Patent application EP17175128A (EP), filed 2017-06-09
Publication number: EP3413082A1
Title: A VEHICLE SYSTEM FOR DETECTION OF ONCOMING VEHICLES
Abstract: The present disclosure relates to a vehicle environment detection system (40) in an ego vehicle (1), comprising a sensor arrangement (4) and a main control unit (8). The detection system (40) is arranged to detect and track at least one oncoming vehicle (9), and to determine whether the ego vehicle (1) has entered a curve (17). When this is the case, the main control unit (8) is arranged to: - Determine a common curve (12) with a radius (R), along which common curve (12) the ego vehicle (1) is assumed to travel. - Determine a measured oncome direction (13, 13') of the oncoming vehicle (9) on the common curve (16), corresponding to an oncome angle (¸ track . - Determine a difference angle (´) between said measured oncome direction (13, 13') and an oncome direction (13) corresponding to if the oncoming vehicle (9) would be moving along the common curve (12). - Compare the difference angle (´) with a threshold angle (¸ max ), and to determine that the oncoming vehicle (9) is crossing if the difference angle (´) exceeds the threshold angle (¸ max ).
IPC codes: B60W  30/   095            A I
Claims: number: 1
text: A vehicle environment detection system (40) adapted to be mounted in an ego vehicle (1) and comprising at least one vehicle environment sensor arrangement (4) and a main control unit (8), where the vehicle environment detection system (40) is arranged to detect and track at least one oncoming vehicle (9), where the vehicle environment detection system (40) is arranged to determine whether the ego vehicle (1) has entered a curve (17), characterized in that when the vehicle environment detection system (40) has determined that the ego vehicle (1) has entered a curve (17), for each tracked oncoming vehicle (9), the main control unit (8) is arranged to:
number: 2
text: The vehicle environment detection system (40) according to claim 1, characterized in that for each tracked oncoming vehicle (9) that has been determined to be crossing, the main control unit (8) is arranged to apply one or more safety measures.
number: 3
text: The vehicle environment detection system (40) according to any one of the claims 1 or 2, characterized in that the vehicle environment detection system (40) comprises a yaw sensor device (20) that is connected to the main control unit (8) and is arranged to enable the main control unit (8) to determine an ego direction (F) along which the ego vehicle (1) travels and to determine whether the ego vehicle (1) has entered a curve (17).
number: 4
text: The vehicle environment detection system (40) according to any one of the previous claims, characterized in that the main control unit (8) is arranged to calculate the difference angle (δ) according to δ = θ<track> - α, where θ<track> is said oncome angle and α is a calculated oncome angle corresponding to if the oncoming vehicle (9) would be moving along the common curve (12), where the main control unit (8) is arranged to calculate the calculated oncome angle (α) according to α = 2 ⋅ arc sin D ⋅ γ ego . 2 ⋅ v
number: 5
text: The vehicle environment detection system (40) according to claim 4, characterized in that said reference point (10') is an adjusted center of mass (10) of the ego vehicle (1), and that the angular rotational velocity γ ego ˙
number: 6
text: The vehicle environment detection system (40) according to any one of the previous claims, characterized in that when the vehicle environment detection system (40) has determined that the ego vehicle (1) has entered a curve (17), the main control unit (8) is arranged to increase the threshold angle (θ<max> ) stepwise from a first threshold angle (θ<max1> ) to a second threshold angle (θ<max2> ) in a step-wise manner according to: θ max i = θ max i − 1 + 2 ⋅ t cyc γ ˙ ego ,
number: 7
text: The vehicle environment detection system (40) according to claim 6, characterized in that when the vehicle environment detection system (40) has determined that the ego vehicle (1) has left said curve (17), the threshold angle (θ<max> ) is step-wise reduced to the first threshold angle (θ<max1> ).
number: 8
text: The vehicle environment detection system (40) according to any one of the previous claims, characterized in that the vehicle environment detection system (40) comprises at least one of a radar system (3), a Lidar, Light detection and ranging, system and/or an image detection system.
number: 9
text: A method for detecting oncoming vehicles relative an ego vehicle (1), where the method comprises:
number: 10
text: The method according to claim 9, characterized in that for each tracked oncoming vehicle (9) that has been determined to be crossing, the method comprises applying one or more safety measures.
number: 11
text: The method according to any one of the claims 9 or 10, characterized in that the method comprises:
number: 12
text: The method according to claim 11, characterized in that said reference point (10') is an adjusted center of mass (10) of the ego vehicle (1), and that the angular rotational velocity γ ego ˙
number: 13
text: The method according to any one of the claims 9-12, characterized in that when it has been determined that the ego vehicle (1) has entered a curve (17), the method comprises increasing the threshold angle (θ<max> ) stepwise from a first threshold angle (θ<max1> ) to a second threshold angle (θ<max2> ) in a step-wise manner according to: θ max i = θ max i − 1 + 2 ⋅ t cyc γ ˙ ego ,
number: 14
text: The method according to claim 13, characterized in that when it has been determined that the ego vehicle (1) has left said curve (17), the method comprises step-wise reducing the threshold angle (θ<max> ) to the first threshold angle (θ<max1> ).
Office action: search_report, dated 2018-12-12
Prior art cited: ref_id: US8847792B2
ref_type: patent
severity: background
ref_id: US7885766B2
ref_type: patent
severity: background
ref_id: US2011175767A1
ref_type: patent
severity: background
ref_id: US2016207534A1
ref_type: patent
severity: background
ref_id: US8847792B2
ref_type: patent
severity: background
ref_id: US7885766
ref_type: patent
severity: background
ref_id: US2011175767
ref_type: patent
severity: background
ref_id: US8847792
ref_type: patent
severity: background
ref_id: US2016207534
ref_type: patent
severity: background
Final disposition: pending (2018-12-12)