SE541491C2 - Method and system for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users - Google Patents

Abstract

The present invention relates to a method for considering safety aspects related to operation of a vehicle (V1) in an environment comprising vulnerable road users (VRU1, VRU2, VRU3). Said vehicle has determined vehicle dimensions generating a certain vehicle behaviour during operation of the vehicle. The method comprises the steps of: determining changes of said vehicle dimensions; determining whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation; determining vulnerable road users (VRU1, VRU2, VRU3) along the route of said vehicle; if a changed vehicle behaviour is determined, determining whether safety risks for one or more of said vulnerable road users (VRU1, VRU2, VRU3) are at hand based on said determined changed vehicle behaviour and said determined vulnerable road users along the route of said vehicle (V1); and, if it is determined that safety risks for one or more of said vulnerable road users (VRU1, VRU2, VRU3) are at hand, adapting the operation of said vehicle (V1) to avoid said safety risks.The present invention also relates to a system for considering safety aspects related to operation of a vehicle. The present invention also relates to a vehicle. The present invention also relates to a computer program and a computer readable medium.

Description

METHOD AND SYSTEM FOR CONSIDERING SAFETY ASPECTS RELATED TO OPERATION OF A VEHICLE IN AN ENVIRONMENT COMPRISING VULNERABLE ROAD USERS TECHNICAL FIELD The invention relates to a method for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users. The invention also relates to a system for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users. The invention also relates to a vehicle. The invention in addition relates to a computer program and a computer readable medium.

BACKGROUND ART Vulnerable road users being present in connection to vehicles such as trucks and buses may be subjected to risks depending on behaviour of the vulnerable road users and the operation of the vehicle in connection to vulnerable road users.

Vulnerable road users such as pedestrians and bicyclists may be subjected to risks in situations such as road crossings, e.g. when vehicles such as trucks and buses turning. Normally drivers of such vehicles have good control of the behaviour of the vehicle comprising space occupied by the vehicle during drive in such situations.

There is however always important to find ways to improve safety for vehicles operating in an environment comprising vulnerable road users.

OBJECTS OF THE INVENTION An object of the present invention is to provide a method for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users.

Another object of the present invention is to provide a system for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users.

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 readable medium, 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 considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users. Said vehicle has determined vehicle dimensions generating a certain vehicle behaviour during operation of the vehicle. The method comprises the steps of: determining by determining means changes of said vehicle dimensions; determining by determining means whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation; determining by determining means vulnerable road users along the route of said vehicle; if a changed vehicle behaviour is determined, determining by determining means whether safety risks for one or more of said vulnerable road users are at hand based on said determined changed vehicle behaviour and said determined vulnerable road users along the route of said vehicle; and, if it is determined that safety risks for one or more of said vulnerable road users are at hand, adapting by adapting means the operation of said vehicle to avoid said safety risks.

Herby safety aspects related to operation of a vehicle may be improved in that the risk of colliding with vulnerable road users due to changed vehicle behaviour due to changed vehicle dimensions may be reduced.

The step of determining whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation may comprise utilizing any suitable processing unit such as an electronic control unit.

The step of determining whether safety risks for one or more of said vulnerable road users are at hand may comprise utilizing any suitable processing unit such as an electronic control unit.

According to an embodiment of the method said changes of said vehicle dimensions involves one or more of the vehicle characteristics: width distribution, length distribution, height distribution.

Changed width distribution comprises changed width/widths and the location/locations of the changed width/widths on the vehicle. Changed length distribution comprises changed length/lengths and the location/locations of the changed length/lengths on the vehicle. Changed height distribution comprises changed height/heights and the location/locations of the changed height/heights on the vehicle.

According to an embodiment of the method said vehicle characteristics comprises one or more of: load configuration, vehicle equipment, axle configuration.

Load configuration may comprise any kind of load changing width distribution, length distribution and/or height distribution. Vehicle equipment may comprise any kind of vehicle equipment changing width distribution, length distribution and/or height distribution such as e.g. a crane or the like. Axle configuration may comprise any kind of axle configuration changing width distribution, length distribution and/or height distribution, such as e.g. wheel axle configuration where the wheel axle is changeable in the longitudinal direction of the vehicle and/or in the height direction of the vehicle.

According to an embodiment of the method the step of determining changes of said vehicle dimensions comprises utilizing on board sensing means of said vehicle for detecting said changes of said vehicle dimensions and/or utilizing a vehicle-to-vehicle communication arrangement for extracting information of changes of said vehicle dimensions determined by one or more other vehicles along the route of said vehicle and/or utilizing a vehicle-to-infrastructure communication arrangement for extracting information of changes of said vehicle dimensions determined by infrastructure along the route of said vehicle. Hereby changes of the vehicle dimensions may be determined in an efficient and accurate way. By utilizing more than one of said on board sensing means; said vehicle-to-vehicle communication arrangement and said vehicleto-infrastructure communication arrangement an even more accurate determination of changed vehicle dimensions may be obtained.

The on board sensing means of said vehicle may comprise one or more detectors arranged in connection said vehicle. The on board sensing means of said vehicle may comprise one or more camera units on board said vehicle, each camera unit comprising at least one camera, and/or one or more laser scanner units on board said vehicle, each laser scanner unit comprising at least one laser scanner, and/or one or more radar units on board said vehicle, each radar unit comprising at least one radar. Each camera unit may comprise any suitable means for directing said at least one camera. Each laser scanner unit may comprise any suitable means for directing said at least one laser scanner. Each radar unit may comprise any suitable means for directing said at least one radar.

Changes of said vehicle dimensions determined by one or more other vehicles along the route of said vehicle may be determined by utilizing any suitable on board sensing means of said one or more other vehicles such as on board sensing means corresponding to the sensing means of said vehicle.

Changes of said vehicle dimensions determined by infrastructure along the route of said vehicle may be determined by utilizing any suitable sensing means of said infrastructure such as sensing means corresponding to the sensing means of said vehicle.

According to an embodiment of the method said determined changes of said vehicle dimensions utilizing on board sensing means of said vehicle are communicated within a vehicle-to-vehicle communication arrangement to other vehicles.

