SE545178C2 - Method and control arrangement for avoiding an impact involving a protruding object - Google Patents

Abstract

Method (400) and control arrangement (330) in a vehicle (100) comprising a protruding object (110a, 110b, 110c) extending outside the vehicle coachwork, for avoiding an impact involving the protruding object (110a, 110b, 110c). The control arrangement (330) is configured to detect an obstacle (120) in a driving direction (105) of the vehicle (100), via an onboard sensor; predict impact of the protruding object (110a, 110b, 110c) with the detected obstacle (120); and trigger an action for avoiding the predicted impact.

Description

METHOD AND CONTROL ARRANGEMENT FOR AVOIDING AN IMPACT INVOLVING A PROTRUDING OBJECT TECHNICAL FIELD This document relates to a method and a control arrangement in a vehicle. More particularly, a method and a control arrangement are described, in a vehicle comprising a protruding object extending outside the vehicle coachwork, for avoiding an impact involving the protrud- ing object.

BACKGROUND There are areas around a vehicle that are not visible for the driver, neither by direct vision nor indirectly with the help of a mirror. These areas are sometimes referred to as “blind spots” of the driver. The problems with visibility become in particular substantial in heavy (i.e. long) vehicles such as trucks, and in particular for trucks with trailers.

A solution to this problem may be to introduce sensors placed on protruding sensor arms, extending from the vehicle body, for example a side mounted sensor arm. These kind of sensor arms may carry a multitude of sensor types such as cameras, radars, lidars, etc.

Hereby, the blind spots of the driver may be omitted, or at least somewhat reduced.

However, since the sensor arms protrude from the vehicle, they will be prone to be damaged in collisions, not least in the case where the vehicle manoeuvres in narrow spaces in lower speeds. For example, when entering or exiting a ferry or when driving in underground mines.

Today when a driver manoeuvres the vehicle in a low speed situation it is common to use the rear-view mirrors as a reference since the mirror is the widest item on the vehicle, “if the mirror can pass, the passage is wide enough”. But there are also situations where the driver is needed to fold the mirrors to get through a very narrow passage.

A problem is that a protruding sensor arm probably is mounted in such a way that it is not visible to the driver from the normal driving position (in order not to obscure the view of the driver). A non-visible protruding item is easily forgotten by the driver especially in situations Where the driver needs to concentrate, for example when manoeuvring in narrow spaces. This means that it is likely that a protruding sensor arm Will get damaged by collisions. The probability of the driver forgetting the protruding sensor arm and break in a collision becomes even more likely if the rear-view mirror is folded.

The problem can also be extended to other vehicle clearance problems. For example, vehicle roof, box roof and vehicle undercarriage clearance.

The document |N201641039331 discloses a system controlling cargo of a vehicle. Sensors of the vehicle determine the size of the cargo and in case the cargo extend out of the body contour of the vehicle, an alert is generated and output to the driver.

The solution of the document concerns cargo, which sizes typically may vary between differ- ent deliveries, not protruding sensor arms which typically have a constant extension. To con- stantly output an alert to the driver will most likely make him ignore the alert.

Document US20160375829 describes another system that monitors the environment around a vehicle, in particular a truck. A sensor is mounted on a protruding sensor arm. The driver is thereby enabled to view the vehicle surroundings. The driver may, based on the view of the sensor, estimate the extension of the protruding sensor arm in relation to an obstacle and then adapt the driving in order to avoid a collision.

Document US20180328757 discloses a system measuring contour of a vehicle. ln case a cargo is extending outside the vehicle contour, an alert is triggered and output to the driver.

This document also concerns cargo extension, which sizes typically may vary between dif- ferent deliveries, not protruding sensor arms which typically have a constant extension. To constantly output an alert to the driver will most likely make him ignore the alert.

Document GB2269038 describes a collision warning system. A protruding arm is utilised to alert the driver concerning a collision between the vehicle and an obstacle.

