CN112455377A

CN112455377A - Method and control device for avoiding impacts involving protrusions

Info

Publication number: CN112455377A
Application number: CN202010883130.XA
Authority: CN
Inventors: F·克拉松; D·滕塞柳斯; M·约翰逊
Original assignee: Scania CV AB
Current assignee: Scania CV AB
Priority date: 2019-09-06
Filing date: 2020-08-28
Publication date: 2021-03-09
Also published as: SE1951019A1; DE102020004348A1; SE545178C2

Abstract

Method (400) and control device (330) in a vehicle (100) comprising a protrusion (110a, 110b, 110c) extending outside the vehicle cabin for avoiding impacts involving the protrusion (110a, 110b, 110 c). The control device (330) is configured to detect, via an in-vehicle sensor, an obstacle (120) in a direction of travel (105) of the vehicle (100); predicting an impact of the protrusion (110a, 110b, 110c) with the detected obstacle (120); and triggering an action for avoiding the predicted impact.

Description

Method and control device for avoiding impacts involving protrusions

Technical Field

The present document relates to a method and a control arrangement in a vehicle. More specifically, a method and control arrangement in a vehicle comprising a protrusion extending outside the vehicle cabin is described for avoiding impacts involving the protrusion.

Background

There are areas around the vehicle that are not visible to the driver, whether directly or indirectly by means of mirrors. These areas are sometimes referred to as "blind spots" of the driver. In heavy (i.e. long) vehicles, such as trucks, and especially with trailers, the problem of visibility becomes particularly acute.

One solution to this problem may be to introduce a sensor that is placed on a protruding sensor arm extending from the vehicle body, such as a side-mounted sensor arm. These types of sensor arms may carry a variety of sensor types, such as cameras, radar, lidar, and the like. Thereby, the driver's blind spot can be eliminated, or at least reduced to some extent.

However, since the sensor arms protrude from the vehicle, they are easily damaged in a collision, not limited to a case where the vehicle is operated in a narrow space at a low speed. For example when entering or exiting a ferry or when driving in an underground mine.

Today, when the driver operates the vehicle in a low speed state, the rear view mirror is often used as a reference, since the rear view mirror is the widest item on the vehicle, "if the mirror can pass, the tunnel is wide enough". There are situations, however, in which it is necessary for the driver to fold the wing mirror in order to be able to pass through a very narrow passage.

The problem is that the protruding sensor arm may be mounted in such a way that it is not visible to the driver from the normal driving position (so as not to obstruct the driver's view). Drivers tend to forget invisible protruding objects, especially in situations where the driver needs to concentrate on, such as when operating in a confined space. This means that the protruding sensor arm will most likely be damaged by the impact. If folding the wing mirror, the probability of the driver forgetting the protruding sensor arm and the brake in a collision becomes even higher.

This problem may also extend to other vehicle clearance issues. Such as roof, roof and vehicle chassis clearances.

Document IN201641039331 discloses a system for controlling the cargo of a vehicle. The sensors of the vehicle determine the size of the cargo and in the event that the cargo extends outside the body contours of the vehicle, an alert is generated and output to the driver.

The solution of this document relates to cargo, the size of which typically varies for different transports, whereas the projecting sensor arm typically has a constant extension. Continuously outputting the warning to the driver will likely cause him to ignore the warning.

Document US20160375829 describes another system which monitors the environment around a vehicle, in particular around a truck. The sensor is mounted on a protruding sensor arm. So that the driver can see around the vehicle. The driver may estimate the extension of the protruding sensor arm relative to the obstacle based on the field of view of the sensor and then adjust the driving to avoid the collision.

Document US20180328757 discloses a system for measuring a vehicle profile. In the event that cargo extends outside the vehicle contour, an alarm may be triggered and output to the driver.

The document also relates to cargo extensions, the size of which typically varies for different transports, whereas the protruding sensor arm typically has a constant extension. Continuously outputting the warning to the driver will likely cause him to ignore the warning.