According to an embodiment of the method said determined changes of said vehicle dimensions utilizing on board sensing means of said vehicle are communicated within a vehicle-to-infrastructure communication arrangement to infrastructure along the route of the vehicle.

According to an embodiment of the method said determined changes of said vehicle dimensions utilizing a vehicle-to-vehicle communication arrangement for extracting information of changes of said vehicle dimensions determined by one or more other vehicles along the route of said vehicle may further be communicated to other vehicles along the route of said vehicle. Thus, according to an embodiment of the method, changes of said vehicle dimensions determined by one or more other vehicles along the route of said vehicle are communicated to other vehicles along the route of said vehicle utilizing a vehicle-to-vehicle communication arrangement.

According to an embodiment of the method said determined changes of said vehicle dimensions utilizing a vehicle-to-infrastructure communication arrangement for extracting information of changes of said vehicle dimensions determined by infrastructure along the route of said vehicle may further be communicated to other vehicles along the route of said vehicle. Thus, according to an embodiment of the method, changes of said vehicle dimensions determined by infrastructure along the route of said vehicle are communicated to other vehicles along the route of said vehicle utilizing a vehicle-to-infrastructure communication arrangement.

According to an embodiment of the method the step of determining vulnerable road users along the route of said vehicle comprises utilizing on board sensing means of said vehicle for detecting said vulnerable road users. Hereby vulnerable road users may be determined in an efficient and accurate way.

The on board sensing means of said vehicle may comprise one or more detectors arranged in connection said vehicle. The on board sensing means of said vehicle may comprise one or more camera units on board said vehicle, each camera unit comprising at least one camera, and/or one or more laser scanner units on board said vehicle, each laser scanner unit comprising at least one laser scanner, and/or one or more radar units on board said vehicle, each radar unit comprising at least one radar. Each camera unit may comprise any suitable means for directing said at least one camera. Each laser scanner unit may comprise any suitable means for directing said at least one laser scanner. Each radar unit may comprise any suitable means for directing said at least one radar.

The on board sensing means of said vehicle for detecting changed vehicle dimensions and the on board sensing means of said vehicle for detecting vulnerable road users may be the same sensing means, partly the same sensing means or different sensing means.

According to an embodiment of the method the step of determining vulnerable road users along the route of said vehicle comprises utilizing a vehicle-tovehicle communication arrangement for extracting information of vulnerable road users determined by one or more other vehicles along the route of said vehicle. Vulnerable road users determined by one or more other vehicles along the route of said vehicle may be determined by utilizing any suitable on board sensing means of said one or more other vehicles such as on board sensing means corresponding to the sensing means of said vehicle.

According to an embodiment of the method the step of determining vulnerable road users along the route of said vehicle comprises utilizing a vehicle-toinfrastructure communication arrangement for extracting information of vulnerable road users determined by infrastructure along the route of said vehicle. Vulnerable road users determined by infrastructure along the route of said vehicle may be determined by utilizing any suitable sensing means of said infrastructure such as sensing means corresponding to the sensing means of said vehicle.

The step of determining vulnerable road users along the route of said vehicle may thus comprise utilizing on board sensing means of said vehicle for detecting said vulnerable road users and/or utilizing a vehicle-to-vehicle communication arrangement for extracting information of vulnerable road users determined by one or more other vehicles along the route of said vehicle and/or utilizing a vehicle-to-infrastructure communication arrangement for extracting information of vulnerable road users determined by infrastructure along the route of said vehicle.

According to an embodiment of the method said determined vulnerable road users utilizing on board sensing means of said vehicle are communicated within a vehicle-to-vehicle communication arrangement to other vehicles.

According to an embodiment of the method said determined vulnerable road users utilizing on board sensing means of said vehicle are communicated within a vehicle-to-infrastructure communication arrangement to infrastructure along the route of the vehicle.

According to an embodiment of the method the step of determining whether safety risks for one or more of said vulnerable road users are at hand comprises determining whether there is a risk for the vehicle colliding with one or more of said vulnerable road users, and wherein the step of adapting the operation of said vehicle to avoid said safety risks comprises adapting the operation of said vehicle to avoid said risk for the vehicle colliding with one or more of said vulnerable road users.

According to an embodiment of the method adapted operation of said vehicle is communicated within a vehicle-to-vehicle communication arrangement to other vehicles.

According to an embodiment of the method adapted operation of said vehicle is communicated within a vehicle-to-infrastructure communication arrangement to infrastructure along the route of the vehicle.

Specifically an object of the invention is achieved by a system for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users. Said vehicle has determined vehicle dimensions generating a certain vehicle behaviour during operation of the vehicle. The system comprises means for determining changes of said vehicle dimensions; means for determining whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation; means for determining vulnerable road users along the route of said vehicle; means for determining whether safety risks for one or more of said vulnerable road users are at hand based on said determined changed vehicle behaviour and said determined vulnerable road users along the route of said vehicle if a changed vehicle behaviour is determined; and means for adapting the operation of said vehicle to avoid said safety risks if it is determined that safety risks for one or more of said vulnerable road users are at hand.

According to an embodiment of the system said changes of said vehicle dimensions involves one or more of the vehicle characteristics: width distribution, length distribution, height distribution.

According to an embodiment of the system said vehicle characteristics comprises one or more of: load configuration, vehicle equipment, axle configuration.

According to an embodiment of the system the means for determining changes of said vehicle dimensions comprises on board sensing means of said vehicle for detecting said changes of said vehicle dimensions and/or a vehicle-tovehicle communication arrangement for extracting information of changes of said vehicle dimensions determined by one or more other vehicles along the route of said vehicle and/or a vehicle-to-infrastructure communication arrangement for extracting information of changes of said vehicle dimensions determined by infrastructure along the route of said vehicle.

According to an embodiment of the system the step of determining vulnerable road users along the route of said vehicle comprises on board sensing means of said vehicle for detecting said vulnerable road users.

