
According to an embodiment of the method the step S1 of determining the criteria for allowing a vehicle to pass said road section comprises the step of determining the extension of said road section.
According to an embodiment the method comprises the steps of presenting the determined criteria for allowing a vehicle to pass said road section for the operator of the vehicle.
According to an embodiment the method comprises the step of controlling the manoeuvring of said vehicle based upon said determined criteria for allowing a vehicle to pass said road section.
According to an embodiment the method comprises the step of determining current distribution and situation of passengers, wherein said allowing is performed based on the determined current distribution and current situation of passengers comprising adapting the control of the manoeuvring in accordance with the determined current distribution and determined current situation of passengers.
With reference to figure 5, a diagram of an apparatus 500 is shown. The control unit 100 described with reference to fig. 3 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a nonvolatile memory 520, a data processing device 510 and a read/write memory 550. Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500. Further, apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second memory portion 540.
A computer program P is provided comprising routines for facilitating the manoeuvring of a vehicle on a road, said road comprising a road section only allowing passage in one direction at a time of a vehicle according to the innovative method. The program P comprises routines for determining criteria for allowing a vehicle to pass said road section as a basis for said manoeuvring. The routines for determining criteria for allowing a vehicle to pass said road section as a basis for said manoeuvring comprises routines for detecting appearing oncoming vehicles approaching said road section by means of detection means provided on board of said vehicle to be manoeuvred. The routines for detecting appearing oncoming vehicles approaching said road section by means of detection means provided on board of said vehicle to be manoeuvred comprises routines for determining the category of an oncoming vehicle, said category comprising one or more of: emergency vehicles, buses, trucks, cars and vulnerable road users. The routines for detecting appearing oncoming vehicles approaching said road section comprises routines for detecting the distance to an oncoming vehicle. The routines for detecting appearing oncoming vehicles approaching said road section comprises routines for detecting the distance for an oncoming vehicle to said road section. The routines for detecting appearing oncoming vehicles approaching said road section comprises routines for detecting the speed of an oncoming vehicle. The routines for determining criteria for allowing a vehicle to pass said road section as a basis for said manoeuvring comprises routines for detecting the distance to said road section for said vehicle to be manoeuvred. The routines for determining criteria for allowing a vehicle to pass said road section as a basis for said manoeuvring comprises routines for determining the extension of said road section. The computer program P comprises routines for presenting the determined criteria for allowing a vehicle to pass said road section for the operator of the vehicle. The computer program P comprises routines for controlling the manoeuvring of said vehicle based upon said determined criteria for allowing a vehicle to pass said road section. The program P comprises routines for determining current distribution and situation of passengers, wherein said allowing is performed based on the determined current distribution and current situation of passengers comprising adapting the control of the manoeuvring in accordance with the determined current distribution and determined current situation of passengers. The computer program P may be stored in an executable 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 function it should be understood that data processing device 510 performs a certain 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 communications port 599 by means of a data bus 515. Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512. Separate memory 560 is adapted for communication with data processing device 510 via a data bus 511. Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control units 100; 200; 300 may be connected.
When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above. The signals received on data port 599 can be used by apparatus 500 for determining criteria for allowing a vehicle to pass said road section as a basis for said manoeuvring. The signals used for determining criteria for allowing a vehicle to pass said road section as a basis for said manoeuvring comprises signals for detecting appearing oncoming vehicles approaching said road section by means of detection means provided on board of said vehicle to be manoeuvred. The signals used for detecting appearing oncoming vehicles approaching said road section by means of detection means provided on board of said vehicle to be manoeuvred comprises signals for determining the category of an oncoming vehicle, said category comprising one or more of: emergency vehicles, buses, trucks, cars and vulnerable road users. The signals used for detecting appearing oncoming vehicles approaching said road section comprises signals for detecting the distance to an oncoming vehicle. The signals used for detecting appearing oncoming vehicles approaching said road section comprises signals for detecting the distance for an oncoming vehicle to said road section. The signals used for detecting appearing oncoming vehicles approaching said road section comprises signals for detecting the speed of an oncoming vehicle. The signals used for determining criteria for allowing a vehicle to pass said road section as a basis for said manoeuvring comprises signals for detecting the distance to said road section for said vehicle to be manoeuvred. The signals used for determining criteria for allowing a vehicle to pass said road section as a basis for said manoeuvring comprises signals for determining the extension of said road section. The signals received on data port 599 can be used by apparatus 500 for presenting the determined criteria for allowing a vehicle to pass said road section for the operator of the vehicle. The signals received on data port 599 can be used by apparatus 500 for controlling the manoeuvring of said vehicle based upon said determined criteria for allowing a vehicle to pass said road section. The signals received on data port 599 can be used by apparatus 500 for determining current distribution and situation of passengers, wherein said allowing is performed based on the determined current distribution and current situation of passengers comprising adapting the control of the manoeuvring in accordance with the determined current distribution and determined current situation of passengers.
Parts of the methods described herein can be performed by apparatus 500 by means of data processing device 510 running the program stored in separate 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 present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated.

