Method and device for identifying a vehicle having an overload load

Abstract

The invention relates to a device for detecting an overhanging load of a preceding vehicle traveling in front of the vehicle. The device is designed to ascertain, on the basis of sensor data of at least one environmental sensor of the vehicle, a temporal progression of the distance of the preceding vehicle to the vehicle during the approach of the vehicle to the preceding vehicle. The arrangement is also provided for determining whether the preceding vehicle has an overhanging load based on the temporal progression of the distance.

Description

Technical Field

[0001] The invention relates to a method and a corresponding device intended for identifying a vehicle with an overhanging load. Background Art

[0002] For example, a vehicle can be operated with the aid of a distance and / or speed controller which is provided to automatically adjust the vehicle's driving speed according to a target speed (in free-wheeling) or according to a target distance to the vehicle ahead (in following driving). Against this background, the distance to the vehicle ahead should be determined in a precise and reliable manner in order to increase the comfort and / or safety of the driving function. If the vehicle ahead has a rearward overhanging load, this may prevent the determination of the distance between the vehicle and the vehicle ahead. Summary of the invention

[0003] The technical object of this document is to enable efficient and reliable detection of a preceding vehicle with an overhanging load, in particular in order to increase the comfort and / or safety of automated driving functions, for example for automatic longitudinal guidance of a vehicle.

[0004] This task is solved by each independent claim. Advantageous embodiments are described in particular in the dependent claims. It should be pointed out that the additional features of the patent claims that are subordinate to the independent patent claims can form a separate invention and an invention that is independent of the combination of all the features of the independent patent claims without the features of the independent patent claims or in combination with only a subset of the features of the independent patent claims, which invention can become the subject of an independent claim, a divisional application or a subsequent application. The same applies to the technical teachings described in the specification, which can form an invention that is independent of the features of the independent patent claims.

[0005] According to one aspect, a device for detecting an overhang load of a leading vehicle traveling ahead of a (motor) vehicle is described. The vehicle can be traveling, for example, on a lane of a roadway, and the leading vehicle can be arranged in front of the vehicle (on the same lane) in the longitudinal direction of the vehicle. The vehicle can optionally be operated with the aid of an automated driving function, which is configured, for example, to cause automatic longitudinal guidance of the vehicle. The automated driving function can have a distance and / or speed controller.

[0006] The device can be designed to check whether the vehicle ahead has a load that extends in the direction of the vehicle beyond the rear of the vehicle ahead. The load can be designed, for example, in the form of a rod or a beam. The load can be oriented in the longitudinal direction so that the load can represent only a relatively small point for the vehicle's surrounding sensors, such as lidar sensors or radar sensors.

[0007] The device is configured to determine the temporal progression of the distance from the vehicle in front of the vehicle based on sensor data from at least one surroundings sensor of the vehicle during the vehicle's approach to the vehicle in front. In this case, a speed difference between the vehicle in front and the vehicle may also be determined (for example based on sensor data from a radar sensor). The temporal progression of the distance can display the values ​​of the determined distance for a series of time points during the approach process, for example with a certain temporal measurement frequency (for example 1 Hz or more).

[0008] Furthermore, the device is designed to determine, based on the time profile of the distance, whether the vehicle ahead has an overhanging load.

[0009] During an approach with a constant speed difference, the time course of the distance usually has a linear course in which the distance determined decreases with a certain time gradient (depending on the speed difference). A time course of the distance that deviates from this linear course can be used as an indicator for the overhang load.

[0010] Thus, a device is described which can detect overhung loads in an efficient and reliable manner, in particular in order to increase the comfort and / or safety of automated driving functions.

[0011] The device can be configured to check, as the vehicle approaches the vehicle ahead further (at a speed difference), whether the temporal progression of the distance has a saddle region in which the determined distance has a substantially constant value. The determined distance can deviate from the constant value by up to ±10% over the entire saddle region. Furthermore, the saddle region can have a time range of one second or longer. Furthermore, the saddle region can be arranged between a first region and a third region in the temporal progression of the distance, in which the determined distance decreases (substantially linearly) with a temporal gradient (wherein the temporal gradient is dependent on the speed difference between the vehicle and the vehicle ahead).

