Patent Description:
The present invention also is directed to a traffic control system comprising at least one data processing apparatus comprising means for carrying out the method for generating an information on an obstacle behind a curve, at least one data processing apparatus comprising means for carrying out the method for preventing an interference of a second vehicle with an obstacle behind a curve, and at least one data processing apparatus comprising means for carrying out the method for operating a second vehicle.

The present invention is further directed to a computer program and a computer-readable storage medium.

Obstacles behind curves present a danger for vehicles travelling along this curve, since the obstacle may be located such that it is not visible for the vehicle or from the vehicle when approaching the curve. This is due to the curvature of the curve. Consequently, the obstacle can only be seen once the vehicle is very close to the obstacle i.e. in a situation in which a distance between the obstacle and the vehicle is rather short. The vehicle or a driver of the vehicle are, thus, have only a comparatively short time for reacting to the obstacle. This is the case for both fully or partially autonomous vehicles and vehicles having a human driver. In this context, <CIT> discloses systems and methods for controlling an autonomous vehicle to assist another autonomous vehicle. Moreover, <CIT> discloses a device, a system and methods for alerting a driver of a vehicle to the presence of a vulnerable road user in an environment.

It is an objective of the present invention to improve such situations, i.e. to mitigate or eliminate the danger resulting from obstacles behind curves.

The problem is solved or alleviated by the subject matter of the independent claims of the present invention wherein further examples are incorporated in the dependent claims.

According to a first aspect, there is provided a method for generating an information on an obstacle behind a curve for a second vehicle by a first vehicle. The first vehicle is travelling on a first lane of a road. The method comprises:.

Consequently, the first vehicle is able to determine the presence of an obstacle on a lane other than the lane on which the first vehicle is traveling. In a situation in which the first vehicle is approaching a curve, such an obstacle is easily detectable for the first vehicle. By providing the obstacle information to a central traffic control entity, the obstacle information may be provided to other vehicles, especially a second vehicle, for which the obstacle may be located behind the curve, i.e. in a blind spot. Thus, using the present method, an information on an obstacle which otherwise is not visible to the second vehicle, may be provided. Consequently, the second vehicle is able to react to this obstacle although it cannot see the obstacle. Consequently, road safety is enhanced.

It is noted that the method for generating an information on an obstacle behind a curve for a second vehicle by a first vehicle may be performed on a first vehicle or from the perspective of the first vehicle.

In an example, determining that the first vehicle is approaching a curve may comprise receiving a stream of location information describing a location of the first vehicle. Moreover, a map information describing a roadway infrastructure may be received. Consequently, a location and a traveling direction of the first vehicle may be determined based on the map. Based thereon, one can determine whether the first vehicle is approaching the curve.

In an example, determining the presence of an obstacle comprises receiving a detection information from an environment detection system of the first vehicle. The environment detection system for example comprises a camera. Consequently, the detection information is an image or a stream of images potentially showing the obstacle. In another example, the environment detection system comprises a radar unit. Consequently, the detection information is a radar detection information potentially showing the obstacle. In a further example, the environment detection system comprises a lidar unit. Consequently, the detection information is a lidar detection information potentially showing the obstacle. In all of the above examples, an object detection technique needs to be applied to the detection information, i.e. the image, the radar detection information or the lidar detection information. Using such a technique, obstacles may be detected with high reliability. Moreover, if a location of the first vehicle is known as described above, known methods may be used in order to determine an obstacle location based on the detection information.

It is noted that the method may be abandoned in a case in which no obstacle is determined.

It is further noted, that it is not excluded that in addition to determining the presence of an obstacle on a lane of the road other than the first lane, the first vehicle may determine the presence of obstacles on the first lane, i.e. obstacles on the lane on which it is traveling.