Claims (23)

1. A method for facilitating the manoeuvring of a vehicle (1) on a road (R), said road comprising a road section (RS) only allowing passage in one direction at a time of a vehicle (1, 2), comprising the steps of: determining (S1) criteria for allowing a vehicle to pass said road section (RS) as a basis for said manoeuvring, characterized in that the step of determining the criteria for allowing a vehicle to pass said road section comprises detecting (S1a) appearing oncoming vehicles (2) approaching said road section (RS) by means of detection means (112) comprising one or more camera units and/or one or more laser scanner units and/or one or more radar units and/or one or more sonar units provided on board of said vehicle (1) to be manoeuvred.
2. A method according to claim 1, wherein the step of detecting (S1a) appearing oncoming vehicles approaching said road section (RS) comprises the step of determining the category of an oncoming vehicle (2), said category comprising one or more of: emergency vehicles, buses, trucks, cars and vulnerable road users.
3. A method according to claim 1 or 2, wherein the step of detecting (S1a) appearing oncoming vehicles (2) approaching said road section (RS) comprises the step of detecting the distance (D) to an oncoming vehicle (2).
4. A method according to any of claims 1-3, wherein the step of detecting (S1a) appearing oncoming vehicles (2) approaching said road section (RS) comprises the step of detecting the distance (D2) for an oncoming vehicle (2) to said road section (RS).
5. A method according to any of claims 1-4, wherein the step of detecting appearing oncoming vehicles (2) approaching said road section (RS) comprises the step of detecting the speed of an oncoming vehicle (2).
6. A method according to any of claims 1 -5, wherein the step of determining the criteria for allowing a vehicle to pass said road section (RS) comprises the step of detecting the distance to said road section (RS) for said vehicle (1) to be manoeuvred.
7. A method according to any of claims 1-6, wherein the step of determining the criteria for allowing a vehicle to pass said road section (RS) comprises the step of determining the extension (L) of said road section (RS).
8. A method according to any of claims 1-7, comprising the steps of presenting the determined criteria for allowing a vehicle to pass said road section (RS) for the operator of the vehicle.
9. A method according to any of claims 1 -8, comprising the step of controlling the manoeuvring of said vehicle (1) based upon said determined criteria for allowing a vehicle to pass said road section (RS).
10. A method according to claim 9, comprising the step of determining current distribution and situation of passengers, wherein said allowing of passage is performed based on the determined current distribution and current situation of passengers comprising adapting the control of the manoeuvring in accordance with the determined current distribution and determined current situation of passengers.
11. A system (I) for facilitating the manoeuvring of a vehicle (1) on a road (R), said road comprising a road section (RS) only allowing passage in one direction at a time of a vehicle (1, 2), comprising means (110) for determining criteria for allowing a vehicle to pass said road section (RS) as a basis for said manoeuvring, characterized in that the means (110) for determining the criteria for allowing a vehicle (1, 2) to pass said road section (RS) comprises means (112) for detecting appearing oncoming vehicles (2) approaching said road section (RS) provided on board of said vehicle (1) to be manoeuvred, said detection means (112) comprising one or more camera units and/or one or more laser scanner units and/or one or more radar units and/or one or more sonar units.
12. A system according to claim 11, wherein the means (112) for detecting appearing oncoming vehicles (2) approaching said road section (RS) comprises means (112a) for determining the category of an oncoming vehicle (2), said category comprising one or more of: emergency vehicles, buses, trucks, cars and vulnerable road users.
