Patent Description:
When turning long and/or wide combination vehicles such as Load, Haul and Dump (LHD) trucks, driver visibility is reduced or completely blocked by a number of blind spots. Visibility is typically reduced further for longer and/or wider vehicles. To reduce a risk of colliding with road users and obstacles when turning, combination vehicles are therefore typically arranged with different kinds of mirrors for better rear view. Additionally, the combination vehicles may have reverse cameras for parking assistance. Occasionally, combination vehicles are also provided with additional cameras, e.g. in the front of the vehicle. Using these tools, it is easier for a driver to view some of the blind spots. However, none of these tools completely remove the danger of turning long and/or wide combination vehicles. A particular problem arises when a combination vehicle comprising a tractor and trailer turns in a forward direction in proximity of a road user such as a car. Since the trailer has a much wider turning trajectory than the tractor, the driver of the car may easily misjudge the trajectory of the trailer and may try to overtake the turning combination vehicle even though the risk of collision is very high. Since such traffic situations occurs on the side of the combination vehicle, the road user may be in a blind spot of the driver of the combination vehicle such that the driver is not able to detect the road user before a collision.

Hence there is an ongoing strive to improve traffic safety when turning combination vehicles.

<CIT> discloses a warning intervention system to avoid the collision of a vehicle, such as a truck-trailer combination, with a vulnerable road user (VRU). To this end, a sensor on the side of the vehicle detects the position of the VRU, and other sensors measure the speed and, e.g., steering wheel angle to predict a path of the vehicle. A probability distribution of the position of the VRU is calculated, and if the VRU's possible future position is within the path of the vehicle with a certain probability, an action is taken (warning signals, braking, etc.).

An object of the invention is to improve traffic safety when turning a combination vehicle.

The object is achieved by a method according to claim <NUM>. Hence, there is provided a method for managing a traffic situation associated with a road user and a turning combination vehicle. The combination vehicle comprises a first vehicle unit and a second vehicle unit. The first vehicle unit may be a tractor and the second vehicle unit may be a trailer. Any other suitable combination of vehicle units may apply. The method comprises:.

Since the region of interest extends along the determined trajectories of the first and second vehicle units and because the position of the road user is known from the sensor data, it is possible to trigger the preventive action, and thus avoiding or at least mitigating a risk of collision with the road user. In particular, the preventive action can be triggered long before the risk of collision is high. This is because the position of the road user is compared to a trajectory of the first and second vehicle units, and thus the preventive action may be triggered before the road user is dangerously close to the combination vehicle. Furthermore, since the sensor data is indicative of traffic information from respective sides of the first and second vehicle units, the road user may be detected even if it is located in a usual blind spot of the combination vehicle.

Optionally, triggering the preventive action comprises any one or more out of:.

Optionally, triggering the alert comprises alerting a driver of the combination vehicle and/or alerting the road user by triggering a sound and/or light alert. In this way, any one or both of the road user and the driver of the combination vehicle may be alerted of a potential collision and may take a respective preventive action for collision avoidance.

Optionally, triggering the preventive action is further based on a shortest distance between the position of the road user and any one of the determined trajectories. For example, when the shortest distance is below a predetermined first distance threshold, the preventive action may comprise triggering an emergency stop of the combination vehicle. As another example, when the shortest distance is above the predetermined first distance threshold but below a predetermined second distance threshold the preventive action may comprise triggering a sound and/or light alert.

Optionally, the combination vehicle further comprises a third vehicle unit. The third vehicle unit may be a trailer. The obtained sensor data is in this embodiment further indicative of traffic information from the sides of the third vehicle unit. The traffic information is further indicative of a turning motion of the third vehicle unit. In these embodiments, determining the respective trajectories further comprises determining a trajectory of the third vehicle unit based on the turning motion of the third vehicle unit. In these embodiments, establishing the region of interest further comprises establishing the region of interest extending along the determined trajectory of the third vehicle unit. In other words, the region of interest extends along the trajectory of the first, second and third vehicle units, which trajectories may all be different.