The intention is not to avoid a collision between the protruding arm and the obstacle, but to let the driver become aware of the risk of collision by colliding the protruding arm into the object. This is actually the opposite of what is desired, i.e. to avoid collision between the protruding arm and the obstacle. lt would thus be desired to improve collision avoidance between protruding vehicle parts and an environmental obstacle.

SUMMARY lt is therefore an object of this invention to solve at least some of the above problems and improve traffic safety and/ or an autonomous traffic related system.

According to a first aspect of the invention, this objective is achieved by a control arrange- ment in a vehicle comprising a protruding object extending outside the vehicle coachwork,for avoiding an impact involving the protruding object. The control arrangement is configured to detect an obstacle in a driving direction of the vehicle, via an onboard sensor. Further, the control arrangement is configured to predict impact of the protruding object with the detected obstacle. ln addition, the control arrangement is configured to trigger an action for avoiding the predicted impact. « > .w »~, v »~“- >~ -?:*='C.~<ë=ï*=<ë=ïï =~ According to a second aspect of the invention, this objective is achieved by a method in a vehicle comprising a protruding object extending outside the vehicle coachwork, for avoid- ing an impact involving the protruding object. The method comprises detecting an obstacle in a driving direction of the vehicle. Further, the method also comprises predicting impact of the protruding object with the detected obstacle. Also, the method additionally comprises triggering an action for avoiding the predicted impact.

Thanks to the described aspects, by using onboard sensors on the vehicle to detect an ob- stacle in the way of the vehicle and predict the impact between the detected obstacle and an protruding object of the vehicle, extending outside the vehicle coachwork, an impact between the protruding object and the obstacle could be avoided by triggering an action for avoiding the predicted collision, such as emitting an alert to the driver/ autonomous system, change driving path of the vehicle for creating a larger margin between the vehicle and the obstacle, break the vehicle and fold the protruding objecty-ès Further, the pre- sented solution may be realised without additional sensors, besides the sensors already pro- vided on the vehicle for other purposes, which saves costs. Thereby enhanced traffic safety is achieved.

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

FIGURESEmbodiments of the invention will now be described in further detail with reference to the accompanying figures, in which: Figure 1A illustrates a side view of a vehicle according to an embodiment of the inven- tion; Figure 1B illustrates a vehicle according to an embodiment, as regarded from above; Figure 2A illustrates a vehicle according to an embodiment, driving towards an obstacle; Figure 2B illustrates a vehicle according to an embodiment, driving towards an obstacle; Figure 3A illustrates a vehicle according to an embodiment, as regarded from above, meeting another vehicle; Figure 3B illustrates a vehicle according to an embodiment, meeting another vehicle; Figure 4 is a flow chart illustrating an embodiment of the method; Figure 5 is an illustration depicting a system according to an embodiment.

DETAILED DESCRIPTION Embodiments of the invention described herein are defined as a method and a control ar- rangement, which may be put into practice in the embodiments described below. These em- bodiments may, however, be exemplified and realised in many different forms and are not to be limited to the examples set forth herein; rather, these illustrative examples of embodi- ments are provided so that this disclosure will be thorough and complete.

Still other objects and features may become apparent from the following detailed description, considered in conjunction with the accompanying drawings. lt is to be understood, however, that the drawings are designed solely for purposes of illustration and not as a definition of the limits of the herein disclosed embodiments, for which reference is to be made to the appended claims. Further, the drawings are not necessarily drawn to scale and, unless oth- enNise indicated, they are merely intended to conceptually illustrate the structures and pro- cedures described herein.

Figure 1A illustrates a scenario with a vehicle 100. The vehicle 100 is driving on a road in a driving direction The vehicle 100 may comprise e.g. a truck, a bus, a car or any similar vehicle or other means of conveyance running e.g. on wheels, rails, air, water or similar media.

The vehicle 100 may be driver controlled or driverless (i.e. autonomously controlled) in dif-ferent embodiments. However, for enhanced clarity, the vehicle 100 is subsequently de- scribed as having a driver.