[0012] If the temporal curve of the distance has a saddle-shaped region, it can be determined in a particularly reliable manner that the vehicle ahead has an overhang load.

[0013] Furthermore, the device can be configured to determine the time range of the saddle region of the time curve of the distance (i.e. the value of the time range). Based on the time range, in particular taking into account the speed difference between the vehicle and the vehicle ahead, an overhang value of the overhang load is determined. The determined overhang value can be taken into account within the scope of operating an automated driving function of the vehicle (e.g. a distance controller). The comfort and safety of the automated driving function can thus be further increased.

[0014] The device can be arranged to identify additional objects between the vehicle and the vehicle ahead based on the sensor data of the environment sensor. Here, the additional object may be identified only by one environment sensor, while the vehicle ahead has been and / or is being identified (and tracked if necessary) by multiple environment sensors.

[0015] The device can also be configured to compare the (Doppler) velocity of the additional object with the (Doppler) velocity of the vehicle ahead. Based on the velocity comparison, it can then be determined in a particularly precise and robust manner whether the vehicle ahead has an overhanging load. Furthermore, the additional object can be identified as an overhanging load of the vehicle ahead, if necessary.

[0016] The device can also be configured to determine the distance between the vehicle and the vehicle in front. In addition, the distance between the vehicle and the additional object can be determined. The difference between the two distances can then be taken into account. If the difference between these distances is equal to or less than a determined difference threshold (e.g. 10 meters or less, or 8 meters or less), the additional object can be identified as an overhanging load of the vehicle in front, if necessary. The overhang of the overhanging load can then correspond to the determined distance difference. On the other hand, if the difference is greater than the difference threshold (and therefore the additional object is relatively far away from the vehicle in front), it can be determined, if necessary, that the additional object is an object independent of the vehicle in front.

[0017] Thus, the device can be configured to determine the distance between the vehicle ahead and the additional object, in particular based on the sensor data of the surroundings sensor (eg as the difference between the two distances). It can then be determined in a particularly robust manner based on the determined distance whether the vehicle ahead has an overhanging load.

[0018] The device can be configured in particular to determine that the additional object is an overhang load of the vehicle ahead if the difference in magnitude between the speed of the additional object and the speed of the vehicle ahead is equal to or less than a threshold value and / or if the determined distance between the vehicle ahead and the additional object is equal to or less than a threshold value.

[0019] According to another aspect, a device for detecting an overhung load of a preceding vehicle traveling ahead of a vehicle is described. Individual features of the device can be combined in any desired manner with individual features of the devices already described.

[0020] The device is configured to detect additional objects between the vehicle and a preceding vehicle based on sensor data of an environmental sensor of the vehicle (e.g. a radar sensor and / or a lidar sensor). For example, a preceding vehicle can be detected based on sensor data of a plurality of different environmental sensors and can be tracked if necessary. On the other hand, the additional object may be detected based on sensor data of (only) a portion of the plurality of environmental sensors.

[0021] The device is also configured to compare the speed of the additional object (determined based on sensor data of one or more surrounding sensors) with the speed of the vehicle ahead (determined based on sensor data of one or more surrounding sensors). In this case, these speeds can be determined in particular based on at least one radar sensor.

[0022] Furthermore, the device is configured to determine, based on the speed comparison, whether the vehicle ahead has an overhanging load. In particular, the device can be configured to determine that the vehicle ahead has an overhanging load if the speed of the additional object and the speed of the vehicle ahead differ from each other by a maximum of 10%. In this case, the additional object can be identified as an overhanging load of the vehicle ahead. Thus, a vehicle ahead with an overhanging load can be detected in an efficient and reliable manner and taken into account when the automated driving function is operated, thereby increasing the comfort and / or safety of the automated driving function.

[0023] The device may be configured to ascertain the type of the vehicle ahead (based on sensor data from one or more surrounding sensors) (particularly from a list of possible types such as passenger car, truck, bus, motorcycle, etc.).

[0024] Then, (also) it is possible to determine in a particularly accurate and robust manner whether the vehicle ahead has an overhanging load depending on the type of the vehicle ahead. In particular, if the vehicle ahead has the type "lorry" or "truck", it can be determined that the vehicle ahead has an overhanging load.