Document GB2269038 describes a collision warning system. With the protruding arm, the driver is warned about the collision between the vehicle and the obstacle.

The intention is not to avoid a collision between the projecting arm and the obstacle, but to let the driver realize the risk of a collision by hitting the object with the projecting arm. This is in fact contrary to what is desired, i.e. to avoid a collision between the projecting arm and the obstacle.

Therefore, it is desirable to improve collision avoidance between protruding vehicle components and environmental obstacles.

Disclosure of Invention

It is therefore an object of the present invention to address at least some of the above issues and to improve traffic safety and/or automated traffic related systems.

According to a first aspect of the invention, this object is achieved by a control device in a vehicle comprising a protrusion extending outside the vehicle cabin, in order to avoid impacts involving the protrusion. The control device is configured to detect an obstacle in a traveling direction of the vehicle via an in-vehicle sensor. Furthermore, the control device is configured to predict an impact of the protrusion with the detected obstacle. In addition, the control device is configured to trigger an action for avoiding the predicted impact.

According to a second aspect of the invention, the object is achieved by a method in a vehicle comprising a protrusion extending outside the vehicle cabin, to avoid impacts involving the protrusion. The method includes detecting an obstacle in a direction of travel of the vehicle. Additionally, the method includes predicting an impact of the protrusion with the detected obstacle. Moreover, the method also includes triggering an action for avoiding the predicted impact.

Thanks to the described aspects, by using on-board sensors on the vehicle to detect obstacles in the vehicle road and predict the impact between the detected obstacles and a protrusion of the vehicle extending outside the vehicle cabin, the impact between the protrusion and the obstacle can be avoided by triggering actions for avoiding the predicted impact, such as alerting the driver/automation system, altering the travel path of the vehicle to create more headroom between the vehicle and the obstacle, braking the vehicle, and/or folding the protrusion (in the case where the protrusion is foldable). Furthermore, the proposed solution can be implemented without additional sensors, which saves costs, in addition to sensors already provided on the vehicle for other purposes. Thereby achieving enhanced traffic safety.

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

Drawings

Embodiments of the invention will now be described in further detail with reference to the accompanying drawings, in which:

FIG. 1A shows a side view of a vehicle according to an embodiment of the invention;

fig. 1B shows a vehicle according to an embodiment, as viewed from above;

fig. 2A shows a vehicle according to an embodiment, which is traveling towards an obstacle;

fig. 2B shows a vehicle according to an embodiment, which is traveling towards an obstacle;

fig. 3A shows a vehicle according to an embodiment, as seen from above, meeting another vehicle;

FIG. 3B shows a vehicle according to an embodiment, meeting another vehicle;

FIG. 4 is a flow chart illustrating an embodiment of the method;

fig. 5 is a diagram depicting a system according to an embodiment.

Detailed Description

Embodiments of the invention described herein are defined as methods and control devices, which may be practiced in the embodiments described below. These embodiments may, however, be illustrated and implemented in many different forms and are not limited to the examples set forth herein; rather, these illustrative examples of embodiments are provided so that this disclosure will be thorough and complete.

Other objects and features will become apparent from a consideration of the following detailed description taken in conjunction with the accompanying drawings. It 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 embodiments disclosed herein, for which reference should be made to the appended claims. Furthermore, the drawings are not necessarily to scale and, unless otherwise indicated, they are merely intended to conceptually illustrate the structures and procedures described herein.

Fig. 1A shows a scenario of a vehicle 100. The vehicle 100 travels on a road in a direction of travel 105.

The vehicle 100 may comprise, for example, a truck, bus, car or any similar vehicle or other means of transportation, for example, running on wheels, rails, air, water or similar media.

In various embodiments, the vehicle 100 may be driver controlled or driver free (i.e., automatically controlled). However, for greater clarity, the vehicle 100 is subsequently described as having a driver.

The vehicle 100 may include

protrusions

110a, 110b that extend outside of the body contour. The

protrusions

110a, 110b may, for example, comprise sensors mounted on the protruding arms 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 100.