Optionally, determining the respective trajectories of the first and second vehicle units is based on dimensions of the respective first and second vehicle units. For example, the sensor data may indicate a width, length, and shape of the first and second vehicle units which may be considered when determining the respective trajectories.

Optionally, the sensor data is further indicative of dimensions of objects loaded or mounted on the combination vehicle. In these embodiments, determining the respective trajectories of the first and second vehicle units is further based on the dimensions of the objects loaded or mounted on the combination vehicle.

Optionally, the method further comprises presenting the determined trajectories and the position of the road user on a display comprised in the first vehicle unit. In this way, the driver of the combination vehicle has a constant view of how the turning trajectories of the combination vehicle may risk collision with the road user.

According to a second aspect, there is provided a control unit to perform the method according to the first aspect. The control unit may be an electronic control unit.

According to a third aspect, there is provided an arrangement for a combination vehicle comprising a first vehicle unit and a second vehicle unit. The arrangement comprises a control unit according to the second aspect. The arrangement further comprises a set of sensors arranged in communicative connection with the control unit. The set of sensors comprises sensors configured to be arranged on each side of the first vehicle unit and the second vehicle unit, respectively.

Optionally, the set of sensors comprises a set of cameras.

Optionally, the set of sensors comprises any one or more out of:.

According to a fourth aspect, there is provided a combination vehicle comprising a first vehicle unit, a second vehicle unit, and the arrangement according to the third aspect. Each side of the first vehicle unit and the second vehicle unit, respectively, is provided with at least one sensor from the set of sensors.

According to a fifth aspect, there is provided a computer program comprising program code means for performing the method according to the first aspect, when said program is run on a computer.

According to a sixth aspect, there is provided a computer program medium carrying a computer program comprising program code means for performing the method according to the first aspect, when said program is run on a computer.

<FIG> is a schematic overview of a vehicle <NUM> in accordance with embodiments herein. <FIG> illustrates a combination vehicle <NUM>, which in the illustrated embodiment comprises a first vehicle unit <NUM> and a second vehicle unit <NUM>. The first vehicle unit <NUM> is in <FIG> illustrated as a tractor and the second vehicle unit <NUM> is illustrated as a trailer, but any other suitable combination, may also be applicable to embodiments herein, e.g., combinations may comprise at least any of a: truck, a semi-truck, a semi-trailer, a tractor, and a trailer. The combination vehicle <NUM> may in one embodiment be a road train comprising extra-long and/or extra-wide vehicle units, e.g. for transportation of large structures such as super structures. The combination vehicle <NUM> comprises a first side 25a, a second side 25b, a front part <NUM>, and a rear part <NUM>. The sides 25a, 25b extend along all vehicle units of combination vehicle <NUM>, including the first vehicle unit <NUM> and the second vehicle unit <NUM>. The respective sides 25a, 25b extend along a default forward driving direction D of the combination vehicle <NUM>. The front part <NUM> may be a front part of the first vehicle unit <NUM>, as illustrated by <FIG>. The rear part <NUM> may be a rear part of the second vehicle unit <NUM>, as illustrated by <FIG>. The combination vehicle <NUM> is arranged with a set of sensors <NUM>. Each side 25a, 25b, of the first vehicle unit <NUM> and the second vehicle unit <NUM> is at least arranged with one of the sensors in the set of sensors <NUM> (not shown for the second side 25b). In embodiments herein, especially when the second vehicle unit <NUM> is a long and/or wide trailer, it may be advantageous to arrange the second vehicle unit <NUM> with multiple sensors on each side 25a, 25b. For example, the set of sensors <NUM> may comprise at least one sensor on each side 25a, 25b arranged at the rear part <NUM> of the combination vehicle <NUM>, e.g. within a predetermined distance from the rear part <NUM> of the combination vehicle <NUM>. Similarly, the set of sensors <NUM> may comprise at least one sensor on each side 25a, 25b, arranged on the front part <NUM> of the second vehicle unit <NUM>, e.g. within a predetermined distance from the front part <NUM> of the combination vehicle <NUM>.