[0025] The devices described in this document can each be configured to initiate one or more measures for an automated driving function for automatic longitudinal and / or lateral guidance of the vehicle when a vehicle ahead with an overhanging load is detected. Alternatively or additionally, the devices can each be configured to take into account the overhanging load of the vehicle ahead when operating the automated driving function.

[0026] The one or more measures may include:

[0027] - sending a takeover request to the driver of the vehicle in order to end the automated driving function;

[0028] - receiving an attribute for the preceding vehicle into the environment model (used by the automated driving function), wherein the attribute indicates that the preceding vehicle has an overhang load; if necessary, the attribute may also indicate an overhang value; and / or

[0029] - For the distance controller, the target distance to the vehicle ahead is increased for automatic longitudinal guidance of the vehicle. The target distance can increase the ascertained overhang value.

[0030] Therefore, the comfort and safety of autonomous driving functions can be greatly improved.

[0031] According to a further aspect, a (road) motor vehicle (in particular a passenger car, a truck, a bus or a motorcycle) is described which comprises at least the device described in this document.

[0032] According to another aspect, a method for detecting an overhang load (e.g. a beam or a rod) of a preceding vehicle traveling in front of a vehicle is described. The method comprises determining the temporal progression of the distance of the preceding vehicle to the vehicle while the vehicle is approaching the preceding vehicle based on sensor data of at least one surroundings sensor of the vehicle (in particular a lidar sensor and / or a radar sensor). The method also comprises determining whether the preceding vehicle has an overhang load based on the temporal progression of the distance.

[0033] According to another aspect, a method for identifying an overhang load of a leading vehicle traveling in front of a vehicle is described. The method includes identifying an additional object between the vehicle and the leading vehicle based on sensor data of at least one environmental sensor of the vehicle. The method also includes comparing a speed of the additional object with a speed of the leading vehicle and determining whether the leading vehicle has an overhang load based on the speed comparison; and / or determining whether the additional object is an overhang load of the leading vehicle based on the speed comparison.

[0034] According to another aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor, for example on a control unit of a vehicle, in order to thereby carry out the method described in this document.

[0035] According to another aspect, a storage medium is described. The storage medium may include a SW program which is configured to be executed on a processor and thereby to perform the method described in this document.

[0036] It should be noted that the methods, devices and systems described in this document can be used not only alone, but also in combination with other methods, devices and systems described in this document. In addition, any aspects of the methods, devices and systems described in this document can be combined with each other in a variety of ways. In particular, the features of the claims can be combined with each other in a variety of ways. In addition, the features listed in brackets should be understood as optional features. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In addition, the present invention is described in more detail based on embodiments. It is shown here:

[0038] Figure 1 : an exemplary driving condition including a vehicle and a leading vehicle with an overhang load;

[0039] Figure 2 : An exemplary time trend of the distance between the vehicle and the vehicle ahead measured during the approach process;

[0040] Figure 3 : Different situations when identifying the vehicle ahead;

[0041] Figure 4 : A flow chart of an exemplary method for identifying a leading vehicle with an overhang load; and

[0042] Figure 5 : Flowchart of another exemplary method for identifying a leading vehicle with an overhang load. DETAILED DESCRIPTION

[0043] As mentioned at the outset, the present document relates to the efficient and reliable detection of a preceding vehicle with an overhanging load, in particular in order to increase the comfort and safety of automated driving functions of the vehicle on this basis. Figure 1 An exemplary vehicle 100 is shown traveling behind a leading vehicle 110 , wherein the leading vehicle 110 has an overhung load 111 .

[0044] The load 111 has a determined overhang 121, so that the end point of the load 111 facing the vehicle 100 is arranged closer to the vehicle 100 than the part of the preceding vehicle 110 facing the rear of the vehicle 100 by the overhang 121. As a result, the distance 122 between the end point of the load 111 and the vehicle 100 is smaller by the overhang 121 than the distance 125 between the rear of the preceding vehicle 110 and the vehicle 100.

[0045] The overhanging load 111 is usually arranged above the roadway at a certain height 124. For example, the load 111 can be arranged on a trailer (as the leading vehicle 110) so that the overhanging load 111 is arranged at the height of the loading surface of the trailer.