The vehicle 100 may comprise a protruding object 110a, 110b, which is extending outside the contour of the vehicle body. The protruding object 110a, 110b may for example comprise a sensor mounted on a protruding arm in order to get a better view/ sensor detection of the environment of the vehicle 100 and avoid “blind spots” of the driver around the vehicle The sensor may comprise any arbitrary kind of sensor such as e.g. a camera, a stereo cam- era, an infrared camera, a video camera, a radar, a lidar, an ultrasound device, a time-of- flight camera, or similar device.

The protruding object 110a, 110b may comprise a protruding arm holding a sensor, but may alternatively comprise any extreme part of the vehicle 100 and/ or object protruding from the vehicle 100, such as e.g. a roof top box, vehicle roof, vehicle underneath, additional head lights, blinkers, tow bar, and similar devices.

The problem of avoiding collision involving the protruding object 110a, 110b and an appear- ing obstacle may be solved by using the already mounted sensors around the vehicle 100 to detect/ predict a collision and then actively or passively prevent the driver or the vehicle 100 itself that a collision is imminent. The action for avoiding the collision may comprise emitting an alert to the driver, to emergency brake the vehicle 100, to fold the protruding object 110a, 110b (if foldable), etc.

Hereby, the risk of a vehicle accident due to damaged side looking sensors. Existing onboard sensors and sensor calibration may be utilised. lf an electric folding mechanism is imple- mented in the protruding object 110a, 110b it can be triggered, saving the protruding object 110a, 110b from collision. This means lower damages to the vehicle However, even if the protruding object 110a, 110b such as e.g. a protruding sensor arm, is made foldable it may be preferred to prevent and warn before a collision.

Hereby, damage of protruding objects 110a, 110b of the vehicle 100 is prevented, due to collision with external obstacles.

By outputting an alert or e.g. an image of the vehicle exterior, the protruding object 110a, 110b and/ or the obstacle. lt is thereby easy for the driver to estimate the distance to the obstacle and plan the passage for avoiding an impact, possibly in conjunction with a sound or a haptic signal. ln some embodiments, a detected object around the vehicle 100 may be indicated on an overview presentation, e.g. on a display in the cabin, or in any alternative presentational device. Traffic safety is thereby enhanced.

Figure 1B schematically illustrates a scenario, similar to the previously discussed scenario illustrated in Figure 1A, but with the vehicle 100 seen from an above perspective and wherein an obstacle 120 is depicted.

The obstacle 120 may be another vehicle (as in the illustrated image), a human, an animal, a building, a lamp post, a tree or e.g. any imaginable static or dynamic item.

When the vehicle 100 is driving in the driving direction 105, the sensors may detect the ob- stacle 120 in the driving direction 105, also e.g. when it cannot be regarded by direct sight of the driver.

The obstacle 120 may thus be situated in the previously discussed blind spot of the driver and a dangerous traffic situation may emerge in case the driver is not aware of the obstacle 120 and decides to perform an action to avoid a collision between the protruding object 110a, 110b, 110c of the vehicle 100, and the obstacle 120, such as adjusting the planned driving route.

Figure 2A schematically illustrates a scenario wherein the vehicle 100 (as regarded from behind) is approaching an obstacle 120, in form of a tree situated at the roadside.

A protruding object 110a on the left side of the vehicle 100 appears to risk a collision with the obstacle 120 if the vehicle 100 continue in the current driving direction. ln the illustrated embodiment, the protruding objects 110a, 110b of the vehicle 100 are fold- able by means of a folding mechanism 210a, 210b.

Figure 2B illustrates the same scenario as previously illustrated in Figure 2A, but somewhat later in time, wherein the obstacle 120 has been detected, an impact of the protruding object 110a on the left side has been predicted, which prediction has triggered an action for avoid- ing the predicted impact.

The triggered action in the illustrated scenario comprises folding the protruding object 110a by the folding mechanism 21 Oa implemented in the protruding object 110a. Hereby an impact with the left side protruding object 110a and the obstacle 120 is avoided.