According to an embodiment of the system the means for determining whether safety risks for one or more of said vulnerable road users are at hand comprises means for determining whether there is a risk for the vehicle colliding with one or more of said vulnerable road users, and wherein the means for adapting the operation of said vehicle to avoid said safety risks comprises means for adapting the operation of said vehicle to avoid said risk for the vehicle colliding with one or more of said vulnerable road users.

Specifically an object of the invention is achieved by a vehicle comprising a system as set out herein.

Specifically an object of the invention is achieved by a computer program for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users, said computer program comprising program code which, when run on an electronic control unit or another computer connected to the electronic control unit, causes the electronic control unit to perform methods as set out herein.

Specifically an object of the invention is achieved by a computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method as set out herein.

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. 1a schematically illustrates a side view of a vehicle according to the present invention; Fig. 1b schematically illustrates a front view of the vehicle in fig. 1a; Fig. 2 schematically illustrates a plan view of the vehicle in fig. 1 operating in an environment comprising vulnerable road users according to an embodiment of the present invention.

Fig. 3 schematically illustrates a block diagram of a system for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users; Fig. 4 schematically illustrates a block diagram of a method for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users; 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, electrical wire, or a non-physical connector such as a wireless connection, for example a radio or microwave link.

Hereinafter the term “vulnerable road user” refers to any road user in association with a vehicle and may be subject to any kind of accident or incident in connection to said vehicle such as a pedestrian, a bicyclist, an animal such as a dog, a person in a wheel chair, a baby carriage, or the like.

Hereinafter the term “changed vehicle behaviour during vehicle operation” refers to whether space occupied by the vehicle during vehicle operation is changed, e.g. during turning and/or during straight drive, said space occupied by the vehicle comprising lateral space, longitudinal space, height comprising lateral height and/or longitudinal height.

Fig. 1a schematically illustrates a side view of a vehicle V1 according to the present invention and fig. 1 b schematically illustrates a front view of the vehicle V1 in fig. 1a. The exemplified vehicle V1 is a heavy vehicle in the shape of a truck. The vehicle V1 according to the present invention could be any suitable vehicle such as a bus or a car. The vehicle according to the present invention could be any suitable vehicle such as a driver intended vehicle, an autonomous vehicle or a semi-autonomous vehicle. The exemplified vehicle V1 has a cab 1 intended for a driver and a load carrying unit 2. The vehicle V1 may comprise or be comprised in a system I for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users according to the present invention.

The vehicle V1 has determined vehicle dimensions L1, L2, W1, H1, H2. Said determined vehicle dimensions comprises the vehicle length L1, the length between wheel axles L2, the width W1 of the vehicle and the height H1 of the cab 1 and height H2 of the vehicle load unit 2. Said determined vehicle dimensions L1, L2, W1, H1, H2 thus constitutes the normal dimensions of said vehicle V1.

The normal dimensions of the vehicle V1 have been changed by changing the vehicle characteristics by means of changed load configuration C1, C2, C3.

The changed load configuration comprises load C1 with a certain maximum height H2 which is higher than the maximum height H1 of the cab 1, thus changing the height distribution of the vehicle V1.

The changed load configuration comprises load C2 with a certain extension L4 projecting from the back of the load carrying unit 2 thus providing a total length L3 of the vehicle which is longer than the normal length of the vehicle V1, thus changing the length distribution of the vehicle. The rearwardly projecting load C2 has a height H4 above the ground, i.e. road R.

The changed load configuration comprises load C3 with a certain width W2 which is wider than the normal width W1 of the vehicle, thus changing the width distribution of the vehicle V1. The laterally projecting load C3 has a height H5 above the ground, i.e. road R.

The vehicle according to the present invention could have any kind of changed dimensions such as a load, a crane or the like, projecting only on one side. A changed dimension may also involve a projection on the front of the vehicle which to a great extent may affect the operational behaviour of the vehicle.

Fig. 2 schematically illustrates a plan view of the vehicle V1 in fig. 1 a operating in an environment comprising vulnerable road users VRU1, VRU2, VRU3 according to an embodiment of the present invention.

The vehicle V1 is approaching a crossing and may e.g. have the intention to turn right at the crossing.

Vulnerable road users VRU1, VRU2, VRU3, comprising a bicyclist VRU1 cycling on the right side of the road R in front of the vehicle V1 and pedestrians VRU2, VRU3 standing at the sidewalk at the crossing close to the road R.

A vehicle V2 is travelling in the opposite direction on the other side of the road R.

In order to consider safety aspects related to operation of the vehicle V1 in said environment comprising vulnerable road users VRU1, VRU2, VRU3 the thus mentioned changes of said vehicle dimensions are determined.

The changes of said vehicle dimensions may be determined utilizing on board sensing means 112 of said vehicle for detecting said changes of said vehicle dimensions. Thus, one or more vehicle sensors on board the vehicle V1 may be utilized for detecting said changed height distribution, i.e. the changed height and the location/locations of the changed height on the vehicle V1, and for detecting said changed width distribution, i.e. the changed width and the location/locations of the changed width on the vehicle V1, and for detecting said changed length distribution, i.e. the changed length and the location/locations of the changed length on the vehicle V1.

The changes of said vehicle dimensions may be determined utilizing a vehicleto-vehicle communication arrangement for extracting information of changes of said vehicle dimensions, here determined by said vehicle V2 on the other side of the road R. Said vehicle V2 may thus utilize available vehicle sensors for detecting said changes of said vehicle dimensions on the vehicle V1.

The changes of said vehicle dimensions may be determined utilizing a vehicleto-infrastructure communication arrangement for extracting information of changes of said vehicle dimensions determined by infrastructure IS along the route of said vehicle. Said infrastructure may thus utilize available sensors for detecting said changes of said vehicle dimensions on the vehicle V1.

It is further determined whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation. Here it may be determined that the height H5 of the laterally projecting load C3 will generate a changed behaviour of the vehicle in that e.g. said bicyclist and/or said pedestrians may be hit by the lateral projection of that load C3.

Here it may be determined that the projection of load C2 will generate a changed behaviour of the vehicle when turning so that that e.g. said bicyclist and/or said pedestrians may be hit by the rearward projection of that load C2.