The set of sensors <NUM> are arranged to sense traffic information from respective sides 25a, 25b, of the combination vehicle <NUM>. The traffic information is indicative of respective turning motions of the first and second vehicle units <NUM>, <NUM>, and current positions of road users in proximity of the first and second vehicle units <NUM>, <NUM>. In other words, the set of sensors <NUM> may be arranged to scan the surrounding sides 25a, 25b, of the first and second vehicle units <NUM>, <NUM> while the first and second vehicle units <NUM>, <NUM> are moving. To improve the scanning of the surrounding sides 25a, 25b, each of the first and second vehicle units <NUM>, <NUM> may be provided with a plurality of sensors on each side 25a, 25b, of the respective vehicle unit. Additionally, or alternatively, the set of sensors <NUM> may comprise one or more sensors arranged on the front and/or rear part of the respective vehicle unit, which may sense traffic information in the front and/or rear side of the respective first and second vehicle units <NUM>, <NUM>. This traffic information may also be indicative of the respective turning motions of the first and second vehicle unit <NUM>, <NUM>.

The set of sensors <NUM> may comprise any suitable sensor for obtaining traffic information. For example, the set of sensors <NUM> may comprise a set of cameras <NUM>. As illustrated in <FIG>, the set of cameras <NUM> may typically be arranged on a top-side <NUM>, e.g. roof-top, of each side 25a, 25b, of the first and second vehicle units <NUM>, <NUM>. In this configuration, the cameras <NUM> may each be directed downwards, e.g. by a fixed or adjustable angle, and arranged to monitor the respective sides 25a, 25b, of the first and second vehicle units <NUM>, <NUM>. In this way, the set of cameras <NUM> may be able to perceive the shape of the first and second vehicle unit <NUM>, <NUM>. Additionally, the set of cameras <NUM> may perceive the surroundings of the sides 25a, 25b of the first and second vehicle units <NUM>, <NUM>. The set of sensors <NUM> may also comprise Lidar sensors and/or ultrasonic sensors typically used for detecting road users' locations relative to the combination vehicle <NUM>. Each sensor of the set of sensors <NUM> may be mounted at a respective known position of the first and second vehicle units <NUM>, <NUM>, such that it is possible to determine distances to road users detected by the respective sensor, and/or to enable sensor data fusion. Lidar and/or ultrasonic sensors are typically mounted in a lower position than the set of cameras <NUM>, such that they are able to scan the surface of the road surrounding the first and second vehicle units <NUM>, <NUM>.

The set of sensors <NUM>, may in a horizontal plane be directed to scan the side of their respective vehicle unit. In other words, each sensor in the set of sensors <NUM> are arranged to scan the side of their respective vehicle unit but may also be configured to partially also scan the front or rear part of their respective vehicle unit, e.g. the front part <NUM> and/or rear part <NUM> of the combination vehicle <NUM>. In this way, a sensor arranged on a front and/or rear corner of the first or second vehicle unit <NUM>, <NUM> may be able to have a sensor data coverage of both a part of the side of its respective vehicle unit and a part of the front and/or rear of the respective vehicle unit.

The combination vehicle <NUM> may be arranged with an alerting arrangement <NUM> comprising interior and/or exterior alerting units. The alerting units may be sound alerts and/or visual alerts for alerting a driver of the combination vehicle <NUM> and/or road users in proximity of the combination vehicle <NUM> of emerging dangers. The alerting arrangement <NUM> may be arranged to perform any of the alerts described in the embodiments herein.

The combination vehicle <NUM> may be arranged with a display <NUM>. The display <NUM> may be arranged to display, to the driver of the combination vehicle <NUM>, sensor data indicative of traffic information, or any related processed sensor data, which will be exemplified in embodiments herein.

Embodiments herein may be performed by a control unit <NUM>. The control unit <NUM> may be an electronic control unit. The control unit <NUM> may be comprised in the combination vehicle <NUM> but may also be comprised in any other suitable location. The control unit <NUM> may be communicatively connected with any one or more out of: the set of sensors <NUM>, the alerting arrangement <NUM>, and the display <NUM>.