[0046] The vehicle 100 has one or more distance-measuring environmental sensors 102, which are configured to detect sensor data about the distance 122, 123, 125 between the vehicle 100 and an object arranged in front of the vehicle 100, in particular a preceding vehicle 110 or an overhanging load 111. Exemplary environmental sensors 102 are one or more radar sensors, one or more lidar sensors and / or one or more ultrasonic sensors.

[0047] Sensor data from one or more surroundings sensors 102 may be evaluated by (control and / or evaluation) device 101 of vehicle 100 in order to detect objects situated in front of vehicle 100 and / or to ascertain distances 122 , 123 , 125 of detected objects from vehicle 100 .

[0048] The environmental sensor 102 usually has a defined detection area 103, which can be defined, for example, in spherical coordinates, with a defined radial range, a defined azimuth range and / or a defined polar angle range or a defined elevation range. Due to the limitation of the detection area 103 in terms of polar angle, elevation angle or height, it is possible that the overhanging load 111 is no longer correctly detected by the environmental sensor 102 if the distance 122 between the end point of the load 111 and the vehicle 100 reaches or falls below a defined value.

[0049] Figure 1 A situation is visually illustrated in which the cone of the detection area 103 of the environmental sensor 102 extends below the overhanging load 111, so that the end point of the overhanging load 111 is no longer detected by the environmental sensor 102. Instead, a point of the load 111 that is arranged with respect to the vehicle 100 to determine a distance 123 is detected, wherein the distance 123 is greater than the distance 122 (between the end point of the load 111 and the vehicle 100). The measured distance 123 is generally related to the height 124 of the load 111 and the polar angle range of the detection area 103 of the environmental sensor 102.

[0050] Due to the limitations of detection range 103 of environmental sensor 102 , distance 122 between the end point of load 111 and vehicle 100 is therefore no longer detected correctly, which may impede the comfort and / or safety of automated driving functions (eg, distance controller).

[0051] Figure 2 An exemplary time profile of the distance 123, 200 ascertained based on the sensor data of the surroundings sensor 102 as a function of time is shown while the vehicle 100 (at a constant speed difference) approaches a preceding vehicle 100 with an overhanging load 111. In a first section or region 201, the end point of the overhanging load 111 is detected by the surroundings sensor 102, so that the ascertained distance 123 corresponds to Figure 1 The distance 122 (between the end point of the load 111 and the vehicle 100) is determined. In the first region 201, the determined distance 123, 200 decreases with a certain time gradient (depending on the speed difference).

[0052] When the vehicle 100 approaches the preceding vehicle 110 with the overhanging load 111, the end point of the load 111 can no longer be detected from a certain distance. Instead, a point on the lower side of the load 111 facing the roadway is detected. As the vehicle 100 approaches the preceding vehicle 110 further, this point approaches the rear of the preceding vehicle 110. As a result, a constant distance 123, 200 is measured based on the sensor data of the surroundings sensor 102 (e.g., from Figure 2This region 202 has a time range 205 which is dependent on the overhang 121 of the load 111 and on the speed difference between the preceding vehicle 110 and the vehicle 100. The second region 202 can be referred to as a “saddle region” due to the constant measuring distances 123, 200.

[0053] As soon as the point detected on the lower side of the load 111 reaches the rear of the vehicle 100 in front, the distance 125 between the rear of the vehicle 110 in front and the vehicle 100 is detected based on the sensor data of the surroundings sensor 102. As a result, while the vehicle 100 approaches the vehicle 110 in front further, the detected distance 123, 200 decreases again (with a certain time gradient) (see area 203).

[0054] exist Figure 2 The temporal progression of the detected distances 123, 200 shown in is typical for a situation when the vehicle 100 approaches a vehicle 110 ahead with an overhanging load 111. Therefore, the device 101 of the vehicle 100 can be configured to determine whether the vehicle 110 ahead has an overhanging load 111 when approaching the vehicle 110 ahead based on the temporal progression of the detected distances 123, 200. In particular, it can be checked here whether the temporal progression has a saddle region 202 in which the detected distances 123, 200 remain constant. If this is the case, it can be inferred that the vehicle 100 ahead has an overhanging load 111. Furthermore, a value for the overhang 121 of the overhanging load 111 can be determined based on the temporal range 205 of the saddle region 202.