The sensor may comprise any kind of sensor, such as, for example, a camera, stereo camera, infrared camera, video camera, radar, lidar, ultrasound equipment, time-of-flight camera, or the like.

The

protrusions

110a, 110b may comprise protruding arms that hold sensors, but may alternatively comprise any end portion of the vehicle 100 and/or objects protruding from the vehicle 100, such as, for example, a roof box, hood, under the vehicle, additional headlights, signal lights, tow-bars, and the like.

The problem of avoiding collisions involving the

protrusions

110a, 110b and emerging obstacles can be solved by: the collision is detected/predicted using sensors already installed around the vehicle 100, and then the driver or the vehicle 100 itself is actively or passively prevented from an upcoming collision. The action to avoid a collision may include alerting the driver, hard braking the vehicle 100, folding the

protrusions

110a, 110b (if foldable), etc.

Thereby, a risk of vehicle accidents due to damaged side sensors is caused. The presence of on-board sensors and sensor calibration may be utilized. If a motorized folding mechanism is implemented in the

projections

110a, 110b, it may be triggered to avoid collision of the

projections

110a, 110 b. This means a reduction in damage to the vehicle 100.

However, even if the

protrusions

110a, 110b, such as, for example, protruding sensor arms, are foldable, it is preferable to prevent and warn prior to a collision.

Thereby, the damage of the

protrusions

110a, 110b of the vehicle 100 due to the collision with the external obstacle is prevented.

By outputting an alarm or an image of, for example, the exterior of the vehicle, the

protrusions

110a, 110b and/or the obstacle. Thus, the driver can easily estimate the distance to the obstacle and plan the passage to avoid the impact, possibly in combination with sound or tactile signals.

In some embodiments, objects detected around the vehicle 100 may be indicated on the overview presentation, for example on a display in the cabin, or in any alternative presentation device. Thereby improving traffic safety.

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

The obstacle 120 may be another vehicle (as in the image shown), a person, an animal, a building, a lamppost, a tree, or any conceivable static or dynamic item, for example.

When the vehicle 100 is traveling in the direction of travel 105, the sensor may detect the obstacle 120 in the direction of travel 105, also for example, when the obstacle is not directly visible to the driver.

Thus, the obstacle 120 may be located in the driver's blind spot previously discussed, and in situations where the driver is unaware of the obstacle 120 and does not decide to perform an action to avoid a collision between the

protrusions

110a, 110b, 110c of the vehicle 100 and the obstacle 120, such as adjusting a planned driving route, a dangerous traffic situation may arise.

Fig. 2A schematically shows a scenario in which a vehicle 100 (seen from behind) is approaching an obstacle 120 in the form of a tree located at the roadside.

If the vehicle 100 continues to travel in the current direction of travel, the protrusion 110a on the left side of the vehicle 100 appears to be at risk of colliding with the obstacle 120.

In the illustrated embodiment, the

projections

110a, 110b of the vehicle 100 are foldable via

folding mechanisms

210a, 210 b.

Fig. 2B shows the same scenario as previously shown in fig. 2A, but at a somewhat later time, where an obstacle 120 has been detected, an impact of the protrusion 110a on the left has been predicted, which prediction triggers an action for avoiding the predicted impact.

The triggered action in the illustrated scenario includes folding the protrusion 110a via a folding mechanism 210a implemented in the protrusion 110 a. Thereby, the collision of the left protrusion 110a with the obstacle 120 is avoided.

Fig. 3A shows a scenario in which the vehicle 100 (as seen from above) is approaching an obstacle 120 in the form of a meeting vehicle.

In one embodiment, among other things, the protrusion 110c on the left side of the vehicle 100 appears to be at risk of collision with the obstacle/meeting vehicle 120. Also, the protrusion 110c includes a sensor that points in the direction of travel 105 of the vehicle 100.