Vulnerable road users VRU1, VRU2, VRU3 along the route of said vehicle V1 are determined. The vulnerable road users VRU1, VRU2, VRU3 may be determined utilizing on board sensing means 132 of said vehicle V1 for detecting vulnerable road users VRU1, VRU2, VRU3. Thus, one or more vehicle sensors on board the vehicle V1 may be utilized for detecting said vulnerable road users VRU1, VRU2, VRU3. Here the bicyclist VRU1 and the pedestrians VRU2, VRU3 are detected.

It is determined whether safety risks for one or more of said vulnerable road users VRU1, VRU2, VRU3 are at hand based on said determined changed vehicle behaviour and said determined vulnerable road users along the route of said vehicle V1. If it is determined that safety risks for one or more of said vulnerable road users are at hand, i.e. if there is a risk for collision, the operation of said vehicle V1 is adapted to avoid said safety risks. Here the vehicle V1 may adapt the operation by passing the bicyclist VRU1 with a greater margin than with the normal width of the vehicle and adapt the turn by having a greater margin to the pedestrians VRU2, VRU3.

Fig. 3 schematically illustrates a block diagram of a system I for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users. Said vehicle has determined vehicle dimensions generating a certain vehicle behaviour during operation of the vehicle.

The system I comprises an electronic control unit 100.

The system I comprises means 110 for determining changes of said vehicle dimensions According to an embodiment of the system said changes of said vehicle dimensions involves one or more of the vehicle characteristics: width distribution, length distribution, height distribution.

According to an embodiment of the system said vehicle characteristics comprises one or more of: load configuration, vehicle equipment, axle configuration.

According to an embodiment of the system the means 110 for determining changes of said vehicle dimensions comprises on board sensing means 112 of said vehicle for detecting said changes of said vehicle dimensions.

The on board sensing means 112 of said vehicle may comprise one or more detectors arranged in connection said vehicle. The on board sensing means 112 of said vehicle may comprise one or more camera units on board said vehicle, each camera unit comprising at least one camera, and/or one or more laser scanner units on board said vehicle, each laser scanner unit comprising at least one laser scanner, and/or one or more radar units on board said vehicle, each radar unit comprising at least one radar. Each camera unit may comprise any suitable means for directing said at least one camera. Each laser scanner unit may comprise any suitable means for directing said at least one laser scanner. Each radar unit may comprise any suitable means for directing said at least one radar.

According to an embodiment of the system I the means 110 for determining changes of said vehicle dimensions comprises a vehicle-to-vehicle communication arrangement 114 for extracting information of changes of said vehicle dimensions determined by one or more other vehicles along the route of said vehicle. Changes of said vehicle dimensions determined by one or more other vehicles along the route of said vehicle may be determined by means of any suitable on board sensing means of said one or more other vehicles such as on board sensing means corresponding to the sensing means of said vehicle.

According to an embodiment of the system I said vehicle-to-vehicle communication arrangement 114 is arranged to communicate determined changes of said vehicle dimensions to one or more other vehicles along the route of said vehicle. The determined changes of said vehicle dimensions may be determined by said on board sensing means 112 of said vehicle and/or other vehicles and/or infrastructure.

According to an embodiment of the system the means 110 for determining changes of said vehicle dimensions comprises a vehicle-to-infrastructure communication arrangement 116 for extracting information of changes of said vehicle dimensions determined by infrastructure along the route of said vehicle. Changes of said vehicle dimensions determined by infrastructure along the route of said vehicle may be determined by means of any suitable sensing means of said infrastructure such as sensing means corresponding to the sensing means of said vehicle.

According to an embodiment of the system I said vehicle-to-infrastructure communication arrangement 116 is arranged to communicate determined changes of said vehicle dimensions to infrastructure and/or one or more other vehicles along the route of said vehicle. The determined changes of said vehicle dimensions may be determined by said on board sensing means 112 of said vehicle and/or other vehicles and/or infrastructure.

The system I comprises means 120 for determining whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation. The means 120 for determining whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation may be comprised in said electronic control unit 100. The means 120 for determining whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation may thus comprise any suitable processing unit such as an electronic control unit.

The system I comprises means 130 for determining vulnerable road users along the route of said vehicle.

According to an embodiment of the system the means 130 for determining vulnerable road users along the route of said vehicle comprises on board sensing means of said vehicle 132 for detecting said vulnerable road users.

The on board sensing means 132 of said vehicle may comprise one or more detectors arranged in connection said vehicle. The on board sensing means 132 of said vehicle may comprise one or more camera units on board said vehicle, each camera unit comprising at least one camera, and/or one or more laser scanner units on board said vehicle, each laser scanner unit comprising at least one laser scanner, and/or one or more radar units on board said vehicle, each radar unit comprising at least one radar. Each camera unit may comprise any suitable means for directing said at least one camera. Each laser scanner unit may comprise any suitable means for directing said at least one laser scanner. Each radar unit may comprise any suitable means for directing said at least one radar.

The on board sensing means 132 of said vehicle may comprise means for detecting direction of movement of said vulnerable road users. The means for detecting direction of movement of said vulnerable road users may comprise any suitable detection means. The means for detecting direction of movement of vulnerable road users comprises according to an embodiment one or more camera units on board said vehicle, each camera unit comprising at least one camera.

The on board sensing means 132 of said vehicle may comprise means for determining the position of said vulnerable road users relative to said vehicle. The means for determining the position of said vulnerable road users may comprise any suitable detection means such as one or more camera units, each camera unit comprising at least one camera, and/or one or more sonar sensor units, each sonar unit comprising at least one sonar.

The on board sensing means 112 of said vehicle for detecting changed vehicle dimensions and the on board sensing means 132 of said vehicle for detecting vulnerable road users may be the same sensing means, partly the same sensing means or different sensing means.

According to an embodiment of the system the means 130 for determining vulnerable road users along the route of said vehicle comprises a vehicle-tovehicle communication arrangement 134 for extracting information of vulnerable road users determined by one or more other vehicles along the route of said vehicle. Vulnerable road users determined by one or more other vehicles along the route of said vehicle may be determined by means of any suitable on board sensing means of said one or more other vehicles such as on board sensing means corresponding to the sensing means of said vehicle.