13. A system according to claim 11 or 12, wherein the means (112) for detecting appearing oncoming vehicles (2) approaching said road section (RS) comprises means (112b) for detecting the distance (D) to an oncoming vehicle (2).
14. A system according to any of claims 11-13, wherein the means (112) for detecting appearing oncoming vehicles (2) approaching said road section (RS) comprises means (112c) for detecting the distance (D2) for an oncoming vehicle (2) to said road section (RS).
15. A system according to any of claims 11-14, wherein the means (112) for detecting appearing oncoming vehicles (2) approaching said road section (RS) comprises means (112d) for detecting the speed (v2) of an oncoming vehicle (2).
16. A system according to any of claims 11-15, wherein the means (110) for determining the criteria for allowing a vehicle to pass said road section (RS) comprises means (114) for detecting the distance (D1) to said road section (RS) for said vehicle (1) to be manoeuvred.
17. A system according to any of claims 11-16, wherein the means (110) for determining the criteria for allowing a vehicle to pass said road section (RS) comprises means (116) for determining the extension (L) of said road section (RS).
18. A system according to any of claims 11-17, comprising means (120) for presenting the determined criteria for allowing a vehicle to pass said road section (RS) for the operator of the vehicle.
19. A system according to any of claims 11-18, comprising means (130) for controlling the manoeuvring of said vehicle (11) based upon said determined criteria for allowing a vehicle to pass said road section (RS).
20. A system according to claim 19, comprising means (140) for determining current distribution and situation of passengers wherein said allowing of passage is configured to be performed based on the determined current distribution and current situation of passengers comprising adapting the control of the manoeuvring in accordance with the determined current distribution and determined current situation of passengers.
21. A vehicle (1) comprising a system (I) according to any of claims 11 -20.
22. A computer program (P) for facilitating the manoeuvring of a vehicle (1) on a road, said road comprising a road section only allowing passage in one direction at a time of a vehicle, said computer program (P) comprising program code which, when run on an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), causes the electronic control unit to perform the steps according to claim 1-10.
23. A computer program product comprising a digital storage medium storing the computer program according to claim 22.
SE1550506A 2015-04-27 2015-04-27 Method and system for facilitating the manoeuvring of a vehicle on a road SE541294C2 (en)

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SE1550506A SE541294C2 (en) 2015-04-27 2015-04-27 Method and system for facilitating the manoeuvring of a vehicle on a road
BR102016008216A BR102016008216A2 (en) 2015-04-27 2016-04-13 method and system to facilitate maneuvering of a vehicle on a road
DE102016004737.2A DE102016004737A1 (en) 2015-04-27 2016-04-19 Method and system for facilitating the maneuvering of a vehicle on a road

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US20110137520A1 (en) * 2009-12-07 2011-06-09 At&T Mobility Ii Llc Devices, Systems and Methods for Controlling Permitted Settings on a Vehicle
US20120132176A1 (en) * 2010-11-30 2012-05-31 Fuji Jukogyo Kabushiki Kaisha Idling control apparatus for vehicle

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US20110137520A1 (en) * 2009-12-07 2011-06-09 At&T Mobility Ii Llc Devices, Systems and Methods for Controlling Permitted Settings on a Vehicle
US20120132176A1 (en) * 2010-11-30 2012-05-31 Fuji Jukogyo Kabushiki Kaisha Idling control apparatus for vehicle

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DE102016004737A1 (en) 2016-10-27
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