In an example, determining that the first vehicle is approaching a curve comprises receiving at least one road sign information indicating an upcoming curve and/or receiving a map information and deriving from the map information that the first vehicle is located in proximity to the curve and travelling towards the curve. In other words, the first vehicle may use a road sign detection technique in order to determine that it is approaching the curve. In every country, there are specific road signs for indicating an upcoming curve. When executing a road sign detection technique, detected road signs are compared to the specific road signs and, based thereon, the vehicle can determine which road sign it has detected. Additionally or alternatively, an upcoming curve can be derived from a map in combination with a location of the first vehicle and a traveling direction of the first vehicle as indicated above. Altogether, it may be determined with high reliability that the first vehicle is approaching a curve.

In an example, determining the obstacle location comprises determining a starting point of the curve and/or a distance between the obstacle and the starting point of the curve. This means that as an alternative to providing an obstacle location in global coordinates, the obstacle location can also be provided relative to a starting point of the curve. It is understood that the starting point of the curve from the perspective of the first vehicle is an end point of the curve from a perspective of a vehicle traveling in an opposite direction, e.g. the second vehicle. Thus, the obstacle location may be provided in a reliable and computationally efficient manner.

In an example, determining the presence of the obstacle further comprises determining an obstacle type, wherein the obstacle information further comprises an obstacle type information. Additionally or alternatively, determining the presence of the obstacle further comprises determining an obstacle movement property, wherein the obstacle information further comprises an obstacle movement property information. Further alternatively or additionally, determining the presence of the obstacle further comprises determining an obstacle danger indicator, wherein the obstacle information further comprises an obstacle danger information. By determining at least one of the obstacle type, the obstacle movement property and the obstacle danger indicator and by providing this information to the central traffic control entity, the second vehicle is in a situation to have this information available. Consequently, the second vehicle may react to the obstacle in a highly appropriate manner.

In an example, the determinable obstacle type is at least one of an animal, a rock, a person, a biker, a vehicle, and an unknown type.

In an example, the determinable obstacle movement property is at least one of an obstacle movement status, i.e. an indication whether the obstacle is moving or not, an obstacle movement capability, i.e. an indication whether the obstacle is generally capable of moving or not, an obstacle movement type, i.e. an indication whether the obstacle is moving in an indication of the speed at which the obstacle is moving.

In an example, the obstacle danger indicator is determined as a function of the obstacle type information and the obstacle movement property information.

According to a second aspect, there is provided a data processing apparatus comprising means for carrying out the method of the present invention for generating an information on an obstacle behind a curve for a second vehicle by a first vehicle according to appended claim <NUM>. Thus, an obstacle information may be provided to a central traffic control entity and, based thereon, to the second vehicle. This enhances road safety.

According to an illustrative third aspect not forming part of the present invention there is provided a method for preventing an interference of a second vehicle with an obstacle behind a curve. The second vehicle is travelling on a second lane of the road. The method comprises:.

Thus, the obstacle information is received from a first vehicle and distributed to a second vehicle for which the obstacle information is potentially relevant. Thus, the second vehicle has an information about an obstacle that is not visible for the second vehicle or from the second vehicle. This enhances road safety.

In an example, determining that the second vehicle is located in proximity to the obstacle location and is travelling towards the obstacle location comprises searching for second vehicles being located in proximity to the obstacle location and being traveling towards the obstacle location. Such a search may be performed on a central traffic control entity. In this context, the warning information may be pushed to the one or more second vehicles determined by the search.

In another example, determining that the second vehicle is located in proximity to the obstacle location and is travelling towards the obstacle location comprises receiving a request from one or more second vehicles, wherein the request comprises a current location of the second vehicle and a traveling direction of the second vehicle. Based on the request, relevant obstacle information is determined. If relevant obstacle information is found, this information is provided to the second vehicle as a response to the request.

It is noted that the method for preventing an interference of a second vehicle with an obstacle behind a curve may be performed on a central traffic control entity or from the perspective of the central traffic control entity.

In an example, the method for preventing an interference of a second vehicle with an obstacle behind a curve further comprises storing the received obstacle information. Consequently, obstacle information having been received from one or more first vehicles, is available at least for a certain time span after the point in time at which the obstacle information has been received. Thus, a list or map of received obstacle information may be provided. This is especially helpful for obstacles that are not moving. Consequently, each second vehicle may be provided with the relevant obstacle information. This improves road safety.