[0055] Figure 3 Different object recognition situations are intuitively shown when the vehicle 100 approaches the front vehicle 110 with the overhanging load 111. There may be recognition of the front object 310 based on the sensor data of one or more environmental sensors 102. In particular, the front object 310 can be recognized based on the sensor data of multiple environmental sensors 102. In addition, real-time tracking (English: Tracking) of the front object 310 can be caused based on the respectively updated sensor data. In addition, the movement speed of the front object 310 can be determined based on the Doppler effect in the radar sensor, for example. The front object 310 can correspond to the detection of the front vehicle 110.

[0056] Furthermore, there may also be a recognition of an additional object 311 (for example in the form of a bounding box (see Figure 3 ) and / or in the form of one or more additional object detections 313). For the additional objects 311, the movement velocity (in particular the Doppler velocity) can be determined.

[0057] The device 101 of the vehicle 100 can be configured to determine, based on an additionally identified object 311 (possibly identified only based on sensor data of a single environmental sensor 102 ) and based on the identified (and tracked) front object 310 , whether the front vehicle 110 corresponding to the front object 310 has an overhang load 111 .

[0058] For this purpose, the movement speed of the additional object 311 and the movement speed of the front object 310 can be compared with each other. If it is recognized that the additional object 311 and the front object 310 have the same movement speed (for example, with a relative deviation of 10% or less), it can be inferred that the additional object 311 is the overhanging load 111 of the front vehicle 110 corresponding to the front object 310. If necessary, the end point 312 of the overhanging load 111 can also be identified based on the additional object 311.

[0059] Alternatively or additionally, the device 101 may be configured to determine and evaluate the distance between the vehicle 100 and the front object 310 or between the vehicle 100 and the additionally identified object 311 in order to decide whether the additionally identified object 311 is an overhang load 111 of the front vehicle 110 corresponding to the front object 310. If the difference between the two distances is equal to or less than a certain difference threshold value (and therefore the front object 310 and the additionally identified object 311 are relatively close to each other), it can be inferred that the additional object 311 is an overhang load 111 of the front vehicle 110 corresponding to the front object 310. On the other hand, the two objects 310, 311 may be regarded as separate objects if necessary.

[0060] If necessary, the type of the preceding object 310 can be taken into account as a further condition for identifying the overhanging load 111. If necessary, as a further condition, it can be checked whether the preceding object 310 has the type "truck". The type of the preceding object 310 can be ascertained, for example, based on the size of a bounding box for the preceding object 310. If (if necessary, only if) the preceding object 310 has the type "truck", it can be determined that the preceding vehicle 110 has an overhanging load 111.

[0061] The systematic detection of inconsistent positions of the preceding vehicle 110 based on the sensor data of different environmental sensors 102 can be used to detect the overhanging load 111. The environmental sensor 102 can output the overhanging load 111 as a separate object 311 in its object interface if necessary (see Figure 3 The line above), or even no output (see Figure 3 row below), or in conjunction with a transport vehicle 110 (see Figure 3The overhang load 111 can be detected and the overhang 121 can be estimated if necessary by the deviation of the position of the detected objects 310, 311 between the plurality of environmental sensors 102 or by the deviation of the position of the object 310 and the detection 313 in the longitudinal direction. If all environmental sensors 102 (e.g. lidar sensors and radar sensors) have detected the overhang load 111, the overhang load 111 can be detected when approaching the transported vehicle 110 ahead and estimated when the overhang load 111 leaves the vertical field of view 103.

[0062] The device 101 can be configured to react to the detection of the overhang load 111. For example, a takeover request can be initiated to the driver 100 in order to terminate the automated driving function. Alternatively or additionally, an additional attribute can be added to the vehicle in front 110 (for example in the form of a Boolean variable), which indicates that the vehicle in front 110 has an overhang load 111. In addition, an estimate of the overhang 121 can be added as an attribute. The overhang load 111 can then be taken into account when providing the automated driving function. For example, the overhang 121 can be increased for the target distance of the distance controller in order to achieve a comfortable and safe distance control.