Figure 3A illustrates a scenario wherein the vehicle 100 (as regarded from above) is ap- proaching an obstacle 120, in form of a meeting vehicle. ln an embodiment wherein a protruding object 110c on the left side of the vehicle 100 ap- pears to be risking a collision with the obstacle/ meeting vehicle 120. Also, the protruding object 110c comprises a sensor directed in the driving direction 105 of the vehicle the protruding object 110c comprises a folding mechanism 210a, 210b, the pro- truding object 110c may be folded for avoiding collision, according to the disclosed solution. However, the sensor placed on the protruding arm 110c may not be able to perceive any environmental information, which may cause other problems, such as for example the driver of the vehicle 100 becoming surprised by the other vehicle 320 behind the first meeting ve- hicle A solution to this problem may be to perceive information from a rearward looking sensor 310, i.e. in the driving direction 105 of the vehicle 100, via wireless communication.

Communication may be made over a wireless communication interface, such as e.g. Vehicle- to-Vehicle (V2V) communication, or Vehicle-to-Infrastructure (V2l) communication. The com- mon term Vehicle-to-Everything (V2X) is sometimes used. ln some embodiments, the communication between vehicles 100, 120 may be performed via V2V communication, e.g. based on Dedicated Short-Range Communications (DSRC) de- vices. DSRC works in 5.9 GHz band with bandwidth of 75 MHz and approximate range of 1000 m in some embodiments.

The wireless communication may be made according to any IEEE standard for wireless ve- hicular communication like e.g. a special mode of operation of IEEE 802.11 for vehicular networks called Wireless Access in Vehicular Environments (WAVE). IEEE 802.11p is an extension to 802.11 Wireless LAN medium access layer (MAC) and physical layer (PHY) specification.

Such wireless communication interface may comprise, or at least be inspired by wireless communication technology such as Wi-Fi, Ethernet, Wireless Local Area Network (WLAN), to name but a few possible examples of wireless communications in some embodiments.

The communication may alternatively be made over a wireless interface comprising, or at least being inspired by radio access technologies such as e.g. 3GPP LTE, LTE-Advanced,4G, etc., via a wireless communication network.

Figure 3B illustrates the scenario of Figure 3A as it may be perceived by a driver (if any) in the vehicle The sensor information transmitted by the sensor 310 of the other vehicle 120 may then be perceived by a transceiver of the vehicle 100 and output on an output device 340. The output device 340, or presentational device, may comprise e.g. a display, a loudspeaker, a projec- tor, a head-up display, a display integrated in the windshield of the vehicle 100, a display integrated in the dashboard of the vehicle 100, a tactile device, a portable device of the vehicle driver/ owner, a set of close-eyes displays (i.e. intelligent glasses) of the vehicle driver/ owner, etc.; or a combination thereof.

The vehicle 100 also comprises a control arrangement 330. The control arrangement 330 aims at avoiding an impact involving the protruding object 110a, 110b, 110c of the own ve- hicle The control arrangement 330 may comprise e.g. one or several Electronic Control Units (ECUs), typically a plurality of interacting ECUs. The control arrangement 330 may comprise a digital computer that controls one or more electrical systems, or electrical sub systems, of the vehicle 100, based on e.g. information read from the sensors placed at various parts and in different components of the vehicle 100. ECU is a generic term that often is used in auto- motive electronics, for any embedded system that controls one or more of the electrical sys- tem or sub systems in the vehicle 100. The control arrangement 330 may be particularly designated to implement height estimation and distance measurements based on sensor input and to perform parameter comparisons and make decisions based on the outcome of the made comparison.

The control arrangement 330 may communicate with the own vehicle sensors, wireless transceiver and output device 340 e.g. via a wired or wireless communication bus of the vehicle 100, or via a wired or wireless connection. The communication bus may comprise e.g. a Controller Area Network (CAN) bus, a Media Oriented Systems Transport (MOST) bus, or similar. However, the communication may alternatively be made over a wireless con- nection comprising, or at least be inspired by any of the previously discussed wireless com- munication technologies.