In an example, the method for preventing an interference of a second vehicle with an obstacle behind a curve, further comprising evaluating a validity of the stored obstacle information. The validity of stored obstacle information may be evaluated using validity criteria. The validity criteria may relate to time span between a point in time at which the obstacle information has been received and a current point in time. In this context, a comparatively old obstacle information may be considered to be invalid. It is noted that different time thresholds may be used for obstacles of different types. Additionally or alternatively, validity may be evaluated in that contradictions between obstacle information are searched and evaluated. If a contradiction is found, the related obstacle information is considered to be invalid.

In an example, the validity of the stored obstacle information is evaluated regularly.

According to an illustrative fourth aspect not forming part of the present invention there is provided a data processing apparatus comprising means for carrying out the method of the present disclosure for preventing an interference of a second vehicle with an obstacle behind a curve. Using such a data processing apparatus, the obstacle information having been received from a first vehicle may be distributed to a second vehicle for which the obstacle information is potentially relevant. Thus, the second vehicle has an information about an obstacle that is not visible for the second vehicle. This enhances road safety.

According to an illustrative fifth aspect not forming part of the present invention there is provided a method for operating a second vehicle. The second vehicle is travelling on a second lane of the road. The method comprises:.

Consequently, the second vehicle receives a warning information comprising the obstacle information describing an obstacle which is not visible from the position of the second vehicle. The warning information may be received as a push message or a pull message. Thus, the second vehicle is able to react to the obstacle described by the obstacle information in that it triggers a collision mitigation maneuver. In this context, the collision mitigation maneuver may be triggered early enough such that an abrupt breaking activity or an abrupt steering activity can be avoided. This enhances road safety.

In an example, the collision mitigation maneuver comprises at least one of reducing a travelling speed, increasing a level of attention of a human driver, preparing a steering maneuver, and performing a steering maneuver. It is noted that the traveling speed may be reduced until the second vehicle is at a standstill. All of these collision mitigation maneuvers have the effect that a collision between the second vehicle and the obstacle is avoided or at least reduced in its intensity.

It is noted that the method for operating a second vehicle may be executed on the second vehicle or from the perspective of the second vehicle.

In an example, the method for operating a second vehicle further comprises:.

Thus, the second vehicle may evaluate whether the obstacle is present on the lane on which it is travelling or whether no obstacle is located on this lane. If the presence of the obstacle is determined, the second vehicle may confirm the presence of the obstacle to the central traffic control entity. In the opposite case, i.e. if the presence of the obstacle may not be determined, the confirmation information may comprise an information that the obstacle could not be detected. Based thereon, the central traffic control entity is able to update a list of obstacle information, e.g. in the context of evaluating the validity of obstacle information as has been explained above.

In an example, the confirmation information additionally comprises a location information describing a location of the determined obstacle. Consequently, the central traffic control entity can update a location information of the obstacle, i.e. if a location of the obstacle has changed, the obstacle information can be updated accordingly.

According to an illustrative sixth aspect not forming part of the present invention there is provided a data processing apparatus comprising means for carrying out the method for operating a second vehicle. Using such a data processing apparatus, the second vehicle may receive a warning information comprising the obstacle information describing an obstacle which is not visible from the position of the second vehicle. Thus, the second vehicle is able to react to the obstacle described by the obstacle information. This enhances road safety.

According to a seventh aspect, there is provided a traffic control system in accordance with appended claim <NUM>.

According to an eighth aspect, there is provided a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out at least one of the method of the present invention for generating an information on an obstacle behind a curve, the method of the present disclosure for preventing an interference of a second vehicle with an obstacle behind a curve and the method of the present disclosure for operating a second vehicle. Using such a computer program, road safety may be enhanced since obstacle information is shared.

According to a ninth aspect, there is provided a computer-readable storage medium comprising instructions which, when executed by a computer, cause the computer to carry out at least one of the method of the present invention for generating an information on an obstacle behind a curve, the method of the present disclosure for preventing an interference of a second vehicle with an obstacle behind a curve and the method of the present disclosure for operating a second vehicle. Using such a computer-readable storage medium, road safety may be enhanced since obstacle information is shared.

