Method for operating adaptive speed controller

Abstract

The invention relates to a method for operating an adaptive speed controller, a computer program product, a control device for a vehicle and a vehicle. The invention relates to a method for operating an adaptive speed controller of a host vehicle (100), comprising the following steps: a) selecting (S1) a first vehicle (200) traveling in front as a target vehicle; b) controlling (S2) the distance (201) between the target vehicle and the host vehicle (100); c) identifying (S3) a second vehicle (300) traveling ahead in a lane section between the target vehicle and the host vehicle (100); the speed difference between the speed of the target vehicle and the speed of the second vehicle (300) running ahead is determined (S5), e) the speed difference is compared (S6) with a threshold value, and f) depending on the comparison of step e), the first vehicle (200) running ahead is held (S7) as the target vehicle or the second vehicle (300) running ahead is selected (S9) as a new target vehicle.

Description

Technical Field

[0001] The invention relates to a method for operating an adaptive speed controller, a computer program product, a control device for a vehicle and a vehicle. Background Art

[0002] When driving on multi-lane highways or freeways, or even when driving on city roads, situations may arise where a vehicle traveling in an adjacent lane crosses the lane boundary of the vehicle's lane. If the vehicle is equipped with an adaptive speed controller, this vehicle is selected as the target vehicle and the distance to the target vehicle is controlled by adjusting the speed. However, particularly on highways, situations may arise where a vehicle only partially enters the adjacent lane and has no intention of intersecting. In such cases, selecting a vehicle that has only been traveling in the lane for a short period of time and is faster than the vehicle is disadvantageous, as it often causes the vehicle to brake suddenly due to the other vehicle traveling ahead. There are also situations on city roads where, for example, a motorcycle can create an additional lane between the actual lanes. Even in such cases, selecting a motorcycle, which is generally faster, as the target of the adaptive speed controller is disadvantageous.

[0003] US 2019 / 0315355 A1 discloses an adaptive speed controller for a vehicle, configured to identify a change in the state of a small vehicle. A unit for storing an upper limit value is configured to store an upper limit value for a target acceleration, which was set before a determination unit identifies the change in the state of the small vehicle. A target acceleration setting unit is configured to set the target acceleration to a value equal to or lower than the upper limit value whenever the small vehicle is selected as a follow-up object. Summary of the Invention

[0004] Against this background, it is an object of the present invention to provide an improved method for adaptive speed control.

[0005] A first aspect provides a method for operating an adaptive speed controller of a vehicle. The method comprises the following steps:

[0006] a) Select the first vehicle traveling ahead as the target vehicle;

[0007] b) Control the distance between the target vehicle and the host vehicle;

[0008] c) identifying a second vehicle traveling ahead on a road segment between the target vehicle and the host vehicle;

[0009] d) determining a speed difference between a speed of the target vehicle and a speed of a second vehicle traveling ahead;

[0010] e) comparing the speed difference with a limit value; and

[0011] f) Depending on the comparison according to step e), the first vehicle traveling ahead is retained as the target vehicle or the second vehicle traveling ahead is selected as the new target vehicle.

[0012] This method has the following advantages: a second vehicle traveling ahead is only selected as the target vehicle if it is likely to remain in the host vehicle's lane. This is signaled by adjusting the speed of the second vehicle ahead to the speed of the host vehicle and the target vehicle's lanes. This prevents the host vehicle's adaptive speed controller from incorrectly accelerating and braking. This, on the one hand, results in a higher level of safety in the application of the adaptive speed controller and, on the other hand, improves driving comfort for the host vehicle's passengers.

[0013] The vehicle is, for example, a motor vehicle, such as a passenger car or a heavy goods vehicle.

[0014] If a first vehicle traveling ahead meets predetermined criteria of the adaptive speed controller, the first vehicle is selected as the target vehicle. These criteria include, for example, the fact that the target vehicle is a car and not another road user such as a pedestrian.

[0015] "Selecting" the first or second vehicle traveling ahead should be understood as specifying the vehicle in question as the target for control by the adaptive speed controller. This is typically accomplished by selecting or setting parameters in the adaptive speed controller's software. If the target vehicle in question is "held," control over it is maintained. In particular, the corresponding parameters in the software remain unchanged.