According to an embodiment of the system I said vehicle-to-vehicle communication arrangement 134 is arranged to communicate determined vulnerable road users along the route of said vehicle to one or more other vehicles along the route of said vehicle. The determined vulnerable road users along the route of said vehicle may be determined by said on board sensing means 132 of said vehicle and/or other vehicles and/or infrastructure.

According to an embodiment of the system the means 130 for determining vulnerable road users along the route of said vehicle comprises a vehicle-toinfrastructure communication arrangement 136 for extracting information of vulnerable road users along the route of said vehicle determined by infrastructure along the route of said vehicle. Vulnerable road users determined by infrastructure along the route of said vehicle may be determined by means of any suitable on sensing means of said infrastructure such as sensing means corresponding to the sensing means of said vehicle.

According to an embodiment of the system I said vehicle-to-infrastructure communication arrangement 136 is arranged to communicate determined vulnerable road users along the route of said vehicle to infrastructure and/or one or more other vehicles along the route of said vehicle. The determined vulnerable road users along the route of said vehicle may be determined by said on board sensing means 132 of said vehicle and/or other vehicles and/or infrastructure.

The system I comprises means 140 for determining whether safety risks for one or more of said vulnerable road users are at hand based on said determined changed vehicle behaviour and said determined vulnerable road users along the route of said vehicle if a changed vehicle behaviour is determined. The means 140 for determining whether safety risks for one or more of said vulnerable road users are at hand is may be comprised in the electronic control unit 100. The means 140 for determining whether safety risks for one or more of said vulnerable road users are at hand may thus comprise any suitable processing unit such as an electronic control unit.

According to an embodiment of the system I the means 140 for determining whether safety risks for one or more of said vulnerable road users are at hand comprises means 140a for determining whether there is a risk for the vehicle colliding with one or more of said vulnerable road users.

The system I comprises means 150 for adapting the operation of said vehicle to avoid said safety risks if it is determined that safety risks for one or more of said vulnerable road users are at hand.

The means 150 for adapting the operation of said vehicle to avoid said safety risks comprises means 150a for adapting the operation of said vehicle to avoid said risk for the vehicle colliding with one or more of said vulnerable road users.

According to an embodiment of the system I said means 150 for adapting the operation of said vehicle to avoid said safety risks if it is determined that safety risks for one or more of said vulnerable road users are at hand comprises means 152 for automatically adapting the operation of said vehicle.

The means 152 for automatically adapting the operation of said vehicle may comprise automatically steering the vehicle so as to avoid collision with vulnerable road users. The means 152 for automatically adapting the operation of said vehicle may comprise automatically adapting the vehicle speed so as to avoid collision with vulnerable road users. The means 152 for automatically adapting the operation of said vehicle may comprise automatically activated vehicle brakes so as to avoid collision with vulnerable road users.

According to an embodiment of the system I said means 150 for adapting the operation of said vehicle to avoid said safety risks if it is determined that safety risks for one or more of said vulnerable road users are at hand comprises means 154 for presenting a warning for the driver comprising information of how to adapt the vehicle operation.

The means 154 for presenting a warning for the driver comprising information of how to adapt the vehicle operation may comprise information of how to adapt steering of the vehicle so as to avoid collision with vulnerable road users. The means 154 for presenting a warning for the driver comprising information of how to adapt the vehicle operation may comprise information of how to adapt the vehicle speed so as to avoid collision with vulnerable road users. The means 154 for presenting a warning for the driver comprising information of how to adapt the vehicle operation may comprise information about activating vehicle brakes so as to avoid collision with vulnerable road users.

The means 154 for presenting a warning for the driver comprising information of how to adapt the vehicle operation may comprise visual means for visual warning. The visual means for visual warning comprises according to an embodiment one or more display units on e.g. the instrument panel, a headup-display on the windshield or the like, for displaying said warning comprising information of how to adapt the vehicle operation.

The means 154 for presenting a warning for the driver comprising information of how to adapt the vehicle operation may comprise sound means for audible warning such as a voice message or the like comprising information of how to adapt the vehicle operation.

The means 154 for presenting a warning for the driver comprising information of how to adapt the vehicle operation may comprise tactile means 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 risk relating to said vulnerable road users due to changed vehicle dimensions.

According to an embodiment of the system I any of said vehicle-to-vehicle communication arrangements 114, 134 is arranged to communicate adapted operation of said vehicle to other vehicles along the route of the vehicle.

According to an embodiment of the system I any of said vehicle-toinfrastructure communication arrangements 116, 136 is arranged to communicate adapted operation of said vehicle to infrastructure along the route of the vehicle.

The electronic control unit 100 is operably connected to the means 110 for determining changes of said vehicle dimensions 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 about changes of said vehicle dimensions.

The electronic control unit 100 is operably connected to the on board sensing means 112 of said vehicle 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 about changes of said vehicle dimensions.

The electronic control unit 100 is operably connected to the vehicle-to-vehicle communication arrangement 114 for extracting information of changes of said vehicle dimensions determined by one or more other vehicles along the route of said vehicle 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 about changes of said vehicle dimensions.

The electronic control unit 100 is operably connected to the vehicle-toinfrastructure communication arrangement 116 for extracting information of changes of said vehicle dimensions determined by infrastructure along the route of said vehicle 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 about changes of said vehicle dimensions.

The electronic control unit 100 is operably connected to the means 120 for determining whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation via a link 20a. The electronic control unit 100 is via the link 20a arranged to send a signal to said means 120 representing data about changes of said vehicle dimensions.

The electronic control unit 100 is operably connected to the means 120 for determining whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation via a link 20b. The electronic control unit 100 is via the link 20b arranged to receive a signal from said means 120 representing data about changed vehicle behaviour during said operation.

The electronic control unit 100 is operably connected to the means 130 for determining vulnerable road users along the route of said vehicle via a link 30. The electronic control unit 100 is via the link 30 arranged to receive a signal from said means 130 representing data about vulnerable road users along the route of said vehicle.