In case the protrusion 110c comprises a

folding mechanism

210a, 210b, the protrusion 110c may be folded to avoid collision according to the disclosed solution. However, the sensor placed on protruding arm 110c may not be able to sense any environmental information, which may cause other problems, such as, for example, the driver of vehicle 100 being surprised by other vehicles 320 behind first meeting vehicle 120.

A solution to this problem may be to sense information from the rear view sensor 310 via wireless communication in the direction of travel 105 of the vehicle 100.

Communications may be made over a wireless communication interface, such as, for example, vehicle-to-vehicle (V2V) communications, or vehicle-to-infrastructure (V2I) communications. The general term "vehicle to all (V2X)" will sometimes be used.

In some embodiments, communication between the

vehicles

100, 120 may be performed via V2V communication, for example, based on Dedicated Short Range Communication (DSRC) devices. In some embodiments, the DSRC operates in the 5.9GHz band, with a bandwidth of 75MHz, in the approximate range of 1000 m.

The wireless communication may be performed according to any IEEE standard for wireless vehicle communication, like for example a special operating mode of IEEE 802.11 for vehicle networks, called wireless access to the vehicle environment (WAVE). IEEE 802.11p is an extension to the 802.11 wireless LAN medium access layer (MAC) and physical layer (PHY) specifications.

In some embodiments, such a wireless communication interface may include or be at least motivated by: examples of wireless communication technologies, such as Wi-Fi, ethernet, Wireless Local Area Network (WLAN), and the like.

The communication may alternatively be over a wireless interface, which may include or be at least motivated by: radio access technologies (such as 3GPP LTE, LTE advanced, 4G, etc.) via a wireless communication network.

Fig. 3B illustrates the scenario of fig. 3A as it may be perceived by the driver (if any) in the vehicle 100.

The sensor information transmitted by the sensors 310 of the other vehicles 120 may then be sensed by the transceiver of the vehicle 100 and output on the output device 340. Output device 340, or a presentation device, may include, for example, a display, speakers, a projector, a heads-up display, a display integrated into a windshield of vehicle 100, a display integrated into an instrument panel of vehicle 100, a haptic device, a portable device of a vehicle driver/owner, a set of near-sighted displays (i.e., smart glasses) of a vehicle driver/owner, etc.; or a combination thereof.

The vehicle 100 also includes a control device 330. The control device 330 is intended to avoid a collision involving the

protrusions

110a, 110b, 110c of the own vehicle 100.

The control device 330 may include, for example, one or more Electronic Control Units (ECUs), typically a plurality of interactive ECUs. The control device 330 may include a digital computer that controls one or more electric systems, or electric subsystems, of the vehicle 100 based on, for example, information read from sensors placed at various portions of the vehicle 100 and in various components. ECU is a generic term, often used in automotive electronics, as any embedded system for controlling one or more electrically powered systems or subsystems in the vehicle 100. The control device 330 may specifically be designed to carry out height estimation and distance measurement based on sensor inputs, and to perform parameter comparisons and to make decisions based on the results of the comparisons made.

The control device 330 may communicate with the own vehicle sensors, wireless transceiver, and output device 340, for example, via a wired or wireless communication bus of the vehicle 100, or via a wired or wireless connection. The communication bus may comprise, for example, a Controller Area Network (CAN) bus, a Media Oriented System Transport (MOST) bus, or the like. However, the communication may alternatively be over a wireless connection (which includes or is at least inspired by any of the previously discussed wireless communication techniques).

The disadvantage of not being able to use its own sensors is compensated by the information perceived from the sensors 310 of the other vehicles 120. Thus, traffic safety is improved.

FIG. 4 illustrates an example of a method 400 according to an embodiment. The flow chart in fig. 4 illustrates a method 400 for use in a vehicle 100 including

protrusions

110a, 110b, 110c extending outside of the vehicle cabin to avoid impacts involving the

protrusions

110a, 110b, 110 c.

The vehicle 100 may be, for example, a truck, bus, car, or similar transportation device.

The vehicle 100 may include a plurality of sensors in the same or different modes, which may be simultaneously, alternately, or sequentially pointed at the object 200 in some embodiments.