[0016] An adaptive speed controller of a host vehicle is configured to control the distance between a target vehicle and the host vehicle. The distance is controlled, in particular, by adjusting the speed of the host vehicle. The adaptive speed controller receives sensor data from one or more sensors of the host vehicle, which is used to determine, for example, the speed of the target vehicle and the distance between the target vehicle and the host vehicle. The adaptive speed controller is also configured to actuate an engine control unit, a braking system, and / or a steering system of the host vehicle.

[0017] The adaptive speed controller controls the distance between the target vehicle and the host vehicle by actuating the engine control unit, steering device and / or braking device of the host vehicle and thereby causing acceleration or braking.

[0018] In step c), the second vehicle traveling ahead is detected, in particular, by one or more sensors of the host vehicle. The sensors described here are, in particular, one or more cameras (e.g., a front-facing camera) of the host vehicle. For this purpose, object recognition can be performed in the image data captured by the camera or cameras (e.g., using software-based image recognition).

[0019] As long as the second vehicle traveling ahead is located on the road section between the target vehicle and the host vehicle, the second vehicle traveling ahead is advantageously identified. Once the vehicle has exceeded the limit on the road where the host vehicle is located, the vehicle is particularly advantageously identified.

[0020] Sensor data from one or more sensors of the host vehicle is used to determine the speed of a second vehicle traveling ahead and the speed of the target vehicle. A speed difference between the speeds of the two vehicles is then determined.

[0021] In step e), the speed is compared with limit values, wherein the limit values ​​may be a lower limit value and an upper limit value.

[0022] Based on this comparison, the target vehicle is maintained or a new target vehicle is selected. This comparison is used to estimate whether the second vehicle traveling ahead remains in the lane of the host vehicle or whether the second vehicle traveling ahead intends to leave the lane again. If the speed of the second vehicle traveling ahead does not match that of the target vehicle, that is, if the speed difference is greater than a limit value, it can be assumed that the second vehicle traveling ahead has a high probability of leaving the lane again.

[0023] According to one embodiment, in step f), when the speed difference is greater than or equal to a limit value, the first vehicle traveling ahead is maintained as the target vehicle, and when the speed difference is less than the limit value, the second vehicle traveling ahead is selected as a new target vehicle.

[0024] Thus, when the speed difference between the second vehicle traveling ahead and the target vehicle is less than the limit value, the second vehicle traveling ahead is selected as the new target vehicle. Therefore, the second vehicle traveling ahead can be faster than the target vehicle and still be selected as the new target vehicle when the speed difference is less than the limit value.

[0025] According to one embodiment, a limit value is set before step e), in particular before step a).

[0026] For example, the limit value can respectively be a fixed limit value which is set in the software of the adaptive speed controller.

[0027] The limit value may also be set only before step e), for example by an adaptive speed controller which uses sensor data to estimate the traffic volume around the host vehicle and derives the limit value therefrom. The limit value is preferably set by the driver of the host vehicle.

[0028] According to one embodiment, the limit value has a value between 3 km / h and 10 km / h.

[0029] The limit value particularly advantageously has a value of 5 km / h.

[0030] According to one embodiment, the second vehicle traveling ahead is a motorcycle.

[0031] According to one embodiment, steps d) to f) are repeated until the second vehicle traveling ahead is selected as a new target vehicle or the second vehicle traveling ahead has left the road section between the target vehicle and the host vehicle.

[0032] Therefore, whenever a second vehicle traveling ahead between the target vehicle and the host vehicle is identified, the speed difference is determined and then compared with a limit value. This ensures that the second vehicle traveling ahead is selected as the target vehicle as long as the speed difference is less than the limit value. This improves the safety aspect of the adaptive speed controller.

[0033] According to one embodiment, after step c) and before step d), when the second vehicle traveling ahead blocks the first vehicle traveling ahead, the second vehicle traveling ahead is selected as a new target vehicle.

[0034] If the second vehicle traveling ahead blocks the first vehicle traveling ahead, it is not possible to determine the speed difference because it is not possible to determine the speed of the first vehicle traveling ahead. Therefore, the second vehicle traveling ahead is selected as the target vehicle and the method continues in step a).

[0035] According to one embodiment, the distance between the host vehicle and the target vehicle is selected depending on the speed of the target vehicle and / or depending on the road conditions.