The electronic control unit 100 is operably connected to the on board sensing means 132 of said vehicle via a link 32. The electronic control unit 100 is via the link 32 arranged to receive a signal from said means 132 representing data about changes of said vehicle dimensions.

The electronic control unit 100 is operably connected to the vehicle-to-vehicle communication arrangement 134 for extracting information of vulnerable road users determined by one or more other vehicles along the route of said vehicle via a link 34. The electronic control unit 100 is via the link 34 arranged to receive a signal from said means 134 representing data about changes of said vehicle dimensions.

The electronic control unit 100 is operably connected to the vehicle-toinfrastructure communication arrangement 136 for extracting information of vulnerable road users determined by infrastructure along the route of said vehicle via a link 36. The electronic control unit 100 is via the link 36 arranged to receive a signal from said means 136 representing data about changes of said vehicle dimensions.

The electronic control unit 100 is operably connected to the means 140 for determining whether safety risks for one or more of said vulnerable road users are at hand based on said determined changed vehicle behaviour and said determined vulnerable road users along the route of said vehicle via a link 40a. The electronic control unit 100 is via the link 40a arranged to send a signal to said means 140 representing data about changed vehicle behaviour.

The electronic control unit 100 is operably connected to the means 140 for determining whether safety risks for one or more of said vulnerable road users are at hand based on said determined changed vehicle behaviour and said determined vulnerable road users along the route of said vehicle via a link 40b. The electronic control unit 100 is via the link 40b arranged to send a signal to said means 140 representing data about determined vulnerable road users along the route of said vehicle.

The electronic control unit 100 is operably connected to the means 140 for determining whether safety risks for one or more of said vulnerable road users are at hand based on said determined changed vehicle behaviour and said determined vulnerable road users along the route of said vehicle via a link 40c. The electronic control unit 100 is via the link 40c arranged to receive a signal from said means 140 representing data about safety risks for one or more of said vulnerable road users comprising data for risk of collision with one or more of said vulnerable road users.

The electronic control unit 100 is operably connected to the means 150 for adapting the operation of said vehicle to avoid said safety risks if it is determined that safety risks for one or more of said vulnerable road users are at hand via a link 50. The electronic control unit 100 is via the link 50 arranged to send a signal to said means 150 representing data for adapting the operation of said vehicle to avoid said safety risks comprising data for adapting the operation of said vehicle to avoid collision with one or more of said vulnerable road users.

The electronic control unit 100 is operably connected to the means 152 for automatically adapting the operation of said vehicle via a link 52. The electronic control unit 100 is via the link 52 arranged to send a signal to said means 152 representing data for automatically adapting the operation of said vehicle to avoid said safety risks comprising data for automatically adapting the operation of said vehicle to avoid collision with one or more of said vulnerable road users.

The electronic control unit 100 is operably connected to the means 154 for presenting a warning for the driver comprising information of how to adapt the vehicle operation via a link 54. The electronic control unit 100 is via the link 54 arranged to send a signal to said means 154 representing data for warning the driver comprising data of of how to adapt the vehicle operation to avoid said safety risks comprising avoiding collision with one or more of said vulnerable road users.

Fig. 4 schematically illustrates a block diagram of a method for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users. Said vehicle having determined vehicle dimensions generating a certain vehicle behaviour during operation of the vehicle.

According to the embodiment the method for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users comprises a step S1. In this step changes of said vehicle dimensions are determined.

According to the embodiment the method for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users comprises a step S2. In this step it is determined whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation.

According to the embodiment the method for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users comprises a step S3. In this step vulnerable road users along the route of said vehicle are determined.

According to the embodiment the method for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users comprises a step S4. In this step, if a changed vehicle behaviour is determined, it is determined whether safety risks for one or more of said vulnerable road users are at hand based on said determined changed vehicle behaviour and said determined vulnerable road users along the route of said vehicle.

According to the embodiment the method for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users comprises a step S5. In this step, if it is determined that safety risks for one or more of said vulnerable road users are at hand, the operation of said vehicle to avoid said safety risks is adapted.

The step of determining whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation may comprise utilizing any suitable processing unit such as an electronic control unit.

The step of determining whether safety risks for one or more of said vulnerable road users are at hand may comprise utilizing any suitable processing unit such as an electronic control unit.

According to an embodiment of the method said changes of said vehicle dimensions involves one or more of the vehicle characteristics: width distribution, length distribution, height distribution.

Changed width distribution comprises changed width/widths and the location/locations of the changed width/widths on the vehicle. Changed length distribution comprises changed length/lengths and the location/locations of the changed length/lengths on the vehicle. Changed height distribution comprises changed height/heights and the location/locations of the changed height/heights on the vehicle.

According to an embodiment of the method said vehicle characteristics comprises one or more of: load configuration, vehicle equipment, axle configuration.

Load configuration may comprise any kind of load changing width distribution, length distribution and/or height distribution. Vehicle equipment may comprise any kind of vehicle equipment changing width distribution, length distribution and/or height distribution such as e.g. a crane or the like. Axle configuration may comprise any kind of axle configuration changing width distribution, length distribution and/or height distribution, such as e.g. wheel axle configuration where the wheel axle is changeable in the longitudinal direction of the vehicle and/or in the height direction of the vehicle.

According to an embodiment of the method the step of determining changes of said vehicle dimensions comprises utilizing on board sensing means of said vehicle for detecting said changes of said vehicle dimensions and/or utilizing a vehicle-to-vehicle communication arrangement for extracting information of changes of said vehicle dimensions determined by one or more other vehicles along the route of said vehicle and/or utilizing a vehicle-to-infrastructure communication arrangement for extracting information of changes of said vehicle dimensions determined by infrastructure along the route of said vehicle.

The on board sensing means of said vehicle may comprise one or more detectors arranged in connection said vehicle. The on board sensing means of said vehicle may comprise one or more camera units on board said vehicle, each camera unit comprising at least one camera, and/or one or more laser scanner units on board said vehicle, each laser scanner unit comprising at least one laser scanner, and/or one or more radar units on board said vehicle, each radar unit comprising at least one radar. Each camera unit may comprise any suitable means for directing said at least one camera. Each laser scanner unit may comprise any suitable means for directing said at least one laser scanner. Each radar unit may comprise any suitable means for directing said at least one radar.