The disadvantage of not being able to use the own sensor is compensated by information perceived from the sensor 310 of the other vehicle 120. Hereby, traffic safety is enhanced.Figure 4 illustrates an example of a method 400 according to an embodiment. The flow chart in Figure 4 shows the method 400 for use in a vehicle 100 comprising a protruding object 110a, 110b, 110c extending outside the vehicle coachwork, for avoiding an impact involving the protruding object 110a, 110b, 110c.

The vehicle 100 may be e.g. a truck, a bus, a car, or similar means of conveyance.

The vehicle 100 may comprise a plurality of sensors of the same or different modality, pointa- ble towards the object 200, in some embodiments, simultaneously, shifted or sequentially in time. ln order to correctly be able to avoid impact of the protruding object 110a, 110b, 110c, the method 400 may comprise a number of steps 401-404. However, some of these steps 401- 404 may be performed in various alternative manners. Some method steps may only be performed in some optional embodiments; such as e.g. steps 404. Further, the described steps 401-404 may be performed in a somewhat different chronological order than the num- bering suggests. The method 400 may comprise the subsequent steps: Step 401 comprises detecting an obstacle 120 in a driving direction 105 of the vehicle The obstacle 120 may be another vehicle, human, animal, building, roadblock, traffic sign, round about or any other similar obstruction.

Step 402 comprises predicting impact of the protruding object 110a, 110b, 110c of the vehi- cle 100 with the detected 401 obstacle The prediction is based on the sensor detections 401 of the obstacle 120 in combination with knowledge of the driving path of the own vehicle Step 403 comprises triggering an action for avoiding the predicted 402 impact.

The triggered action for avoiding the predicted 402 impact may comprise generating an alert, e.g. to the driver (if any) of the vehicle 100, or to an autonomous system, concerning the predicted 402 impact. The alert may comprise an output image, a sound, a text message output on an output device 320, a haptic/ tactile feedback signal, etc.

Further, the triggered action may comprise making a lateral vehicle movement for avoiding the predicted 402 impact. By laterally move the vehicle 100 away from the obstacle 120, the collision could be omitted.

Also, or alternatively, the triggered action may comprise Stopping the vehicle 100 in order to avoid the predicted 402 impact. By instantly halting the vehicle 100, the impact between the protruding object 110a, 110b, 110c and the obstacle 120 is omitted. ln some embodiments, wherein a folding mechanism 210a, 210b is implemented in the pro- truding object 110a, 110b, 110c, the triggered action may comprise temporarily folding the protruding object 110a, 110b, 110c while passing the obstacle An advantage with folding/ unfolding the protruding object 110a, 110b, 110c during the pas- sage of the obstacle 120 is that the speed and/ or planned driving path are not affected, leading to a speedy and safe vehicle transportation.

Step 404, which may be comprised only in some embodiments wherein the detected 401 obstacle 120 comprises a meeting vehicle and the protruding object 110a, 110b, 110c com- prises a sensor directed in the driving direction 105, comprises obtaining a sensor signal from a sensor 310 of the meeting vehicle 120, compensating for the information loss of the folded sensor on the folded protruding object 110a, 110b, 110c.

An advantage therewith is that the omitted sensor input due to the folded sensor of the pro- truding object 110a, 110b, 110c is compensated by instead obtaining information from a reanNard directed sensor 310 of the meeting vehicle 120. Thus, for example, another obsta- cle in form of yet another vehicle 320 behind the first meeting vehicle 120. Hereby, an inci- dent or impact with the other obstacle/ vehicle 320 is avoided, leading to increased traffic safety.

Figure 5 illustrates an embodiment of a system 500 in a vehicle 100 comprising a protruding object 110a, 110b, 110c extending outside the vehicle coachwork.

The system 500 may perform at least some of the previously described steps 401-404 ac- cording to the method 400 described above and illustrated in Figure 4, for avoiding an impact involving the protruding object 110a, 110b, 110c.

The system 500 comprises at least one control arrangement 330 in the vehicle 100. The control arrangement 330 is configured to detect an obstacle 120 in a driving direction 105 of the vehicle 100, via an onboard sensor. The sensor may be mounted on the protruding object 110a, 110b, 110c, or be situated at another position on the vehicle 100 in different embodi- ments. Further, the control arrangement 330 is configured to predict impact of the protruding object 110a, 110b, 110c with the detected obstacle 120. The control arrangement 330 is inaddition configured to trigger an action for avoiding the predicted impact.