[0036] Therefore, the distance controlled by the adaptive speed controller in step b) can be determined dynamically according to the speed of the target vehicle. For example, the adaptive speed controller is configured to never go below a safe distance, which is, for example, half the speed.

[0037] Furthermore, the distance between the target vehicle and the host vehicle can be selected based on the road conditions. For example, if the host vehicle sensors detect a wet road, the adaptive speed controller can be configured to control the distance to be greater than on a dry road.

[0038] According to one embodiment, the driver of the host vehicle sets the distance between the host vehicle and the target vehicle himself before step b).

[0039] The driver of the host vehicle may adjust the distance controlled by the adaptive speed controller itself before step b).The adaptive speed controller is configured to, for example, only allow distances greater than a safety distance.

[0040] In this case, the safety distance is determined by the adaptive speed controller according to the speed of the host vehicle. Here, the safety distance is selected in such a way that, in the event of an emergency braking of the target vehicle, the host vehicle enters a stationary state in time and there is no rear-end collision.

[0041] A second aspect provides a computer program product comprising instructions, which, when executed by a computer, cause the computer to perform the method according to the first aspect.

[0042] The computer program product according to the second aspect can, for example, be provided on a computer-readable storage medium, such as a memory card, a USB flash drive, a CD-ROM, or a DVD. Alternatively, the computer program product can also be provided as a file downloadable from a server on a network. The computer program product can be transmitted, for example, by transmitting a corresponding file containing the computer program product over a wireless communication network.

[0043] A third aspect provides a control device for a vehicle, comprising: a processor unit and a memory unit, wherein means for executing the method according to the first aspect are stored in the memory unit.

[0044] The control device (eg in the form of a central vehicle control device or electronic control unit - "ECU") is in particular configured to process the above-mentioned computer program product for operating the adaptive speed controller, eg on a processor unit of the control device.

[0045] Each unit can be implemented in hardware and / or software. In the case of hardware implementation, the corresponding unit can be in the form of a computer or microprocessor, for example. In the case of software implementation, the corresponding unit can be in the form of a computer program product, a function, a routine, an algorithm, a portion of a program code, or an executable object.

[0046] A fourth aspect provides a vehicle having one or more sensors and the control device according to the third aspect.

[0047] The vehicle's sensors may be, for example, radar sensors, lidar sensors, ultrasonic sensors, and / or cameras (as described above). The vehicle may have one type of sensor, multiple sensors of one type, and / or multiple sensors of multiple types. Advantageously, the vehicle has multiple sensors of multiple types. In particular, the vehicle has a radar sensor, which is advantageously arranged in the center of the front portion of the vehicle.

[0048] Steps a), b), c) etc. may also be performed in a different order. "A" or "an" does not exclude a plurality.

[0049] Other possible implementations of the present invention also include combinations not explicitly mentioned of features or embodiments described above or below with respect to the exemplary embodiments. Those skilled in the art will also add separate aspects as improvements or supplements to the corresponding basic forms of the present invention in this case.

[0050] Further advantageous configurations and aspects of the invention form the subject matter of the dependent claims and of the exemplary embodiments of the invention described below.The invention is explained in more detail below based on preferred embodiments with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 shows a schematic top view of a vehicle having an adaptive speed controller according to one embodiment;

[0052] Figure 2 A schematic diagram showing a case where an adaptive speed controller according to one embodiment is used; and

[0053] Figure 3 A flow chart of adaptive speed control according to one embodiment is shown.

[0054] Unless stated otherwise, identical or functionally identical elements are denoted by the same reference numerals in the figures. DETAILED DESCRIPTION

[0055] Although the present invention has been described based on exemplary embodiments, the present invention can be modified in various ways.

[0056] Figure 1 1 shows a schematic top view of a vehicle 100 having a control unit 103 and a sensor 102 according to one exemplary embodiment. Figure 1 In the example shown, vehicle 100 is a motor vehicle, particularly a passenger car. Sensor 102 is, for example, designed as part of a driver assistance system. Adaptive speed control is, for example, designed as a software component of the driver assistance system. The driver assistance system is used, for example, to assist the driver of vehicle 100. Furthermore, the driver assistance system can be designed for semi-autonomous or fully autonomous operation of vehicle 100. The driver assistance system is configured, for example, to control vehicle components, such as engine control unit 104, brake system 106, and steering system 107, to enable driver assistance, semi-autonomous, and / or fully autonomous operation. For example, the driver assistance system is designed for operation at higher speeds, such as on rural roads or highways; it is also designed for operation at lower speeds, such as on urban roads. In particular, the driver assistance system is designed for operation in congested situations, such as stop-and-go traffic on any type of road, characterized by slow vehicle movement and frequent stops.

