Patent Description:
Moreover, the present disclosure is directed to a method for operating an ego-vehicle.

The present disclosure further relates to a data processing apparatus, a computer program, and a computer-readable storage medium.

In this context, a wide turn maneuver is understood as a manner of driving around a corner, wherein the vehicle performing the wide turn maneuver is not using the outermost lane as a starting point. This means that when taking a right, the vehicle performing the wide turn maneuver is not starting from the rightmost lane, but for example from the second lane from the right. When taking a left, the vehicle performing the wide turn maneuver is not starting from the leftmost lane, but for example from the second lane from the left. Such a wide turn maneuver is especially performed by comparatively long vehicles, such as trucks or buses. In doing so, the comparatively long vehicle, is able to drive around comparatively narrow corners.

It is obvious that performing a wide turn maneuver is only possible, if the outermost, i.e. the rightmost or leftmost, lane is free from any other traffic participants. In other words, when performing a wide turn maneuver to the right, the rightmost lane needs to be free. When performing a wide turn maneuver to the left, the leftmost lane needs to be free.

Since it is difficult for other traffic participants to recognize that a vehicle ahead of them is starting to perform a wide turn maneuver, such maneuvers may easily lead to accidents which result from the fact that a traffic participant has not recognized that a vehicle in front of it is performing a wide turn maneuver and has been driving on the rightmost or leftmost lane. At the same time, a driver of the vehicle performing the wide turn maneuver has overlooked this traffic participant or was not able to see the traffic participant due to the blind spot phenomenon.

It is noted, that the above explanations especially apply to partially or fully autonomous vehicles. For such vehicles it is particularly difficult to detect that a vehicle ahead of them is performing a wide turn maneuver.

On a more general level, <CIT> discloses a device, method and system for warning a driver of a vehicle which is making a turn. <CIT> shows a system for detecting a mobile unit relying on the exchange of signals between vehicles.

Consequently, it is an objective of the present disclosure to improve the detection of a wide turn maneuver.

According to a first aspect, there is provided a method for detecting a wide turn maneuver of a vehicle travelling on a road segment ahead of an ego-vehicle according to independent claim <NUM>.

The method is performed on the ego-vehicle or at least from the perspective of the ego-vehicle. It is noted that the method may be abandoned if a turn signal status is detected which describes that none of the turn signals or both of the turn signals are activated. Moreover, the method may be abandoned if the lane status describes that the vehicle is traveling on the ego-lane. Also, the method may be abandoned if the turn distance information exceeds or equals the turn distance threshold. In this context, the turn distance information may be received from a navigation unit. The turn distance threshold describes a distance to the upcoming turn, wherein within this distance a wide turn maneuver is considered to be possible. Using the turn distance threshold, a lane change may be distinguished over a potential wide turn maneuver. In simplified words, if the vehicle is far away from the next turn, a wide turn maneuver must not be determined. Instead, a lane change may be determined. Using this method, a wide turn maneuver of a vehicle may be detected with high reliability. This enhances road safety.

In the context of the present disclosure, activating the turn signal is considered to be a first step of a wide turn maneuver.

According to an example, the method further comprises detecting an identification feature of the vehicle and deriving a type of the vehicle. Additionally or alternatively, a length of the vehicle may be derived based on the identification feature. Only if the type of the vehicle corresponds to a predefined type or the length of the vehicle exceeds a length threshold it is determined that the vehicle is performing a wide turn maneuver. The predefined types may include trucks, semi-trucks and buses. In an example, the identification feature is an alphanumeric string being displayed on a license plate of the vehicle. The associated information relating to the type of the vehicle order length of the vehicle may be retrieved from a central database which may be for example designed as a cloud service. To this end, a wireless data connection, e.g. over the Internet, may be established. In the present example, the fact is used, that only vehicles having a comparatively big length or being of certain types usually perform wide turn maneuvers. Consequently, it may be excluded that a wide turn maneuver is determined for a type of vehicle or a vehicle having a comparatively short length. Such vehicles do not need to perform a wide turn maneuver. They can use a standard turn maneuver. This further enhances the reliability of detecting a wide turn maneuver.

In a further example, the method comprises comparing the derived length of the vehicle to a received turn distance information. The performance of a wide turn maneuver is only determined if a ratio of the derived length of the vehicle to the received turn distance information exceeds a predefined ratio threshold. This means that the proximity of the vehicle to the location of the turn is measured in terms of the vehicle length. This offers a precise estimation whether the vehicle is performing a wide turn maneuver or a different type of maneuver, e.g. a lane change.