Changes of said vehicle dimensions determined by one or more other vehicles along the route of said vehicle may be determined by utilizing any suitable on board sensing means of said one or more other vehicles such as on board sensing means corresponding to the sensing means of said vehicle.

Changes of said vehicle dimensions determined by infrastructure along the route of said vehicle may be determined by utilizing any suitable sensing means of said infrastructure such as sensing means corresponding to the sensing means of said vehicle.

According to an embodiment of the method the step of determining vulnerable road users along the route of said vehicle comprises utilizing on board sensing means of said vehicle for detecting said vulnerable road users.

The on board sensing means of said vehicle may comprise one or more detectors arranged in connection said vehicle. The on board sensing means of said vehicle may comprise one or more camera units on board said vehicle, each camera unit comprising at least one camera, and/or one or more laser scanner units on board said vehicle, each laser scanner unit comprising at least one laser scanner, and/or one or more radar units on board said vehicle, each radar unit comprising at least one radar. Each camera unit may comprise any suitable means for directing said at least one camera. Each laser scanner unit may comprise any suitable means for directing said at least one laser scanner. Each radar unit may comprise any suitable means for directing said at least one radar.

According to an embodiment of the method the step of determining vulnerable road users along the route of said vehicle comprises utilizing a vehicle-tovehicle communication arrangement for extracting information of vulnerable road users determined by one or more other vehicles along the route of said vehicle. Vulnerable road users determined by one or more other vehicles along the route of said vehicle may be determined by utilizing any suitable on board sensing means of said one or more other vehicles such as on board sensing means corresponding to the sensing means of said vehicle.

According to an embodiment of the method the step of determining vulnerable road users along the route of said vehicle comprises utilizing a vehicle-toinfrastructure communication arrangement for extracting information of vulnerable road users determined by infrastructure along the route of said vehicle. Vulnerable road users determined by infrastructure along the route of said vehicle may be determined by utilizing any suitable sensing means of said infrastructure such as sensing means corresponding to the sensing means of said vehicle.

The step of determining vulnerable road users along the route of said vehicle may thus comprise utilizing on board sensing means of said vehicle for detecting said vulnerable road users and/or utilizing a vehicle-to-vehicle communication arrangement for extracting information of vulnerable road users determined by one or more other vehicles along the route of said vehicle and/or utilizing a vehicle-to-infrastructure communication arrangement for extracting information of vulnerable road users determined by infrastructure along the route of said vehicle.

According to an embodiment of the method the step of determining whether safety risks for one or more of said vulnerable road users are at hand comprises determining whether there is a risk for the vehicle colliding with one or more of said vulnerable road users, and wherein the step of adapting the operation of said vehicle to avoid said safety risks comprises adapting the operation of said vehicle to avoid said risk for the vehicle colliding with one or more of said vulnerable road users.

With reference to figure 5, a diagram of an apparatus 500 is shown. The control unit 100 described with reference to fig. 2 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a non-volatile 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 considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users. Said vehicle has determined vehicle dimensions generating a certain vehicle behaviour during operation of the vehicle. The program P comprises routines for determining changes of said vehicle dimensions. The program P comprises routines for determining whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation. The program P comprises routines for determining vulnerable road users along the route of said vehicle. The program P comprises routines for determining whether safety risks for one or more of said vulnerable road users are at hand based on said determined changed vehicle behaviour and said determined vulnerable road users along the route of said vehicle if a changed vehicle behaviour is determined. The program P comprises routines for adapting the operation of said vehicle to avoid said safety risks if it is determined that safety risks for one or more of said vulnerable road users are at hand. Said changes of said vehicle dimensions involves one or more of the vehicle characteristics: width distribution, length distribution, height distribution. Said vehicle characteristics comprises one or more of: load configuration, vehicle equipment, axle configuration. The routines for determining changes of said vehicle dimensions comprises utilizing on board sensing means of said vehicle for detecting said changes of said vehicle dimensions and/or utilizing a vehicle-to-vehicle communication arrangement for extracting information of changes of said vehicle dimensions determined by one or more other vehicles along the route of said vehicle and/or utilizing a vehicle-to-infrastructure communication arrangement for extracting information of changes of said vehicle dimensions determined by infrastructure along the route of said vehicle. The routines for determining vulnerable road users along the route of said vehicle comprises utilizing on board sensing means of said vehicle for detecting said vulnerable road users. The routines for determining whether safety risks for one or more of said vulnerable road users are at hand comprises determining whether there is a risk for the vehicle colliding with one or more of said vulnerable road users. The routines for adapting the operation of said vehicle to avoid said safety risks comprises adapting the operation of said vehicle to avoid said risk for the vehicle colliding with one or more of said vulnerable road users. 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 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 changes of said vehicle dimensions. The signals received on data port 599 can be used by apparatus 500 for determining whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation. The signals received on data port 599 can be used by apparatus 500 for determining vulnerable road users along the route of said vehicle. The signals received on data port 599 can be used by apparatus 500 for determining whether safety risks for one or more of said vulnerable road users are at hand based on said determined changed vehicle behaviour and said determined vulnerable road users along the route of said vehicle if a changed vehicle behaviour is determined. The signals received on data port 599 can be used by apparatus 500 for adapting the operation of said vehicle to avoid said safety risks if it is determined that safety risks for one or more of said vulnerable road users are at hand. Said changes of said vehicle dimensions involves one or more of the vehicle characteristics: width distribution, length distribution, height distribution. Said vehicle characteristics comprises one or more of: load configuration, vehicle equipment, axle configuration. The signals used for determining changes of said vehicle dimensions comprises utilizing on board sensing means of said vehicle for detecting said changes of said vehicle dimensions and/or utilizing a vehicle-to-vehicle communication arrangement for extracting information of changes of said vehicle dimensions determined by one or more other vehicles along the route of said vehicle and/or utilizing a vehicle-to-infrastructure communication arrangement for extracting information of changes of said vehicle dimensions determined by infrastructure along the route of said vehicle. The signals used for determining vulnerable road users along the route of said vehicle comprises utilizing on board sensing means of said vehicle for detecting said vulnerable road users. The signals used for determining whether safety risks for one or more of said vulnerable road users are at hand comprises determining whether there is a risk for the vehicle colliding with one or more of said vulnerable road users. The signals used for adapting the operation of said vehicle to avoid said safety risks comprises adapting the operation of said vehicle to avoid said risk for the vehicle colliding with one or more of said vulnerable road users.