<FIG> illustrates a method for managing a traffic situation associated with a road user and the combination vehicle <NUM> according to embodiments herein. The method relates to a traffic situation wherein the combination vehicle <NUM> is turning, typically while also driving in a forward and turning direction. The combination vehicle <NUM> comprises the first vehicle unit <NUM> and the second vehicle unit <NUM>. The method may be performed by the control unit <NUM>.

The method comprises the following actions described below, which actions may be taken in any suitable order. Optional actions are indicated by dashed boxes in <FIG>.

The method comprises obtaining sensor data from the set of sensors <NUM>. The sensor data is indicative of traffic information from respective sides 25a, 25b, of the first and second vehicle units <NUM>, <NUM>. The traffic information is indicative of respective turning motions of the first and second vehicle units <NUM>, <NUM>, and a position of the road user. The position of the road user is the current position of the road user. In other words, the set of sensors <NUM> monitors the first and second vehicle units <NUM>, <NUM> and their sides 25a, 25b, to obtain information of the turning motions of the first and second vehicle unit <NUM>, <NUM> and the position of the road user. The sensor data may be senor data fused from multiple sensor types in the set of sensors <NUM>. For example, the sensor data may be a combination of real-time video from the set of cameras <NUM> and sensor data from Lidar sensors arranged on the sides of the first and second vehicle unit <NUM>, <NUM>. In this way, the fused sensor data may comprise sensor data of the sides 25a, 25b, of the first and second vehicle units <NUM>, <NUM>, relative to a road using the set of cameras <NUM>, and comprise sensor data of a scanned surroundings of the first and second vehicle units <NUM>, <NUM> sides from the Lidar sensors. The position of the road user may be a position in a coordinate system relative to the combination vehicle <NUM> in a horizontal plane.

In some embodiments, the sensor data is further indicative of dimensions of objects loaded or mounted on the combination vehicle <NUM>. For example, the set of cameras <NUM> may sense the shape and/or dimensions of combination vehicle <NUM> which thus include any objects attached to, or mounted on, the combination vehicle <NUM>.

The method further comprises determining respective trajectories of the first and second vehicle units <NUM>, <NUM> based on the respective turning motions of the first and second vehicle units <NUM>, <NUM>. The respective trajectories of the first and second vehicle units <NUM>, <NUM> comprise trajectories of how the respective first and second vehicle units <NUM>, <NUM> will travel when performing their respective turning motions. Typically, the first and second vehicle units <NUM>, <NUM> will have differing trajectories, e.g. as the first and second vehicle units <NUM>, <NUM> have different sizes and characteristics. For example, when the first vehicle unit <NUM> is a tractor and the second vehicle unit <NUM> is a long and wide trailer, the second vehicle unit <NUM> will have a much wider trajectory than the trajectory of the first vehicle unit <NUM>.

Determining the trajectories may be performed by means of an Artificial Intelligence (Al), i.e. by the use of a trained neural network or by the use of any other suitable data structure. Any suitable neural network may apply, e.g. a deep neural network or a convolutional neural network. The neural network may be trained in advance using training data from simulations. The training data may also be sensor data recorded from the set of sensors <NUM> when previously driving the first and second vehicle units <NUM>, <NUM> with the set of sensors <NUM>. The training data may also be recordings from other suitable sensor configurations from other combination vehicles.

In some embodiments, determining the respective trajectories of the first and second vehicle units <NUM>, <NUM> is based on dimensions of the respective first and second vehicle units <NUM>, <NUM>. These dimensions may be pre-determined, known by the above-mentioned Al, or may be sensed by the set of cameras <NUM>.

In some embodiments, determining the respective trajectories of the first and second vehicle units <NUM>, <NUM> is further based on the dimensions of the objects loaded or mounted on the combination vehicle <NUM>, e.g. as indicated by the sensor data obtained in action <NUM>.