In another example, the method further comprises detecting a speed of the vehicle and/or a speed gradient of the vehicle. The performance of a wide turn maneuver is only determined if the detected speed is inferior to a speed threshold and/or if the speed gradient exceeds a speed gradient threshold respectively. In this context, it is known that a vehicle needs to slow down in order to perform a wide turn maneuver. Consequently, a wide turn maneuver may be excluded, if the vehicle travels at a comparatively high speed, i.e. a speed exceeding the speed threshold. Moreover, the fact that a vehicle is slowing down may be detected by evaluating a speed gradient. It is noted that in this context, the speed gradient is to be understood in absolute terms. This means that a high speed gradient may relate to a high acceleration or high deceleration. However, in the present disclosure, high acceleration is not relevant since usually the other indicators of a wide turn maneuver, e.g. activating the turn lights, do not occur in combination with a high acceleration. Consequently, using the speed gradient, it may be determined that the vehicle is slowing down, if the speed gradient exceeds a speed gradient threshold. This is also an indication of a wide turn maneuver. Consequently, a wide turn maneuver may be detected with high reliability.

In a further example, a wide turn maneuver may only be determined in a case in which the speed of the vehicle is comparatively low and decreasing.

In an example, the method further comprises receiving an area-specific turn possibility status describing whether in a specific area, there is a possibility to perform a wide turn. The performance of a wide turn maneuver is only determined if the area-specific turn possibility status is positive. The area specific turn possibility status may be received from a cloud server or a central database, e.g. via a wireless data connection, for example over the Internet. Using the area specific turn possibility status, a wide turn maneuver may only be detected in areas where generally a wide turn maneuver is possible. This may be the case for roads having two or more lanes in one direction. To the contrary, in areas where a wide turn maneuver generally is not possible, a wide turn maneuver will not be determined. This may for example be the case for small villages having narrow single lane roads only. Consequently, the accuracy of the determination of a wide turn maneuver is further increased.

In an example, there is provided a method for operating an ego-vehicle. This method comprises executing the method for detecting a wide turn maneuver of a vehicle according to the present disclosure. Thus, the ego-vehicle may determine that a vehicle ahead of it is performing a wide turn maneuver. This determination may happen with high precision and reliability. This allows the ego-vehicle to react appropriately. This means that the ego-vehicle is able to react in a way that avoids accidents. Especially, the ego-vehicle is able to avoid driving into road spaces that are needed for the performance of the wide turn maneuver. Additionally a blind spot area of the vehicle performing the wide turn maneuver may be avoided.

In an example, the method further comprises triggering the keeping a safety distance with respect to the vehicle if a wide turn maneuver is detected. The safety distance may be kept while driving and while being at a standing still. Keeping a safety distance also may imply not to perform lane changes and not to perform overtaking maneuvers. Consequently, the vehicle may safely perform a wide turn maneuver and the ego-vehicle is kept in a safe state.

In an example, the safety distance may be triggered for a predefined time. Put otherwise, a timer may be set and after the lapse of the predefined time normal driving will be continued. This may imply that the method for detecting a wide turn maneuver is started from the beginning. Consequently, traffic flow will not be unduly restricted by an ego-vehicle having detected a vehicle performing a wide turn maneuver.

In an example, the method further comprises transmitting a wide turn status information to a central control entity or to another vehicle, if a wide turn maneuver is detected. In other words, other traffic participants may be informed that the vehicle is performing a wide turn maneuver. The information may be transmitted directly to the other traffic participants, e.g. other vehicles, or via the central control entity. Optionally an identification feature of the vehicle performing the wide turn maneuver or the ego-vehicle may be transmitted. Consequently, other vehicles are informed and can react to the detected wide turn maneuver in a safe manner.

According to an example, the method further comprises triggering a warning activity, if a wide turn maneuver is detected. In doing so, other traffic participants will slow down and/or drive with increased caution. The warning activity may include honking or turning the hazard lights on.

In an example, the method further comprises detecting a traffic light and a corresponding traffic light status. The method additionally comprises triggering a standstill when the traffic light turns from red to green, if it is determined that the vehicle is performing a wide turn maneuver. This example relates to a situation wherein the beginning of a wide turn maneuver is detected in a situation where the vehicle and the ego-vehicle are waiting at a red traffic light. By staying in a standstill, the ego-vehicle may let the vehicle performing the right turn maneuver pass. Thus, the wide turn maneuver may be performed in a safe manner. In this context, the traffic light detection may use machine vision and/or data of a navigation system.