[0063] Figure 4 A flow chart of a (possibly computer-executed) method 400 for identifying an overhung load 111 of a preceding vehicle 110 travelling in front of vehicle 100 is shown.

[0064] Method 400 includes determining 401 a temporal progression of a distance 123, 200 of the preceding vehicle 110 from the vehicle 100 based on sensor data of at least one surroundings sensor 102 of the vehicle 100 (in particular a lidar and / or radar sensor). In this case, a speed difference between the speed of the vehicle 100 and the speed of the preceding vehicle 110 may also be determined (for example, based on the Doppler speed of the radar sensor). The determined distance 123, 200 may correspond to a distance in the longitudinal direction of the vehicle 100 (usually corresponding to the driving direction of the vehicle 100).

[0065] The method 400 also includes determining 402 whether the preceding vehicle 110 has an overhang load 111 based on the temporal profile of the distance 123, 200. In particular, it can be checked whether the temporal profile of the distance 123, 200 has a first region 201 and a third region 203, in which the distance 123, 200 determined decreases with a certain temporal gradient, wherein the temporal gradient is usually related to the speed difference, and whether a saddle region 202 is arranged between the first and third regions 201, 203, in which the distance 123, 200 determined is substantially constant. The presence of such a saddle region 202 can serve as an effective and reliable indicator for the overhang load 111.

[0066] Figure 5 A flow chart of a further (possibly computer-executed) method 500 for detecting an overhung load 111 of a preceding vehicle 110 travelling in front of vehicle 100 is shown. Features of methods 400 and 500 may be combined with one another as desired.

[0067] The method 500 includes identifying 501 an additional object 311 between the vehicle 100 and a preceding vehicle 110 (identified and / or tracked by a plurality of environmental sensors 102 ) based on sensor data of at least one environmental sensor 102 of the vehicle 110 .

[0068] Furthermore, the method 500 comprises comparing 502 the (Doppler) velocity of the additional object 311 with the (Doppler) velocity of the preceding vehicle 110. The method 500 further comprises determining 503 based on the velocity comparison whether the preceding vehicle 110 has an overhanging load 111. In particular, it can be deduced that the additional object 311 is an overhanging load 111 of the preceding vehicle 110 when there are substantially identical velocities.

[0069] By means of the measures described in this document, a preceding vehicle 110 with an overhanging load 111 can be detected in an efficient and reliable manner and taken into account when operating the automated driving function, whereby the comfort and safety of the automated driving function can be increased.

[0070] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and drawings are only intended to illustrate the principles of the proposed methods, devices and systems by way of example.

Claims

1. A device (101) for identifying an overhang load (111) of a preceding vehicle (110) travelling in front of a vehicle (100); wherein the device (101) is configured to: - determine a temporal trend of a distance (123, 200) between the preceding vehicle (110) and the vehicle (100) based on sensor data of at least one environmental sensor (102) of the vehicle (100) while the vehicle (100) is approaching the preceding vehicle (110); and - determining whether the leading vehicle (110) has an overhang load (111) based on the temporal progression of the distance (123, 200).

2. The device (101) according to claim 1, wherein the device (101) is configured to - during the further approach of the vehicle (100) to the vehicle ahead (110), check whether the temporal trend of the distance (123, 200) has a saddle region (202), in which the determined distance (123, 200) has a substantially constant value; and - When the time curve of the distance (123, 200) has a saddle region (202), it is determined that the leading vehicle (110) has an overhang load (111).

3. The device (101) according to claim 2, wherein - the determined distance (123, 200) deviates from the constant value by at most ±10% throughout the entire saddle region (202); and / or - the saddle region (202) has a time range (205) of one second or more; and / or - the saddle area (202) is arranged between a first area (201) and a third area (203) in the temporal progression of the distance (123, 200), in which the determined distance (123, 200) decreases with a temporal gradient in each case; wherein the temporal gradient depends in particular on the speed difference between the vehicle (100) and the preceding vehicle (110).