The method further comprises establishing a region of interest extending along the determined trajectories based on the determined trajectories. The region of interest may be represented as an area in the coordinate system relative to the combination vehicle <NUM> in the horizontal plane, e.g. as in action <NUM>. The region of interest is an area defined by a predefined distance from the determined trajectories. In some embodiments, the region of interest is established as an area using the determined trajectories as a middle line, and spanning a predetermined width. Any other suitable region of interest which at least enables determining whether the position of the road user is within any one or both of the respective determined trajectories may be used.

The method further comprises determining whether the position of the road user is within the established region of interest. Determining whether the position of the road user is within the established region of interest may be performed in any suitable manner, e.g. by means of simple arithmetic when the region of interest and the position of the road user is within the coordinate system described above and/or by means of an Al, e.g. the same as in above action <NUM>.

The method further comprises triggering a preventive action when the position of the road user <NUM> is determined to be within the established region of interest <NUM>. The preventive action may thus prevent or mitigate risks for collision between the road user and the combination vehicle <NUM>.

In some embodiments, the preventive action may comprise any one or more out of:.

Any one or more out of the above-mentioned sound and/or light alerts may be triggered by the alerting arrangement <NUM>. In some of these embodiments, limiting the steering wheel angle of the first vehicle unit <NUM> may limit the steering wheel such that the determined respective trajectories may at least not grow wider by increasing the wheel angle. The driver of the combination vehicle <NUM> may also be alerted by means of feeling the limited steering wheel when turning and can then take appropriate action. Additionally, or alternatively, triggering the alert comprises alerting a driver of the combination vehicle <NUM> and/or alerting the road user by triggering a sound and/or light alert. In other words, the sound and/or light alert may either be sounds and/or lights exterior and/or interior of the combination vehicle <NUM>. The sound alert may for example be triggered by outside loudspeakers or speakers in the first vehicle unit <NUM>. The light alert may comprise lighting outside warning lights or lighting lights inside the first vehicle unit <NUM>, e.g. tell-tale lights on a dashboard. Triggering the light alerts may comprise the use of lights exterior to the first and second vehicle units <NUM>, <NUM>, e.g. lasers or Light-Emitting Diodes (LED) which light up an area on the road of the combination vehicle <NUM>, corresponding to the established region of interest. This light alert may in some embodiments further be triggered to always be visible when the combination vehicle <NUM> is turning.

In some embodiments, triggering the preventive action is further based on a shortest distance between the position of the road user and any one of the determined trajectories. For example, when the shortest distance is below a predetermined first distance threshold, the preventive action may comprise triggering an emergency stop of the combination vehicle. As another example, when the shortest distance is above the predetermined first distance threshold, but below a predetermined second distance threshold, the preventive action may comprise triggering a sound and/or light alert. These embodiments may be realized by dividing the region of interest into different zones, e.g. high, medium and low risk zones depending on the length of the shortest distance. The preventive action may thus be triggered when the position of the road user is in any one or both of the high risk zone and the medium risk zone. In some embodiments, only sound and/or light alerts are triggered when in the medium risk zone. In some embodiments, sound and/or light alerts are triggered in the high risk zone combined with automatic braking of the combination vehicle <NUM>. When in a low risk zone, a minor warning may be issued, e.g. a tell-tale light may indicate to the driver of the combination vehicle <NUM> that there is a presence of a road user, but there is no immediate danger given the current position of the road user and the determined trajectories.

The method may in some embodiments further comprise presenting the determined trajectories and the position of the road user on the display <NUM> comprised in the first vehicle unit <NUM>. For example, the driver of the combination vehicle <NUM> may operate the combination vehicle <NUM> from the first vehicle unit <NUM>. The driver may then see in the display <NUM>, how the determined trajectories are determined with respect to the position of the road user. Additionally, the established region of interest may be presented, along with a warning when the preventive action is triggered. Additionally, a live feed, e.g. from the set of cameras <NUM>, may be presented in the display <NUM>. Since the display <NUM> may not be able to present all video from all cameras in the set of cameras <NUM>, the video from the most relevant camera may be selected. The most relevant camera may be selected by manual input. Alternatively, the most relevant camera may be selected by determining which video is currently showing the road user, or a position closest to the road user.