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 (15)

1. A method for considering safety aspects related to operation of a vehicle (V1) in an environment comprising vulnerable road users (VRU1, VRU2, VRU3), said vehicle having determined vehicle dimensions generating a certain vehicle behaviour during operation of the vehicle, characterized by the steps of: - determining (S1), by determining means (110), changes of said vehicle dimensions; - determining (S2), by determining means (120), whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation; - determining (S3), by determining means (130), vulnerable road users (VRU1, VRU2, VRU3) along the route of said vehicle; - if a changed vehicle behaviour is determined, determining (S4), by determining means (140), whether safety risks for one or more of said vulnerable road users (VRU1, VRU2, VRU3) are at hand based on said determined changed vehicle behaviour and said determined vulnerable road users along the route of said vehicle (V1); and, - if it is determined that safety risks for one or more of said vulnerable road users (VRU1, VRU2, VRU3) are at hand, adapting (S5), by adapting means (150), the operation of said vehicle (V1) to avoid said safety risks.

2. A method according to claim 1, wherein said changes of said vehicle dimensions involves one or more of the vehicle characteristics: width distribution (W2), length distribution (L3, L4), height distribution (H3, H4, H5).

3. A method according to claim 2, wherein said vehicle characteristics comprises one or more of: load configuration (C1, C2, C3), vehicle equipment, axle configuration.

4. A method according to any of claims 1-3, wherein the step of determining changes of said vehicle dimensions comprises utilizing on board sensing means (112) of said vehicle (V1) for detecting said changes of said vehicle dimensions and/or utilizing a vehicle-to-vehicle communication arrangement (114) for extracting information of changes of said vehicle dimensions determined by one or more other vehicles along the route of said vehicle (V1) and/or utilizing a vehicle-to-infrastructure communication arrangement (116) for extracting information of changes of said vehicle dimensions determined by infrastructure along the route of said vehicle (V1).

5. A method according to any of claims 1-4, wherein the step of determining vulnerable road users (VRU1, VRU2, VRU3) along the route of said vehicle (V1) comprises utilizing on board sensing means (132) of said vehicle (V1) for detecting said vulnerable road users.

6. A method according to any of claims 1 -5, wherein the step of determining, by determining means (140), whether safety risks for one or more of said vulnerable road users (VRU1, VRU2, VRU3) are at hand comprises determining, by determining means (140a), whether there is a risk for the vehicle (V1) colliding with one or more of said vulnerable road users, and wherein the step of adapting, by adapting means (150), the operation of said vehicle (V1) to avoid said safety risks comprises adapting, by adapting means (150a), the operation of said vehicle (V1) to avoid said risk for the vehicle colliding with one or more of said vulnerable road users (VRU1, VRU2, VRU3).

7. A system (I) for considering safety aspects related to operation of a vehicle (V1) in an environment comprising vulnerable road users (VRU1, VRU2, VRU3), said vehicle (V1) having determined vehicle dimensions generating a certain vehicle behaviour during operation of the vehicle, characterized by means (110) for determining changes of said vehicle dimensions; means (120) for determining whether said determined changes of said vehicle dimensions generates a changed vehicle behaviour during said operation; means (130) for determining vulnerable road users (VRU1, VRU2, VRU3) along the route of said vehicle (V1); means (140) for determining whether safety risks for one or more of said vulnerable road users (VRU1, VRU2, VRU3) are at hand based on said determined changed vehicle behaviour and said determined vulnerable road users along the route of said vehicle if a changed vehicle behaviour is determined; and means (150) for adapting the operation of said vehicle to avoid said safety risks if it is determined that safety risks for one or more of said vulnerable road users (VRU1, VRU2, VRU3) are at hand.

8. A system according to claim 7, wherein said changes of said vehicle dimensions involves one or more of the vehicle characteristics: width distribution (W2), length distribution (L3, L4), height distribution (H3, H4, H5).

9. A system according to claim 8, wherein said vehicle characteristics comprises one or more of: load configuration (C1, C2, C3), vehicle equipment, axle configuration.

10. A system according to any of claims 7-9, wherein the means (110) for determining changes of said vehicle dimensions comprises on board sensing means (112) of said vehicle (V1) for detecting said changes of said vehicle dimensions and/or a vehicle-to-vehicle communication arrangement (114) for extracting information of changes of said vehicle dimensions determined by one or more other vehicles (V2) along the route of said vehicle and/or a vehicle-to-infrastructure communication arrangement (116) for extracting information of changes of said vehicle dimensions determined by infrastructure along the route of said vehicle (V1).

11. A system according to any of claims 7-10, wherein the means (130) for determining vulnerable road users (VRU1, VRU2, VRU3), along the route of said vehicle comprises on board sensing means (132) of said vehicle for detecting said vulnerable road users.

12. A system according to any of claims 7-11, wherein the means (140) for determining whether safety risks for one or more of said vulnerable road users (VRU1, VRU2, VRU3) are at hand comprises means (140a) for determining whether there is a risk for the vehicle (V1) colliding with one or more of said vulnerable road users, and wherein the means (140) for adapting the operation of said vehicle to avoid said safety risks comprises means (150a) for adapting the operation of said vehicle (V1) to avoid said risk for the vehicle colliding with one or more of said vulnerable road users (VRU1, VRU2, VRU3).

13. A vehicle (V1) comprising a system (I) according to any of claims 7-12.

14. A computer program (P) for considering safety aspects related to operation of a vehicle in an environment comprising vulnerable road users, 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 1-6.

15. A computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to anyone of claim 1-6.