Further, according to some embodiments, the control arrangement 330 may be additionally configured to alert the driver of the vehicle 100, concerning the predicted impact, via an output device 340, such as a screen, loudspeaker, tactile device or similar. The control ar- rangement 330 may also be configured to generate a driving command for making a lateral vehicle movement for avoiding the predicted impact. Furthermore, the control arrangement 330 may be configured to generate a driving command for stopping the vehicle 100, for avoiding the predicted impact. ln some embodiments wherein a folding mechanism 210a, 210b is implemented in the pro- truding object 110a, 110b, 110c, the control arrangement 330 may be further configured to generate a command for folding the protruding object 110a, 110b, 110c while passing the obstacle The control arrangement 330 may in some embodiments wherein the detected obstacle 120 comprises a meeting vehicle and the protruding object 110a, 110b, 110c comprises a sensor directed in the driving direction 105 of the vehicle 100, the control arrangement 330 may be configured to obtain a sensor signal from a sensor 310 of the meeting vehicle 120, compen- sating for the information loss of the sensor of the folded protruding object 110a, 110b, 110c.

The system 500 also comprises a protruding object 110a, 110b, 110c. The protruding object 110a, 110b, 110c may be a protruding sensor arm holding a sensor in some embodiments. However, the protruding object 110a, 110b, 110c may comprise any other object extending outside the vehicle coachwork such as a vehicle roof, box roof and/ or vehicle undercarriage clearance or similar.

The system 500 furthermore comprises one or several vehicle sensors for detecting the ob- stacle 120 in the driving direction 105 of the vehicle The at least one sensor may comprise e.g. a camera, a stereo camera, an infrared camera, a video camera, radar, lidar, ultrasonic sensor, time- of- flight camera, or thermal camera or similar. The at least one sensor utilised for performing at least a part of the method 400 may in some embodiments have another main purpose than performing the method 400, i.e. be already existing in the vehicle The control arrangement 330 comprises a receiving circuit 510 configured for receiving a signal from the sensors onboard the vehicleThe control arrangement 330 furthermore comprises a processing circuitry 520 configured for performing at least some method steps of the method 400, according to some embodi- ments.

Such processing circuitry 520 may comprise one or more instances of a processing circuit, i.e. a Central Processing Unit (CPU), a processor, a processing circuit, an Application Spe- cific Integrated Circuit (ASIC), a microprocessor, or other processing logic that may interpret and execute instructions. The herein utilised expression "processor" may thus represent a processing circuitry comprising a plurality of processing circuits, such as, e.g., any, some or all of the ones enumerated above.

Furthermore, the control arrangement 330 may comprise a memory 525 in some embodi- ments. The optional memory 525 may comprise a physical device utilised to store data or programs, i.e., sequences of instructions, on a temporary or permanent basis. According to some embodiments, the memory 525 may comprise integrated circuits comprising silicon- based transistors. The memory 525 may comprise e.g. a memory card, a flash memory, a USB memory, a hard disc, or another similar volatile or non-volatile storage unit for storing data such as e.g. ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), EEPROM (Electrically Erasable PROM), etc. in different embod- iments.

Further, the control arrangement 330 may comprise a signal transmitter 530 in some em- bodiments. The signal transmitter 530 may be configured for transmitting a signal to e.g. the display 340, and/ or a warning system or warning device, for example.

