Device and method for avoiding collisions between a turning combination vehicle and a road user
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 method comprises obtaining sensor data indicative of traffic information from respective sides of the vehicle units from a set of sensors. The traffic information is indicative of respective turning motions of the vehicle units, and a position of the road user. The method further comprises determining respective trajectories of the vehicle units based on the respective turning motions of the vehicle units. The method further comprises establishing a region of interest extending along the determined trajectories. The method further comprises determining whether the position of the road user is within the established region of interest. The method further comprises, when the position of the road user is determined to be within the established region of interest, triggering preventive action.
1. A method for managing a traffic situation associated with a road user and a turning combination vehicle, the combination vehicle comprising a first vehicle unit and a second vehicle unit, the method comprising:
obtaining sensor data from a set of sensors, wherein the sensor data is indicative of traffic information from respective sides of the first and the second vehicle units, wherein the traffic information is indicative of respective turning motions of the first and the second vehicle units, and a position of the road user, wherein the sensor data is further indicative of dimensions of objects loaded or mounted on the combination vehicle,
based on the respective turning motions of the first and the second vehicle units, determining respective trajectories of the first and the second vehicle units, wherein determining the respective trajectories of the first and the second vehicle units is based on dimensions of the respective first and the second vehicle units and further based on the dimensions of the objects loaded or mounted on the combination vehicle,
based on the determined trajectories, establishing a region of interest extending along the determined trajectories,
determining whether the position of the road user is within the established region of interest, and
when the position of the road user is determined to be within the established region of interest, triggering a preventive action, wherein triggering the preventive action comprises any two or more of the following:
triggering an alert,
reducing a speed of the combination vehicle,
triggering an emergency stop of the combination vehicle, and
limiting a steering wheel angle of the first vehicle unit.
2. The method of claim 1 , comprising triggering an alert, wherein 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.
3. The method of claim 1 , wherein 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.
4. The method of claim 1 , wherein the combination vehicle further comprises a third vehicle unit,
wherein the obtained sensor data is further indicative of traffic information from the sides of the third vehicle unit,
wherein the traffic information is further indicative of a turning motion of the third vehicle unit,
wherein determining the respective trajectories further comprises determining a trajectory of the third vehicle unit based on the turning motion of the third vehicle unit, and
wherein establishing the region of interest further comprises establishing the region of interest extending along the determined trajectory of the third vehicle unit.
5. The method of claim 1 , wherein the method further comprises presenting the determined trajectories and the position of the road user on a display comprised in the first vehicle unit.
6. A control unit configured to perform the method of claim 1 .
7. A system for a combination vehicle comprising the first vehicle unit and the second vehicle unit, the system comprising the control unit of claim 6 , and the set of sensors arranged in communicative connection with the control unit, and wherein the set of sensors comprises sensors configured to be arranged on each side of the first vehicle unit and the second vehicle unit, respectively.
8. The system of claim 7 wherein the set of sensors comprises a set of cameras.
9. The system of claim 7 wherein the set of sensors comprises one or more of:
Light Detection and Ranging (Lidar) sensors, and
Ultrasonic sensors.
10. A combination vehicle comprising a first vehicle unit, a second vehicle unit, and the system of claim 7 , wherein 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.
11. The method of claim 1 , wherein triggering the preventative action comprises triggering an alert and reducing a speed of the combination vehicle.
12. The method of claim 1 , wherein triggering the preventative action comprises triggering an alert and triggering an emergency stop of the combination vehicle.
13. The method of claim 1 , wherein triggering the preventative action comprises triggering an alert and limiting a steering wheel angle of the first vehicle unit.
14. The method of claim 1 , wherein triggering the preventative action comprises reducing a speed of the combination vehicle and triggering an emergency stop of the combination vehicle.
15. The method of claim 1 , wherein triggering the preventative action comprises reducing a speed of the combination vehicle and limiting a steering wheel angle of the first vehicle unit.
16. The method of claim 1 , wherein triggering the preventative action comprises triggering an emergency stop of the combination vehicle and limiting a steering wheel angle of the first vehicle unit.
17. The method of claim 1 , wherein triggering the preventative action comprises triggering an alert, reducing a speed of the combination vehicle, and triggering an emergency stop of the combination vehicle.
18. The method of claim 1 , wherein triggering the preventative action comprises triggering an alert, reducing a speed of the combination vehicle, and limiting a steering wheel angle of the first vehicle unit.
19. The method of claim 1 , wherein triggering the preventative action comprises reducing a speed of the combination vehicle, triggering an emergency stop of the combination vehicle, and limiting a steering wheel angle of the first vehicle unit.
20. The method of claim 1 , wherein triggering the preventative action comprises triggering an alert, reducing a speed of the combination vehicle, triggering an emergency stop of the combination vehicle, and limiting a steering wheel angle of the first vehicle unit.