The method of actions <NUM>-<NUM> above is applicable for any suitable number of vehicle units, for example the first vehicle unit <NUM> is a tractor pulling two or more trailers, including the second vehicle unit <NUM>. In some of these embodiments, the combination vehicle <NUM> further comprises a third vehicle unit. In these embodiments, the obtained sensor data of action <NUM> is further indicative of traffic information from the sides of the third vehicle unit. In these embodiments, the traffic information is further indicative of a turning motion of the third vehicle unit. In these embodiments, determining the respective trajectories as in action <NUM>, further comprises determining a trajectory of the third vehicle unit based on the turning motion of the third vehicle unit. In these embodiments, establishing the region of interest as in action <NUM> further comprises establishing the region of interest extending along the determined trajectory of the third vehicle unit.

The methods will now be further explained and exemplified in below embodiments. These below embodiments may be combined with any suitable embodiment as described above.

<FIG> illustrates an example scenario according to embodiments herein. The example scenario illustrates the combination vehicle <NUM> comprising the first and second vehicle units <NUM>, <NUM> and a road user <NUM>. The combination vehicle <NUM> turns, and obtains sensor data indicative of traffic information from respective sides 25a, 25b, of the first and second vehicle units <NUM>, <NUM>, e.g. by means of the control unit <NUM>, as in action <NUM> above. The traffic information indicates respective turning motions of the first and second vehicle units <NUM>, <NUM> and the position of the road user <NUM>. This is possible by the use of sensors on each side 25a, 25b, of the first and second vehicle units <NUM>, <NUM>, which are able to sense the surroundings of the combination vehicle <NUM>, including the shape of the first and second vehicle units <NUM>, <NUM>, and how they are turning in relation to its surroundings. Using the sensor data, the combination vehicle <NUM>, e.g. by means of the control unit <NUM>, determines a first trajectory <NUM> for the first vehicle unit <NUM> and a second trajectory <NUM> for the second vehicle unit <NUM>, e.g. as in action <NUM> above. Each of the first and second trajectories <NUM>, <NUM>, indicates current and future turning motions of the first and second vehicle units <NUM>, <NUM>. The combination vehicle <NUM>, e.g. by means of the control unit <NUM>, establishes a region of interest <NUM>, e.g. as in action <NUM>. The region of interest <NUM> is in the example scenario indicated by the area within the dashed lines. In the example scenario, the road user <NUM> is within the region of interest <NUM> and is trying to overtake the combination vehicle <NUM>. The combination vehicle <NUM>, e.g. by means of the control unit <NUM>, determines that the road user <NUM> is within the region of interest <NUM>, e.g. as in action <NUM> above. The road user <NUM> may not understand that its position is within the trajectory of the turning combination vehicle <NUM>. To avoid the risk of collision with the road user <NUM> the combination vehicle <NUM> e.g. by means of the control unit <NUM>, triggers a preventive action, e.g. as in action <NUM> above.

To perform the method actions described herein, the control unit <NUM> may be configured to perform any one or more of the above actions <NUM>-<NUM> or any of the other examples or embodiments herein. The control unit <NUM> may for example comprise an arrangement depicted in <FIG>.

The control unit <NUM> may comprise an input and output interface <NUM> configured to communicate any necessary components or entities of embodiments herein. The input and output interface <NUM> may comprise a wireless and/or wired receiver (not shown) and a wireless and/or wired transmitter (not shown). The control unit <NUM> may be arranged in any suitable location of the autonomous vehicle. The control unit <NUM> may for example be part of any suitable Advanced Driver Assistance System (ADAS).

The control unit <NUM> may further be configured to, e.g. by means of an obtaining unit <NUM> in the control unit <NUM>, obtain sensor data from a set of sensors <NUM>, e.g. as in action <NUM> above.

The control unit <NUM> may further be configured to, e.g. by means of a determining unit <NUM> in the control unit <NUM>, determine respective trajectories of the first and second vehicle units <NUM>, <NUM>, e.g. as in action <NUM> above.