Each of the methods of the present disclosure may be at least partly computer-implemented, and may be implemented in software or in hardware, or in software and hardware. Further, the method may be carried out by computer program instructions running on means that provide data processing functions. The data processing means may be a suitable computing means, such as an electronic control module etc., which may also be a distributed computer system. The data processing means or the computer, respectively, may comprise one or more of a processor, a memory, a data interface, or the like.

The traffic situation comprises a road <NUM> with a curve <NUM>. The road <NUM> comprises a first lane <NUM> with a standard traveling direction D1 and a second lane <NUM> having a standard traveling direction D2. The standard traveling directions D1 and D2 are opposing each other.

A first vehicle <NUM> is traveling on the first lane <NUM> along the corresponding standard traveling direction D1. Moreover, the first vehicle <NUM> is approaching the curve <NUM>.

Moreover, an obstacle <NUM> is located on the second lane <NUM>. The obstacle <NUM> is arranged on the same side of the curve <NUM> as the first vehicle <NUM>. In the present example, the obstacle <NUM> is represented as a cow. However it is understood, that this is just an example. Other examples of obstacles include a different animal, a cyclist, a stone, another vehicle being at a standing still.

The second vehicle <NUM> is traveling on the second lane <NUM> along the corresponding standard traveling direction D2. Also the second vehicle <NUM> is approaching the curve <NUM>. Consequently, the second vehicle <NUM> is located on an opposite side of the curve <NUM> as compared to the first vehicle <NUM> and the obstacle <NUM>.

This means that from the perspective of the second vehicle <NUM>, the obstacle <NUM> is located behind the curve <NUM>.

Moreover, in the present example, the road <NUM> is located in a mountainous area. This is illustrated by an exemplary mountain <NUM>.

Due to the mountain <NUM>, the portion of the road <NUM> which lies behind the curve <NUM> from the perspective of the second vehicle <NUM> is not visible from the perspective of the vehicle <NUM>. This means, that the obstacle <NUM> is not visible or detectable for the second vehicle <NUM>.

The first vehicle <NUM> comprises an environment detection system <NUM>. In the present example, the environment detection system <NUM> comprises a camera unit and a corresponding data processing apparatus. Consequently, using the environment detection system <NUM>, the first vehicle <NUM> is able to detect obstacles in its environment.

Moreover, the first vehicle <NUM> comprises a navigation system <NUM>. The navigation system <NUM> comprises a map including a representation of the road <NUM> and the curve <NUM>. Moreover, the navigation system <NUM> is configured to determine a position of the first vehicle <NUM> on this map.

Additionally, the first vehicle <NUM> is equipped with a road sign detection unit <NUM>.

Beyond that, the first vehicle <NUM> comprises a data processing apparatus <NUM>.

The data processing apparatus <NUM> is communicatively connected to the environment detection system <NUM>, the navigation system <NUM> and the road sign detection unit <NUM>.

Moreover, the data processing apparatus <NUM> comprises a data processing unit <NUM> and a data storage unit <NUM>.

The data storage unit <NUM> comprises a computer-readable storage medium <NUM>.

On the computer-readable storage medium <NUM>, there is provided a computer program <NUM>.

The computer program <NUM>, and thus also the computer-readable storage medium <NUM>, comprise instructions which, when the computer program <NUM> is executed by the data processing unit <NUM> or, more generally, a computer, cause the computer or the data processing unit <NUM> to carry out a method for generating an information on an obstacle behind a curve.

Consequently, the data processing unit <NUM> and the data storage unit <NUM> form means <NUM> for carrying out the method for generating an information on an obstacle behind a curve.

Thus, the method for generating an information on an obstacle behind a curve is performed on the first vehicle <NUM>.

In the following, the method for generating an information on an obstacle behind a curve will be explained. Steps of the method will be denoted S1x.