In order to properly avoid the impact of the

protrusions

110a, 110b, 110c, the method 400 may include a plurality of

steps

401 and 404. However, some of these steps 401-404 may be performed in various alternative ways. Some method steps can only be performed in some alternative embodiments; such as, for example, step 404. Furthermore, the described

steps

401 and 404 may be performed in a somewhat different temporal order than the numbering proposal. The method 400 may include the subsequent steps of:

step 401 comprises detecting an obstacle 120 in the direction of travel 105 of the vehicle 100.

The obstacle 120 may be another vehicle, a person, an animal, a building, a barricade, a traffic sign, a rotary, or any other similar obstacle.

Step 402 comprises predicting an impact of the

protrusion

110a, 110b, 110c of the vehicle 100 with the obstacle 120 of the detection 401.

The prediction is based on sensor detection 401 of the obstacle 120 in combination with knowledge of the travel path of the own vehicle 100.

Step 403 includes triggering an action for avoiding the predicted 402 impact.

The triggered action for avoiding the predicted 402 impact may include generating an alert related to the predicted 402 impact, for example, to the driver of the vehicle 100 (if any) or to an automated system. The alert may include an output image, sound, text message output, haptic feedback signal, etc. on the output device 320.

Further, the triggered action may include making a lateral vehicle movement to avoid the predicted 402 impact. By moving the vehicle 100 laterally away from the obstacle 120, the collision may be eliminated.

Likewise, or alternatively, the triggered action may include stopping the vehicle 100 to avoid the predicted 402 impact. By immediately stopping the vehicle 100, the impact between the

protrusions

110a, 110b, 110c and the obstacle 120 is eliminated.

In some embodiments, wherein the

folding mechanism

210a, 210b is implemented in the

protrusion

110a, 110b, 110c, the triggered action may include temporarily folding the

protrusion

110a, 110b, 110c while passing over the obstacle 120.

An advantage of folding/unfolding the

protrusions

110a, 110b, 110c during the passage of the obstacle 120 is that the speed and/or the planned travel path is not affected, resulting in a fast and safe transport of the vehicle.

Step 404 is included only in some embodiments, wherein the obstacle 120 of detection 401 comprises a meeting vehicle and the

protrusions

110a, 110b, 110c comprise sensors pointing in the direction of travel 105, the step 404 comprising obtaining sensor signals from the sensors 310 of the meeting vehicle 120 to compensate for the loss of information of the folded sensors on the folded

protrusions

110a, 110b, 110 c.

This has the advantage that the omitted sensor input due to the folded sensor of the

protrusions

110a, 110b, 110c is compensated for instead by the sensor 310 pointing backwards from the meeting vehicle 120. Thus, for example, another obstacle (in the form of another vehicle 320) behind the first meeting vehicle 120. Thereby, accidents or collisions with other obstacles/vehicles 320 are avoided, resulting in increased traffic safety.

Fig. 5 illustrates an embodiment of a system 500 in the vehicle 100 including

protrusions

110a, 110b, 110c extending outside of the vehicle cabin.

The system 500 may perform at least some of the

steps

401 and 404 previously described in accordance with the method 400 described above and shown in FIG. 4 to avoid impact involving the

projections

110a, 110b, 110 c.

The system 500 includes at least one control device 330 located in the vehicle 100. The control device 330 is configured to detect the obstacle 120 in the traveling direction 105 of the vehicle 100 via an in-vehicle sensor. In various embodiments, the sensors may be mounted on the

protrusions

110a, 110b, 110c, or at another location on the vehicle 100. Furthermore, the control device 330 is configured to predict the impact of the

protrusion

110a, 110b, 110c with the detected obstacle 120. The control device 330 is additionally configured to trigger actions for avoiding the predicted impact.