In an example, the standstill may be triggered for a predefined time. As before, a timer may be set and after the lapse of the predefined time normal driving will be continued. This may imply that the method for detecting a wide turn maneuver is started from the beginning. Consequently, traffic flow will not be unduly restricted by an ego-vehicle having detected a vehicle performing a wide turn maneuver.

The above-described methods 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.

According to a second aspect, there is provided a data processing apparatus according to independent claim <NUM>. Consequently, using such a data processing apparatus, a wide turn maneuver may be detected with high reliability and/or an ego-vehicle is able to appropriately react thereto. Altogether, road safety is enhanced.

According to a third aspect, there is provided a computer program according to independent claim <NUM>. Using such a computer program offers the possibility to reliably detect a wide turn maneuver. An ego-vehicle may react thereto in a safe manner.

According to a fourth aspect, there is provided a computer-readable storage medium according to independent claim <NUM>. Also using such a computer-readable storage medium leads to a reliable detection of a wide turn maneuver. An ego-vehicle may therefore react appropriately and safely thereto.

Accordingly, the method may be combined with structural features and, likewise, the apparatus and the system may be combined with features described above with regard to the method.

<FIG> shows a street crossing <NUM>. A first vehicle <NUM>, which is a truck in the example of <FIG>, and a second vehicle <NUM>, which is a standard car in the example of <FIG>, are traveling on the streets forming the street crossing <NUM>.

The first vehicle <NUM> is performing a wide turn maneuver. This means that, in the perspective of <FIG>, the first vehicle <NUM> drives on the second lane from the right in order to be able to take a right at the street crossing <NUM>. This is necessary because the first vehicle <NUM> is comparatively long. If the first vehicle <NUM> would travel on the rightmost lane, it would not be possible to take a right at the street crossing <NUM>.

As is visible from <FIG>, when performing the wide turn maneuver, the first vehicle <NUM> needs both the rightmost lane and the second lane from the right. However, in the illustration of <FIG>, the second vehicle <NUM> was unable to detect that the first vehicle <NUM> is performing a wide turn maneuver. This leads to an accident because the second vehicle <NUM> is located in a space which is actually needed by the first vehicle <NUM> in order to perform the right turn maneuver. In the present example, the second vehicle <NUM> is additionally in a blind spot of the first vehicle <NUM>.

Such accidents may be avoided by using a method for operating an ego-vehicle <NUM>, wherein this method comprises executing a method for detecting a wide turn maneuver of a vehicle <NUM>.

These methods will be explained in the following with reference to <FIG> and <FIG>.

For the ease of explanation, the vehicle which is operated by the method mentioned above will be designated as an ego-vehicle <NUM>. In the situation of <FIG>, the ego-vehicle <NUM> would corresponds to the second vehicle <NUM>. The vehicle that is performing the right turn maneuver will simply be referred to as vehicle <NUM>. In the situation of <FIG>, the vehicle <NUM> would correspond to the first vehicle <NUM>.

The ego-vehicle <NUM> comprises a data processing apparatus <NUM> with 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>, a computer program <NUM> is stored. Both the computer-readable storage medium <NUM> and the computer program <NUM> comprising instructions which, when being executed by a computer, here the data processing unit <NUM>, cause the computer, i.e. the data processing unit <NUM>, to carry out the above methods.

Consequently, the data processing unit <NUM> and the data storage unit <NUM> may also be designated as means <NUM> for carrying out the above methods.

In the example of <FIG> and <FIG>, the ego-vehicle <NUM> is a fully autonomous vehicle. It travels on a known ego-lane <NUM> within a road segment <NUM>.

The vehicle <NUM>, which again is a truck, travels on the same road segment <NUM> ahead of the ego-vehicle <NUM>. At an upper end of the road segment <NUM>, there is a T-intersection <NUM>.

Both the ego-vehicle <NUM> and the vehicle <NUM> are approaching the T-intersection <NUM>.

In a first step S1 an identification feature of the vehicle <NUM> is detected.

In the present example, a license plate of the vehicle <NUM> is detected by using a camera <NUM> being installed in the ego-vehicle <NUM>.