In a first step S11 of the method for generating an information on an obstacle behind a curve, it is determined that the first vehicle <NUM> is approaching the curve <NUM>. This is done using the road sign detection unit <NUM>. In the present example, the road sign detection unit <NUM> detects road sign <NUM> indicating an upcoming curve, i.e. curve <NUM>. Thus, a road sign information indicating an upcoming curve is received at the data processing apparatus <NUM>.

It is noted that alternatively, the fact that the first vehicle <NUM> is approaching the curve <NUM> may be determined using the navigation system <NUM>.

A second step S12 of the method for generating an information on an obstacle behind a curve comprises determining the presence of the obstacle <NUM> on the second lane <NUM>, i.e. on a lane of the road <NUM> other than the first lane <NUM>.

In the present example, the obstacle <NUM> is not only detected in the sense that a presence of the obstacle <NUM> is determined. Additionally, an obstacle location is determined. This is done by the environment detection system <NUM>. Thus, an obstacle presence status indicating the presence of the obstacle <NUM> and an obstacle location information are provided to the data processing apparatus <NUM> by the environment detection system <NUM>.

In the present example, the obstacle location is determined as a distance between the obstacle <NUM> and the starting point of the curve <NUM>, i.e. the point of the road <NUM> where the radius of the curve <NUM> starts.

Beyond that, using the environment detection system <NUM>, an obstacle type is determined and a corresponding obstacle type information is provided to the data processing apparatus <NUM>. In the present example, the obstacle type is "animal".

Additionally, again using the environment detection system <NUM>, an obstacle movement property is determined and a corresponding obstacle movement property information is provided to the data processing apparatus <NUM>. In the present example, the obstacle movement property is "moving in a non-predictable manner".

Based on the obstacle type information and the obstetrical movement property information, an obstacle danger indicator is calculated by the data processing apparatus <NUM>.

Subsequently, in a third step S13 of the method for generating an information on an obstacle behind a curve, an obstacle information OI is provided to a central traffic control entity <NUM>.

In the present example, the obstacle information OI comprises an obstacle presence information describing the presence of the obstacle <NUM>, the obstacle location information describing the obstacle location, the obstacle type information describing the obstacle type, the obstacle movement property information describing the obstacle movement property and the obstacle danger indicator describing a danger resulting from the obstacle <NUM>.

The central traffic control entity <NUM> also comprises a data processing apparatus <NUM>.

The data processing apparatus <NUM> comprises a data processing unit <NUM> and a data storage unit <NUM>.

The computer program <NUM>, and thus also the computer-readable storage medium <NUM>, comprise instructions which, when the computer program <NUM> is executed by the data processing unit <NUM> or, more generally, a computer, cause the computer or the data processing unit <NUM> to carry out a method for preventing an interference of the second vehicle <NUM> with the obstacle <NUM> behind the curve <NUM>.

Consequently, the data processing unit <NUM> and the data storage unit <NUM> form means <NUM> for carrying out the method for preventing an interference of a second vehicle with an obstacle behind a curve.

This method will be explained in the following. Steps of the method for preventing an interference of a second vehicle with an obstacle behind a curve will be designated with reference signs S2x.

In a first step S21, the obstacle information OI is received at the data processing apparatus <NUM>.

In a second step S22, the obstacle information OI is stored on the data storage unit <NUM>.

In a third step S23, it is determined that the second vehicle <NUM> is located in proximity to the obstacle location and is travelling towards the obstacle location.

This step may be performed since in the present example the second vehicle <NUM> regularly sends a position information describing its position to the central traffic control entity <NUM>. Thus, the central traffic control entity <NUM>, more precisely the data processing apparatus <NUM>, analyzes the stream of position information and compares it to the obstacle location information forming part of stored obstacle information OI.

Thereafter, in a fourth step S24, a warning information WI is provided to the second vehicle <NUM>. The warning information WI comprises the obstacle information OI.

In an optional further step, the method for preventing an interference of a second vehicle with an obstacle behind a curve comprises evaluating a validity of the stored obstacle information OI. In the present example this is done in a timely regular manner. In this context, a predefined lifetime is assigned to each obstacle information OI and after the lapse of the predefined lifetime, the obstacle information OI is deleted unless it has been otherwise confirmed.