Furthermore, according to some embodiments, the control device 330 may additionally be configured to issue an alert to the driver of the vehicle 100 regarding the predicted impact via an output device 340 (such as a screen, speaker, haptic device, or the like). The control device 330 may also be configured to generate travel commands for making lateral vehicle movements to avoid predicted impacts. Further, the control device 330 may be configured to generate a travel command for stopping the vehicle 100 to avoid the predicted impact.

In some embodiments, wherein the

folding mechanisms

210a, 210b are implemented in the

protrusions

110a, 110b, 110c, the control device 330 may be further configured to generate commands for folding the

protrusions

110a, 110b, 110c while passing over the obstacle 120.

Control device 330 in some embodiments, where detected obstacle 120 comprises a meeting vehicle and

protrusions

110a, 110b, 110c comprise sensors pointing in the direction of travel 105 of vehicle 100, control device 330 may be configured to obtain sensor signals from sensors 310 of meeting vehicle 120 to compensate for the loss of information of the sensors of folded

protrusions

110a, 110b, 110 c.

The system 500 also includes

protrusions

110a, 110b, 110 c. In some embodiments, the

protrusions

110a, 110b, 110c may be protruding sensor arms that hold the sensors. However, the

protrusions

110a, 110b, 110c may include any other object that extends outside of the vehicle compartment, such as a roof, and/or vehicle chassis clearance or the like.

The system 500 also includes one or more vehicle sensors for detecting the obstacle 120 in the direction of travel 105 of the vehicle 100.

The at least one sensor may comprise, for example, a camera, stereo camera, infrared camera, video camera, radar, lidar, ultrasonic sensor, time-of-flight camera, or thermal imager, or the like. In some embodiments, the at least one sensor for performing at least a portion of method 400 may have another primary purpose in addition to performing method 400, namely already being present in vehicle 100.

The control device 330 includes a receive line 510 configured to receive signals from sensors on the vehicle 100.

According to some embodiments, the control device 330 further comprises a processing circuit 520 configured for performing at least some of the method steps of the method 400.

Processing circuit 520 may include one or more examples of processing circuitry, namely a Central Processing Unit (CPU), processor, processing circuitry, Application Specific Integrated Circuit (ASIC), microprocessor, or other processing logic that may interpret and execute instructions. Thus, the expression "processor" as utilized herein may represent a processing circuit comprising a plurality of processing lines, such as, for example, any, some, or all of the above enumerated.

Further, in some embodiments, the control device 330 may include a memory 525. Optional memory 525 may include physical devices for temporarily or permanently storing data or programs (i.e., sequences of instructions). According to some embodiments, memory 525 may include integrated circuitry including silicon-based transistors. In various embodiments, the memory 525 may include, for example, a memory card, a flash memory, a USB memory, a hard disk, or another similar volatile or non-volatile storage unit for storing data, such as, for example, a ROM (read only memory), a PROM (programmable read only memory), an EPROM (erasable PROM), an EEPROM (electrically erasable PROM), or the like.

Further, in some embodiments, the control device 330 may include a signal transmitter 530. Signal transmitter 530 may be configured to transmit a signal to, for example, display 340, and/or to, for example, a warning system or warning device.

The above-described method steps 401 and 404 to be performed in the vehicle 100 may be implemented by the one or more processing circuits 520 within the control device 330 together with a computer program product for performing at least some of the functions of the method steps 401 and 404. Thus, when the computer program is loaded into the one or more processing circuits 520 of the control device 330, the computer program product (which comprises instructions for performing the method steps 401-.

Furthermore, some embodiments of the invention may include a vehicle 100 that includes a control device 330 to avoid impacts involving the

protrusions

110a, 110b, 110c of the vehicle 100 based on at least some of the method steps 401 and 404.

The above-mentioned computer program product may be provided, for example, in the form of a data carrier carrying computer program code for performing at least some of the method steps 401 and 404 according to some embodiments when the computer program product is loaded into the one or more processing circuits 520 of the control device 330. The data carrier may be, for example, a hard disk, a CD ROM disc, a memory stick, an optical storage device, a magnetic storage device, or any other suitable medium (such as a magnetic disk or tape that holds machine-readable data in a non-transitory manner). Furthermore, the computer program product may be provided as computer program code on a server and downloaded to the control device 330 remotely, e.g. over an internet or intranet connection.