The camera <NUM> is connected to the data processing apparatus <NUM>. Using the data processing apparatus, an alphanumeric identification code of the vehicle <NUM> may be extracted from the image captured by the camera <NUM>.

Subsequently, the ego-vehicle <NUM> sends a request to a central control entity <NUM>. The request comprises a demand for a vehicle type being associated with the determined alphanumeric identification code and a length of the vehicle being associated with the alphanumeric identification code.

In response to the request, a vehicle type, which is "truck" in the present example, and a corresponding length is received at the data processing apparatus <NUM> from the central control entity <NUM>. In the present example, the length is <NUM>.

Subsequently, the received vehicle type and the received length are compared to predefined types of vehicles and a length threshold respectively. These two pieces of information are stored on the data storage unit <NUM>. The predefined types of vehicles include trucks. The length threshold is <NUM>.

Based on this determination, the method is continued since both the type of the vehicle <NUM> and the corresponding length do not exclude that the vehicle <NUM> might be in a situation to perform a wide turn maneuver.

In a second step S2, the ego-vehicle <NUM> receives or reads an area-specific turn possibility status. The area-specific turn possibility status may be received from the central control entity <NUM> or may be stored on the data storage unit <NUM>. In the latter case, the data storage unit <NUM> may form part of a navigation system.

The area-specific turn possibility status describes whether in the specific area, where the ego-vehicle <NUM> is currently located, there is a general possibility to perform a wide turn maneuver.

In the present example, the area-specific turn possibility status is positive. Thus, the method is continued. In a case, in which the area-specific turn possibility status is negative, i.e. in a case where there is no possibility to perform a wide turn maneuver, the method is abandoned.

Subsequently, a third step S3 is performed. In this step S3, the ego-vehicle <NUM> is detecting a turn signal status of the vehicle <NUM>.

To this end, the camera <NUM> of the ego-vehicle <NUM> may be used again.

The turn signal status describes whether the left turn signal only, the right turn signal only, both the left turn signal and the right turn signal or none of the turn signals are activated.

In the example of <FIG>, it is determined that the right turn signal only is activated. This is indicated by two arrows <NUM>.

It is noted, that the method is only continued in cases in which either the left turn signal only or the order right turn signal only is activated. In all other cases, the method is abandoned since having activated both the left and the right turn signal or having activated none of the turn signals is not considered to be indicative of a wide turn maneuver.

In a fourth step S4, a lane status of the vehicle <NUM> is detected. To this end, also the camera <NUM> may be used.

The lane status describes a lane of the road segment <NUM> on which the vehicle <NUM> is traveling. The lane status is determined with reference to the ego-lane <NUM>.

In the example of <FIG>, it is determined that the vehicle <NUM> is traveling on a lane to the left of the ego-lane <NUM>.

In a subsequent fifth step S5, a speed of the vehicle <NUM> is detected. This may also be done by using the camera <NUM>.

The detected speed is compared to a speed threshold being provided on the data storage unit <NUM>.

In the present example, the determined speed may be <NUM>/h and they speed threshold may be <NUM>/h.

The method is continued, if the detected speed is inferior to the the speed threshold. This is the case in the present example. In the opposite case, the method is abandoned since the detected speed is considered to be too high for the performance of a wide turn maneuver.

It is noted that additionally or alternatively to the speed, also a speed gradient may be determined and the method may only be continued in cases in which a deceleration of the vehicle is determined.

Thereafter, in a sixth step S6, a turn distance information D describing a distance to an upcoming turn is received. In the example of <FIG>, the upcoming turn is the T-intersection <NUM>. The turn distance information D may be received from the central control entity or from the data processing apparatus <NUM> forming part of a navigation system.

Based thereon, a ratio of the received length of the vehicle <NUM> to the received turn distance information D is calculated and compared to a predefined ratio threshold.

In the present example, the predefined ratio threshold is <NUM> and the calculated ratio is <NUM>. This means that in terms of the length of the vehicle <NUM>, the distance to the upcoming turn is short. Consequently, the method is continued since in such a situation a wide turn maneuver is possible. If the calculated ratio were to be below the predefined ratio threshold of <NUM>, the method would be abandoned since in terms of the length of the vehicle <NUM>, the distance to the upcoming turn would be considered too far.

In an alternative, the received turn distance information D may as well be simply compared to a distance threshold. The turn distance threshold describes a distance from the upcoming turn within which a wide turn maneuver would be possible.