[0057] In this case, the sensor 102 is a radar sensor, and as Figure 1As shown, sensor 102 is arranged in the middle of the front portion of vehicle 100. Sensor 102 is wirelessly and / or wiredly connected to control device 103 for transmitting sensor data. Vehicle 100 preferably includes additional sensors 109 configured to detect the driving state of vehicle 100 and the environment of vehicle 100. Examples of such sensors 109 in vehicle 100 include image capture devices such as cameras, radar (radio detection and ranging) or lidar (light detection and ranging), ultrasonic sensors, position sensors, wheel angle sensors, and / or wheel speed sensors. Each sensor 109 is configured to provide sensor data, for example, to control device 103 and / or a driver assistance system, which assists the driver and implements semi-autonomous and / or fully autonomous driving based on the detected sensor data.

[0058] The control device 103 includes a processor unit and a memory unit (not shown), both of which are configured to execute a method for operating an adaptive speed controller during operation of the vehicle 100, as described below. The control device 103 is configured to receive sensor data from sensors 109 of the vehicle, in particular from sensor 102. A data link between the control device 103 and the vehicle components is indicated by reference numeral 105, where a data link represents a wire, a data line, a vehicle bus, and / or wireless data transmission.

[0059] exist Figure 1 In the exemplary illustration of a vehicle 100 in FIG. 1 , a control device 103 is connected to an engine control unit 104 and is configured to transmit data to the engine control unit 104. The transmitted data includes, for example, control signals that cause the engine control unit 104 to accelerate and / or brake the vehicle 100.

[0060] Figure 1 Control device 103 in the vehicle 100 is also connected to brake system 106. Control device 103 transmits data to brake system 106 of vehicle 100 wirelessly and / or by wire, wherein the data includes, for example, control signals. These control signals cause brake system 106 to brake vehicle 100. In particular, the control signals may include information about a possible imminent emergency braking action by the driver of vehicle 100, which is detected by sensor 109 and / or by the adaptive speed controller, and which thus prepares brake system 106.

[0061] Figure 1 The control device 103 in the embodiment is connected to the steering device 107 of the vehicle 100. The control device 103 sends data to the steering device 106 of the vehicle 100 wirelessly and / or in a wired manner, wherein the data includes, for example, control signals. These control signals cause the steering device 107 to change the steering angle of the vehicle 100.

[0062] Furthermore, the control device 103 has a computer program product comprising program code means stored on a computer-readable medium in order to be able to execute the method described below for operating an adaptive speed controller. In particular, the computer program product is implemented on a processor of the control device 103 and is processed there.

[0063] From Figure 2 Schematic illustration of the case where an adaptive speed controller according to one embodiment is used and Figure 3 A flow chart is used to explain in more detail the method for operating the adaptive speed controller.

[0064] Figure 2 a) shows the Figure 1 The first vehicle 200 traveling ahead is selected as the target vehicle (see Figure 3 The adaptive speed controller of the host vehicle 100 is configured to control the distance 201 between the target vehicle 200 and the host vehicle 100 (see Figure 3 (Step S2 in the figure). Sensor 102 is used to acquire sensor data and transmit it to control device 103. Control device 103 is used to determine distance 201 and speed and / or acceleration of vehicle 200 traveling ahead. Control device 103 is also configured to control distance 201 between target vehicle 200 and host vehicle 100. To this end, control device 103 transmits data containing control signals to engine control device 104, braking system, and / or steering system 107. These devices then actuate corresponding vehicle components to control distance 201.

[0065] More specifically, controlling distance 201 means that when distance 201 is greater than a specified distance, host vehicle 100 accelerates. Therefore, control device 103 transmits data containing a control signal to engine control device 104, causing engine control device 104 to control the engine of host vehicle 100 to accelerate host vehicle 100. If distance 201 is less than the specified distance, control device 103 sends data containing a control signal to engine control device 104, steering device 107, and / or braking device 106, causing host vehicle 100 to experience negative acceleration.