The above described method steps 401-404 to be performed in the vehicle 100 may be implemented through the one or more processing circuitries 520 within the control arrange- ment 330, together with computer program product for performing at least some of the func- tions of the method steps 401-404. Thus a computer program product, comprising instruc- tions for performing the method steps 401-404 in the control arrangement 330 may perform the method 400 comprising at least some of the method steps 401-404 for avoiding an impact involving a protruding object 110a, 110b, 110c, when the computer program is loaded into the one or more processing circuitries 520 of the control arrangement 330. Further, some embodiments of the invention may comprise a vehicle 100, comprising the control arrangement 330, for avoiding an impact involving the protruding object 110a, 110b, 110c of the vehicle 100, according to at least some of the method steps 401- The computer program product mentioned above may be provided for instance in the formof a data carrier carrying computer program code for performing at least some of the method steps 401-404 according to some embodiments when being loaded into the one or more processing circuitries 520 of the control arrangement 330. The data carrier may be, e.g., a hard disk, a CD ROM disc, a memory stick, an optical storage device, a magnetic storage device or any other appropriate medium such as a disk or tape that may hold machine read- able data in a non-transitory manner. The computer program product may furthermore be provided as computer program code on a server and downloaded to the control arrangement 330 remotely, e.g., over an lnternet or an intranet connection.

The terminology used in the description of the embodiments as illustrated in the accompa- nying drawings is not intended to be limiting of the described method 400; the control ar- rangement 330; the computer program; the system 500 and/ or the vehicle 100. Various changes, substitutions and/ or alterations may be made, without departing from invention embodiments as defined by the appended claims.

As used herein, the term "and/ or" comprises any and all combinations of one or more of the associated listed items. The term ”or” as used herein, is to be interpreted as a mathematical OR, i.e., as an inclusive disjunction; not as a mathematical exclusive OR (XOR), unless ex- pressly stated otherwise. ln addition, the singular forms "a", "an" and "the" are to be inter- preted as “at least one", thus also possibly comprising a plurality of entities of the same kind, unless expressly stated othenNise. lt will be further understood that the terms "includes", "comprises", "including" and/ or "comprising", specifies the presence of stated features, ac- tions, integers, steps, operations, elements, and/ or components, but do not preclude the presence or addition of one or more other features, actions, integers, steps, operations, ele- ments, components, and/ or groups thereof. A single unit such as e.g. a processor may fulfil the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. A computer program may be stored/ distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware but may also be distributed in other forms such as via lnternet or other Wired or Wireless communication system.

Claims (6)

1. CLAIMS A method (400) in a vehicle (100) comprising a protruding object (110a, 110b, 110c) extending outside the vehicle coachwork, for avoiding an impact involving the protruding object (110a, 110b, 110c), wherein the method (400) comprises: detecting (401) an obstacle (120) in a driving direction (105) of the vehicle (100); predicting (402) impact of the protruding object (110a, 110b, 110c) With the detect- ed (401) obstacle (120); and triggering (403) an action for avoiding the predicted (402) impachid wherein a foldinq mechanism (210a, 210b) is implemented in the protruding obiect (110a, 110b,110c)and, the triqqered (403) action for avoidinq the predicted (402) impact comprises: foldinq the protrudinq obiect (110a, 110b, 110c) while passind the obstacle (120): and wherein, when the detected (401) obstacle (120) comprises a meetind vehicle and the DrotrudinQ obiect (110a, 110b, 110c) comprises a sensor directed in the driving direction (105), the method (400) further comprises: obtaininq (404) a sensor siqnal from a sensor (310) of the meetinq vehicle (120), compensatinq for the information loss of the folded sensor. 4%. ing the predicted (402) impact comprises: The method (400) according to claim Qä, wherein the triggered (403) action for avoid- generating an alert concerning the predicted (402) impact; making a lateral vehicle movement for avoiding the predicted (402) impact; and/ or stopping the vehicle (100) for avoiding the predicted (402) impact.QQ. A computer program comprising program code for performing a method (400) ac- cording to any of claims ë-êfi when the computer program is executed in a control arrange- ment (330), according to any of claims 1- 5 Q4-Q. A system (500) in a vehicle (100) for avoiding an impact involving a protruding object (110a, 110b, 110c) extending outside the vehicle coachwork, which system (500) comprises: a control arrangement (330) according to any one of claims 1-24; the protruding object (110a, 110b, 110c); at least one sensor of the vehicle (100), for detecting the obstacle (120) in a driving 10 direction (105) of the vehicle (100).