The second vehicle <NUM> comprises a data processing apparatus <NUM>.

The data processing apparatus <NUM> comprises a data processing unit <NUM> and a data storage unit <NUM>. The data storage unit comprises a computer-readable storage medium <NUM>.

The computer program <NUM>, and thus also the computer-readable storage medium <NUM>, comprise instructions which, when the computer program <NUM> is executed by the data processing unit <NUM> or, more generally, a computer, cause the computer or the data processing unit <NUM> to carry out a method for operating a second vehicle.

Consequently, the data processing unit <NUM> and the data storage unit <NUM> form means <NUM> for carrying out the method for operating a second vehicle. This method will be explained in the following. The steps of the method will be designated S3x.

In a first step S31 the warning information WI is received at the second vehicle <NUM>, more generally at the data processing apparatus <NUM>, from the central traffic control entity <NUM>. As has been mentioned before, the warning information WI comprises the obstacle information OI.

In a second step S32, a collision mitigation maneuver of the second vehicle <NUM> is triggered. In the present example, the collision mitigation maneuver consists in decelerating the second vehicle <NUM> to walking speed.

The decision for this collision mitigation maneuver is based on the obstacle type information and the danger indicator which has been derived therefrom.

Altogether, the second vehicle <NUM> is able to react to the obstacle <NUM> even though it is not able to see or visually detect the obstacle <NUM>.

<FIG> shows the road <NUM> of the traffic situation of <FIG> at a later point in time.

At this later point in time, the obstacle <NUM> being a cow in the present example, is not located on the road <NUM> anymore. The first vehicle <NUM> has been traveling further such that it is not represented in <FIG>.

The second vehicle <NUM> has been traveling along the curve <NUM>. Thus, when considering the traveling direction D2 of the second vehicle <NUM>, the second vehicle <NUM> is located behind the curve <NUM>.

Also, the second vehicle <NUM> comprises an environment detection system <NUM> which is communicatively connected to the data processing apparatus <NUM>.

Using the environment detection system <NUM>, a third step S33 of the method for operating a second vehicle may be performed. This step comprises evaluating the presence of the obstacle <NUM> on the second lane <NUM>.

In the present example, this results in determining that no obstacle is located on the second lane <NUM> anymore.

Thereafter, in a fourth step S34 of the method for operating a second vehicle, an obstacle confirmation information CI is provided to the central traffic control entity <NUM>. In the present example, the obstacle confirmation information CI indicates the absence of the obstacle <NUM>.

Following the obstacle confirmation information CI, the central traffic control entity <NUM> will delete the obstacle information OI relating to the obstacle <NUM>.

It is noted that the data processing apparatus <NUM> of the first vehicle <NUM>, the data processing apparatus <NUM> of the central traffic control entity <NUM> and the data processing apparatus <NUM> of the second vehicle <NUM> together form a traffic control system <NUM>.

As has been explained above, the data processing apparatus <NUM> of the first vehicle <NUM> and the data processing apparatus <NUM> of the central traffic control entity <NUM> are communicatively connected. Moreover, as has also been explained above, the data processing apparatus <NUM> of the second vehicle <NUM> and the data processing apparatus <NUM> of the central traffic control entity <NUM> are communicatively connected.

Claim 1:
A method for generating an information on an obstacle (<NUM>) behind a curve (<NUM>) for a second vehicle (<NUM>) by a first vehicle (<NUM>) travelling on a first lane (<NUM>) of a road (<NUM>), comprising
- determining that the first vehicle (<NUM>) is approaching the curve (<NUM>) (S11),
- determining the presence of the obstacle (<NUM>) on a lane of the road (<NUM>) other than the first lane (<NUM>) and determining an obstacle location (S12) if it has been determined that the first vehicle (<NUM>) is approaching the curve (<NUM>), and
- providing an obstacle information (OI) to a central traffic control entity (<NUM>), wherein the obstacle information (OI) comprises at least an obstacle location information describing the obstacle location and an obstacle presence information describing the presence of the obstacle (<NUM>) at the obstacle location (S13).