The control unit <NUM> may further be configured to, e.g. by means of an establishing unit <NUM> in the control unit <NUM>, establish a region of interest extending along the determined trajectories, e.g. as in action <NUM> above.

The control unit <NUM> may further be configured to, e.g. by means of the determining unit <NUM> in the control unit <NUM>, determine whether the position of the road user is within the established region of interest, e.g. as in action <NUM> above.

The control unit <NUM> may further be configured to, e.g. by means of a triggering unit <NUM> in the control unit <NUM>, trigger a preventive action, when the position of the road user is determined to be within the established region of interest, e.g. as in action <NUM> above. The control unit <NUM> may further be configured to, e.g. by means of a presenting unit <NUM> in the control unit <NUM>, present the determined trajectories and the position of the road user on a display comprised in the first vehicle unit <NUM>, e.g. as in action <NUM> above.

The embodiments herein may be implemented through a processor or one or more processors, such as the processor <NUM> of a processing circuitry in the control unit <NUM> depicted in <FIG>, together with computer program code for performing the functions and actions of the embodiments herein. The program code mentioned above may also be provided as a computer program medium, for instance in the form of a data computer readable medium carrying computer program code for performing the embodiments herein when being loaded into the control unit <NUM>. One such computer readable medium may be in the form of a memory stick. The computer program code may furthermore be provided as pure program code on a server and downloaded to the control unit <NUM>.

The control unit <NUM> may further comprise a memory <NUM> comprising one or more memory units. The memory <NUM> comprises instructions executable by the processor in control unit <NUM>. The memory <NUM> is arranged to be used to store e.g. information, indications, data, configurations, trajectories, positions, region of interests, sensor data, and applications to perform the methods herein when being executed in the control unit <NUM>. The memory <NUM> may in some embodiments comprise the storage medium <NUM>.

In some embodiments, a computer program <NUM> comprises instructions, which when executed by a computer, e.g. the at least one processor <NUM>, cause the at least one processor of the control unit <NUM> to perform the actions <NUM>-<NUM> above.

In some embodiments, a computer-readable storage medium <NUM> comprises the respective computer program <NUM>. The computer-readable storage medium <NUM> may comprise program code for performing the steps of any one of actions <NUM>-<NUM> above when said program product is run on a computer, e.g. the at least one processor <NUM>.

Those skilled in the art will appreciate that the units in the control unit <NUM> described above may refer to a combination of analogue and digital circuits, and/or one or more processors configured with software and/or firmware, e.g. stored in the control unit <NUM>, that when executed by the respective one or more processors such as the processors described above. One or more of these processors, as well as the other digital hardware, may be included in a single Application-Specific Integrated Circuitry (ASIC), or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a system-on-a-chip (SoC).

Claim 1:
A method for managing a traffic situation associated with a road user (<NUM>) and a turning combination vehicle (<NUM>), the combination vehicle (<NUM>) comprising a first vehicle unit (<NUM>) and a second vehicle unit (<NUM>), the method comprising:
- obtaining (<NUM>) sensor data from a set of sensors (<NUM>), wherein the sensor data is indicative of traffic information from respective sides (25a, 25b) of the first and second vehicle units (<NUM>, <NUM>), wherein the traffic information is indicative of respective turning motions of the first and second vehicle units (<NUM>, <NUM>), and a position of the road user (<NUM>),
- based on the respective turning motions of the first and second vehicle units (<NUM>, <NUM>), determining (<NUM>) respective trajectories of the first and second vehicle units (<NUM>, <NUM>),
- based on the determined trajectories, establishing (<NUM>) a region of interest (<NUM>) extending along the determined trajectories, wherein the region of interest is an area defined by a predefined distance from the determined trajectories,
- determining (<NUM>) whether the position of the road user (<NUM>) is within the established region of interest (<NUM>), and
- when the position of the road user (<NUM>) is determined to be within the established region of interest (<NUM>), triggering (<NUM>) a preventive action.