[0066] If vehicle 100 accelerates, control unit 103 ensures, for example, that a maximum permissible speed is not exceeded. This maximum permissible speed can be derived, for example, from GPS data from a driver assistance system, where a stored map specifies the maximum permissible speed for a road section. Furthermore, the maximum permissible speed can also be determined by sensors 109 that are configured to recognize traffic signs.

[0067] Furthermore, for example, the driver of the host vehicle 100 may input a maximum speed via the interface that they do not wish to exceed. The control device 103 is further configured to adjust data transmitted to the engine control unit 104 so that the engine control unit 104 does not accelerate the host vehicle 100 to a speed greater than the maximum speed input by the driver.

[0068] Distance 201 between target vehicle 200 and host vehicle 100 is, for example, determined by an adaptive speed controller based on the target vehicle's speed. Therefore, distance 201 is determined based on the speed of target vehicle 200. Therefore, distance 201 is dynamically set and is not a fixed variable. Distance 201 can also be determined based on road conditions detected by sensor 109. For example, a larger distance 201 may be selected when the road is detected to be wet than when the road is detected to be dry.

[0069] For example, distance 201 is the distance determined by the driver of host vehicle 100 prior to step S2. Distance 201 is transmitted to control device 103 by the driver, for example, via an input interface. Therefore, the adaptive speed controller is configured to control distance 201 specified by the driver of host vehicle 100. Furthermore, the adaptive speed controller can be configured to implement only those inputs from the driver of host vehicle 100 that are greater than a safety distance. The safety distance is determined by the adaptive speed controller based on the speed of host vehicle 100. The safety distance can be selected so that, if a preceding vehicle 200 or 300 performs emergency braking, host vehicle 100 is not involved in a rear-end collision, but rather stops in a timely manner.

[0070] exist Figure 2 In b), the host vehicle 100 recognizes the second vehicle 300 traveling ahead on the road section between the target vehicle 200 and the host vehicle 100 ( Figure 3 Step S3 in ). Figure 2 In the example shown in b), the second vehicle 300 traveling ahead is a passenger car. However, the second vehicle 300 traveling ahead may in particular be a motorcycle.

[0071] Host vehicle 100, for example, recognizes second vehicle 300 traveling ahead via sensor 102. Host vehicle 100 also recognizes second vehicle 300 traveling ahead via sensor 109. Second vehicle 300 traveling ahead is recognized particularly when a portion of second vehicle 300 traveling ahead crosses a lane boundary and is located on the road section between target vehicle 200 and host vehicle 100. In particular, vehicle 300 may partially or completely pass between vehicles 100 and 200.

[0072] exist Figure 3In step S4 of FIG. 1 , it is checked whether the second vehicle 300 traveling ahead blocks the target vehicle. Blocking should be understood to mean that only the second vehicle 300 traveling ahead is recognized by the sensor 102 of the host vehicle 100 .

[0073] If this is the case, Figure 2 As shown in the example of c), the second vehicle 300 traveling in front is selected as the new target vehicle ( Figure 3 Then, the method for operating the adaptive speed controller is carried out in step a) or in step S8. Figure 3 The process starts again at step S1 in step S2 . In step S2 , the distance 301 between the host vehicle 100 and the new target vehicle (the second vehicle 300 traveling ahead) is controlled.

[0074] If the target vehicle 200 is not blocked by the second vehicle 300 traveling ahead and the sensor 102 of the host vehicle 100 recognizes both the second vehicle 300 traveling ahead and the target vehicle 200, the Figure 3 Step S5 in .

[0075] The adaptive speed controller uses the sensor data from the sensor 102 to determine the speed of the target vehicle 200 and the speed of the second vehicle 300 traveling ahead. The speed difference between the two specified speeds is then calculated.

[0076] exist Figure 3 In step S6, the calculated speed difference is compared with a limit value. The limit value can be set before step S6, for example, by the driver of host vehicle 100, or in particular before step S1, wherein the limit value is stored in the adaptive speed controller. For example, the limit value can also be dynamically determined by the adaptive speed controller using sensor data from sensor 109 and / or sensor 102, and can take into account traffic flow, etc. Thus, the limit value can be determined dynamically. In this case, the limit value has a value between 3 km / h and 10 km / h. In particular, the limit value is particularly advantageously 5 km / h.