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

As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. The term "OR" as used herein will be interpreted as a mathematical OR (OR), i.e., a combinable disjunction; unless explicitly stated otherwise, it is not treated as a mathematical exclusive or (XOR). In addition, the singular forms "a", "an" and "the" are intended to be construed to include plural referents of the same kind unless expressly stated otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, actions, portions, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, actions, portions, steps, operations, elements, and/or components. A single unit, such as for example a processor, may fulfill 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 the internet or other wired or wireless telecommunication systems.

Claims

1. A control device (330) in a vehicle (100) comprising a protrusion (110a, 110b, 110c) extending outside a vehicle cabin to avoid an impact involving the protrusion (110a, 110b, 110c), wherein the control device (330) is configured to:

detecting an obstacle (120) in a direction of travel (105) of a vehicle (100) via an in-vehicle sensor;

predicting an impact of the protrusion (110a, 110b, 110c) with the detected obstacle (120); and

an action is triggered to avoid the predicted impact.

2. The control device (330) of claim 1, further configured to:

generating an alert regarding the predicted impact;

generating a travel command to effect lateral vehicle movement to avoid the predicted impact; and/or

A travel command to stop the vehicle (100) is generated to avoid the predicted impact.

3. The control device (330) according to any one of the preceding claims, wherein the folding mechanism (210a, 210b) is implemented in a protrusion (110a, 110b, 110c), wherein the control device (330) is further configured to:

generating a command to fold the protrusion (110a, 110b, 110c) while passing the obstacle (120).

4. The control device (330) of claim 3, wherein when the detected obstacle (120) comprises a meeting vehicle and the protrusion (110a, 110b, 110c) comprises a sensor pointing in the direction of travel (105), the control device (330) is further configured to:

sensor signals from sensors (310) of the vehicles (120) in meeting are obtained to compensate for the loss of information of the fold sensor.

5. In a vehicle (100) comprising a protrusion (110a, 110b, 110c) extending outside a vehicle cabin to avoid an impact involving the protrusion (110a, 110b, 110c), a method (400), wherein the method (400) comprises:

detecting (401) an obstacle (120) in a direction of travel (105) of a vehicle (100);

predicting (402) an impact of the protrusion (110a, 110b, 110c) with an obstacle (120) that is detected (401); and

an action for avoiding the predicted (402) impact is triggered (403).

6. The method (400) of claim 5, wherein the act of triggering (403) to avoid the predicted (402) impact comprises:

generating an alert regarding the predicted (402) impact;

performing lateral vehicle movement to avoid the predicted (402) impact; and/or

The vehicle (100) is stopped to avoid the predicted (402) impact.

7. The method (400) according to any of claims 5-6, wherein a folding mechanism (210a, 210b) is implemented in the protrusion (110a, 110b, 110c), the action of triggering (403) to avoid an impact of the prediction (402) comprising:

the protrusions (110a, 110b, 110c) are folded while passing the obstacle (120).

8. The method (400) according to claim 7, wherein when the obstacle (120) detected (401) comprises a meeting vehicle and the protrusion (110a, 110b, 110c) comprises a sensor pointing in the direction of travel (105), the method (400) further comprises:

sensor signals from sensors (310) of the meeting vehicles (120) are obtained (404) to compensate for the loss of information of the fold sensors.

9. A computer program comprising a program code for performing the method (400) according to any one of claims 5-8, when the computer program is executed in the control device (330) according to any one of claims 1-4.

10. A system (500) in a vehicle (100) for avoiding an impact involving a protrusion (110a, 110b, 110c) extending outside a vehicle cabin, the system (500) comprising:

the control device (330) according to any one of claims 1-4;

a protrusion (110a, 110b, 110 c);

at least one sensor of the vehicle (100) for detecting an obstacle (120) in a direction of travel (105) of the vehicle (100).