4. The device (101) according to any one of claims 2 to 3, wherein the device (101) is configured to: - determining the time range (205) of the saddle region (202) of the temporal trend of the distance (123, 200); and - based on the time frame (205), in particular taking into account the speed difference between the vehicle (100) and the preceding vehicle (110), determining a value for the overhang (121) of the overhang load (111).

5. The device (101) according to any one of the preceding claims, wherein the device (101) is configured to: - identifying an additional object (311) between the vehicle (100) and the preceding vehicle (110) based on sensor data of the environment sensor (102); - comparing the speed of the additional object (311) with the speed of the preceding vehicle (110); and - determining whether the leading vehicle (110) has an overhang load (111) based on the speed comparison.

6. The device (101) according to claim 5, wherein the device (101) is configured to: - in particular based on sensor data of the surroundings sensor (102), determining the distance between the preceding vehicle (110) and the additional object (311); and - determining, based on the determined distance, whether the preceding vehicle (110) has an overhanging load (111).

7. The device (101) according to claim 6, wherein the device (101) is configured to: - the difference between the speed of the additional object (311) and the speed of the leading vehicle (110) is equal to or less than a threshold value in magnitude; and - the distance determined between the preceding vehicle (110) and the additional object (311) is equal to or smaller than a threshold value, It is then determined that the additional object (311) is the overhang load (111) of the leading vehicle (110).

8. A device (101) for identifying an overhung load (111) of a preceding vehicle (110) travelling in front of a vehicle (100); wherein the device (101) is configured to: - identifying an additional object (311) between the vehicle (100) and the preceding vehicle (110) based on sensor data of an environment sensor (102) of the vehicle (110); - comparing the speed of the additional object (311) with the speed of the preceding vehicle (110); and - determining whether the leading vehicle (110) has an overhang load (111) based on the speed comparison.

9. The device (101) according to claim 8, wherein the device (101) is configured to determine that the leading vehicle (110) has an overhang load (111) if the speed of the additional object (311) and the speed of the leading vehicle (110) differ from each other by at most 10%.

10. The device (101) according to any one of claims 8 to 9, wherein the device (101) is configured to: - obtaining the type of the preceding vehicle (110); - determining whether the leading vehicle (110) has an overhang load (111) according to the type of the leading vehicle (110); and - In particular, if the leading vehicle (110) is of the type "truck", it is determined that the leading vehicle (110) has an overhanging load (111).

11. The device (101) according to any one of claims 8 to 10, wherein the device (101) is configured to: - identifying and tracking the leading vehicle (110) based on sensor data from a plurality of different environmental sensors (102); and - identifying the additional object (311) based on sensor data of a portion of the plurality of environmental sensors (102).

12. The device (101) according to any one of the preceding claims, wherein - the device (101) is configured to initiate one or more measures regarding an automatic driving function for automatic longitudinal and / or lateral guidance of the vehicle (100) if it is determined that the leading vehicle (110) has an overhang load (111); and - The one or more measures include in particular: - sending a takeover request to the driver of the vehicle (100) in order to terminate the autonomous driving function; - receiving a property for the leading vehicle (110) into an environment model, wherein the property indicates that the leading vehicle (110) has an overhang load (111); and / or - for a distance controller for automatic longitudinal guidance of the vehicle (100), increasing a target distance to the preceding vehicle (110).

13. A method (400) for identifying an overhung load (111) of a preceding vehicle (110) travelling in front of a vehicle (100); wherein the method (400) comprises: - while the vehicle (100) is approaching the preceding vehicle (110), based on sensor data of at least one environmental sensor (102) of the vehicle (100), determining (401) a temporal trend of a distance (123, 200) between the preceding vehicle (110) and the vehicle (100); and - determining (402) whether the leading vehicle (110) has an overhang load (111) based on the temporal progression of the distance (123, 200).

14. A method (500) for identifying an overhung load (111) of a preceding vehicle (110) travelling in front of a vehicle (100); wherein the method (500) comprises: - based on sensor data of at least one environment sensor (102) of the vehicle (110), identifying (501) an additional object (311) between the vehicle (100) and the preceding vehicle (110); - comparing (502) the speed of the additional object (311) with the speed of the preceding vehicle (110); and - determining (503) whether the leading vehicle (110) has an overhang load (111) based on the speed comparison.

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