[0077] If the speed difference in the comparison in step S6 is greater than or equal to the limit value, the target vehicle 200 ( Figure 3 The adaptive speed controller further controls the distance 201 between the target vehicle 200 and the host vehicle 100 accordingly ( Figure 3 The adaptive speed controller is configured to execute the method starting from step S2 and accordingly check whether the second vehicle 300 traveling ahead is still recognized ( Figure 33) and then performs the appropriate steps S4 to S9, and then repeats (steps S2-S7). In this state, the driver assistance system or adaptive speed controller assumes that vehicle 300 will immediately begin to overtake target vehicle 200 and maintains target vehicle 200 as a reference for speed or distance control.

[0078] If the speed difference in the comparison in step S6 is less than the limit value, the second vehicle 300 traveling ahead is selected as a new target vehicle ( Figure 3 Therefore, the adaptive speed controller controls the distance 301 from the second vehicle 300 traveling forward as the new target vehicle, as shown in step S9 in FIG. Figure 2 In this case, the driver assistance system or adaptive speed controller assumes that the vehicle 300 has been in the current lane of the host vehicle 100 for a while and uses this as a reference for speed or distance control.

[0079] Although the present invention has been described based on exemplary embodiments, the present invention can be modified in various ways.

[0080] Reference Signs List

[0081] 100 vehicles

[0082] 102 sensors

[0083] 104 Engine Control Unit

[0084] 105 Data Link

[0085] 106 Braking equipment

[0086] 107 Steering Equipment

[0087] 109 sensors

[0088] 200 The first vehicle ahead

[0089] 201 Distance (between the vehicle and the first vehicle ahead)

[0090] 300 The second vehicle ahead

[0091] 301 Distance (between the vehicle and the second vehicle ahead)

[0092] S1-S9 method steps

Claims

1. A method for operating an adaptive speed controller of a host vehicle (100), comprising the following steps: a) selecting (S1) a first vehicle (200) traveling ahead as a target vehicle; b) controlling (S2) the distance (201) between the target vehicle (200) and the host vehicle (100); c) identifying (S3) a second vehicle (300) traveling ahead on a road section between the target vehicle (200) and the host vehicle (100); d) determining (S5) a speed difference between the speed of the target vehicle (200) and the speed of the second vehicle (300) traveling ahead; e) comparing the speed difference with a limit value (S6); and f) Based on the comparison in step e), the first vehicle (200) traveling ahead is maintained (S7) as the target vehicle, or the second vehicle (300) traveling ahead is selected (S9) as a new target vehicle.

2. The method according to claim 1, wherein In step f), when the speed difference is greater than or equal to the limit value, the first vehicle (200) traveling ahead is maintained as the target vehicle, and when the speed difference is less than the limit value, the second vehicle (300) traveling ahead is selected as the new target vehicle.

3. The method according to claim 1 or 2, wherein: The limit value is set before step e), in particular before step a).

4. A method according to any one of the preceding claims, wherein The limit value has a value between 3 km / h and 10 km / h.

5. A method according to any one of the preceding claims, wherein Repeat steps d) to f) until the second vehicle (300) traveling ahead is selected as the new target vehicle or the second vehicle (300) traveling ahead has left the road section between the target vehicle and the host vehicle (100).

6. The method according to any one of the preceding claims, wherein The second vehicle (300) is a motorcycle.

7. The method according to any one of the preceding claims, wherein After step c) and before step d), when the second vehicle (300) traveling ahead blocks the first vehicle (200) traveling ahead, the second vehicle (300) traveling ahead is selected as the new target vehicle (S8).

8. A method according to any one of the preceding claims, wherein The distance (201) between the target vehicle (200) and the host vehicle (100) is selected according to the speed of the target vehicle (200) and / or according to the road conditions.

9. A method according to any one of the preceding claims, wherein The driver of the host vehicle (100) sets the distance (201) between the target vehicle (200) and the host vehicle (100) before step b).

10. A computer program product comprising instructions which, when said program is executed by a computer, cause said computer to carry out the method according to any one of claims 1 to 9.

11. A control device (103) for a vehicle (100) for operating an adaptive speed controller, comprising: Processor unit; and A memory unit on which means for carrying out the method according to any one of claims 1 to 9 are stored.

12. A vehicle (100) comprising: one or more sensors (102, 109); and A control device (103) according to claim 11.

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