Thereafter, in a seventh step S7, based on the outcomes of the steps mentioned before, it is determined that the vehicle <NUM> is performing a wide turn maneuver.

It is noted that in the example of <FIG> the vehicle <NUM> is traveling on a lane to the left of the ego-vehicle <NUM> and the right turn signals only are activated. Of course, the opposite situation is also possible, i.e. the vehicle <NUM> is traveling on a lane to the right of the ego-vehicle <NUM> and the left turn signals only are activated.

Following this determination, the ego-vehicle <NUM> can react appropriately in a step S8.

This step comprises three sub-steps. In a first sub-step S8a, the ego-vehicle <NUM> is keeping a safety distance X with respect to the vehicle <NUM>.

Moreover, the ego-vehicle <NUM> is performing a warning activity in a sub-step S8b. In the present example, the ego-vehicle <NUM> is activating all its turn lights. This is illustrated by arrows <NUM>.

Additionally, in a sub-step S8c, the ego-vehicle <NUM> transmits a wide turn status information to the central control entity <NUM>. The wide turn status information indicates the current position of the ego-vehicle <NUM> and the fact that at this position the vehicle <NUM> is performing a wide turn maneuver. This information may be transmitted to other traffic participants by the central control entity <NUM>.

In the present example, the activities of step S8 are performed for a predefined time of <NUM> seconds. After this time has elapsed, the ego-vehicle <NUM> continues driving normally. This, of course, implies that the methods of the present disclosure are started anew.

<FIG> illustrates a further exemplary situation. The position of the vehicle <NUM> and the ego-vehicle <NUM> is the same as in the example of <FIG>. Also the determination results of steps S1, S2, S3, S4 and S6 are the same as has been explained in connection with the example of <FIG>.

In step S5, it is determined that the vehicle <NUM> is at a standstill. Thus, also the outcome of step S5 corresponds to the outcome as has been explained in connection with <FIG>.

Consequently, also in the example of <FIG> it is determined that the vehicle <NUM> is performing a wide turn maneuver in a step S7.

However, in the situation of <FIG> the ego-vehicle <NUM> additionally detects a traffic light <NUM> and a corresponding traffic light status which indicates that the traffic light is red.

Because of that, a different sub-step S8a is performed. Now, the ego-vehicle <NUM> stays in a standstill when the traffic light <NUM> turns from red to green.

In doing so, other vehicles <NUM> can continue driving normally thereby liberating the road space that is necessary for vehicle <NUM> to perform the wide turn maneuver. The ego-vehicle <NUM> will not enter this road space. Consequently, vehicle <NUM> can perform the wide turn maneuver in a safe manner.

The ego-vehicle <NUM> will stay in the standstill for a predefined time of <NUM> seconds. Then it will continue driving normally which also includes the performance of the methods of the present disclosure.

Claim 1:
A computer-implemented method for detecting a wide turn maneuver of a vehicle (<NUM>) travelling on a road segment (<NUM>) ahead of an ego-vehicle (<NUM>) which is travelling on a known ego-lane (<NUM>) of the same road segment (<NUM>), the wide turn maneuver being a right turning maneuver starting outside the rightmost lane or the wide turning maneuver being a left turning maneuver starting outside the leftmost lane, the method is performed on the ego-vehicle (<NUM>) or from the perspective of the ego-vehicle (<NUM>) and the method comprising
- detecting a turn signal status of the vehicle (<NUM>), wherein the turn signal status describes whether the left turn signal only, the right turn signal only, both the left turn signal and the right turn signal or none of the turn signals is/are activated (S3),
- detecting a lane status of the vehicle (<NUM>), wherein the lane status describes a lane of the road segment (<NUM>) on which the vehicle (<NUM>) is travelling (S4),
- receiving a turn distance information (D) describing a distance to an upcoming turn and comparing the turn distance information (D) to a turn distance threshold (S6),
- determining that the vehicle (<NUM>) is performing the wide turn maneuver (S7),
o if the turn signal status describes that the left turn signal only is activated and the lane status describes that the vehicle (<NUM>) is travelling on a lane being located on the right of the ego-lane (<NUM>) and the turn distance information (D) is inferior to the turn distance threshold, or
o if the turn signal status describes that the right turn signal only is activated and the lane status describes that the vehicle (<NUM>) is travelling on a lane being located on the left of the ego-lane (<NUM>) and the turn distance information (D) is inferior to the turn distance threshold.