Method and control arrangement for avoiding a collision involving a protruding object

Abstract

A control arrangement (330) in a vehicle (100) having a protruding object (110a, 110b, 110c) extending outside the vehicle body for avoiding a collision involving the protruding object (110a, 110b, 110c), the control arrangement (330) being arranged to: Detecting an obstacle (120) in the direction of travel (105) of the vehicle (100) by means of an on-board sensor; Predicting a possible collision of the projecting object (110a, 110b, 110c) with the detected obstacle (120); and Triggering an action to avoid the predicted collision, wherein a folding mechanism (210a, 210b) is provided in the projecting object (110a, 110b, 110c) and the control arrangement (330) is further configured to: Generating a command to fold the projecting object (110a, 110b, 110c) when passing the obstacle (120), and wherein, if the detected obstacle (120) comprises an oncoming vehicle and the projecting object (110a, 110b, 110c) comprises a sensor in the direction of travel (105), the control arrangement (330) is further configured to: Obtaining a sensor signal from a sensor (310) in the oncoming vehicle (120) which compensates for the loss of information due to the folded sensor.

Description

TECHNICAL FIELD

[0001] This document relates to a method and a control arrangement in a vehicle. In particular, a method and a control arrangement for a vehicle having a protruding object extending outside the body of the vehicle are described for avoiding a collision involving the protruding object. BACKGROUND

[0002] There are areas around a vehicle that are not visible to the driver, either directly or indirectly with the aid of a mirror. These areas are sometimes referred to as the driver's "blind spot." Visibility problems become particularly significant when it comes to heavy-duty (i.e., long) vehicles, such as trucks, especially those with trailers.

[0003] One solution to this problem could be to mount sensors on protruding sensor arms extending from the vehicle body, such as side-mounted sensor arms. Such sensor arms can carry a variety of sensor types, such as cameras, radar devices, lidar devices, etc. This could eliminate or at least somewhat reduce the driver's blind spot.

[0004] However, because the sensor arms protrude from the vehicle, they are at risk of damage in collisions, especially in situations where the vehicle is maneuvering at low speed in tight spaces. This is especially true when boarding a ferry or driving in mines, for example.

[0005] Nowadays, when a driver maneuvers the vehicle in a low-speed situation, it is common practice to use the rearview mirrors as a reference, as this mirror is the outermost component of the vehicle: "If the mirror fits through, then the passage is wide enough." However, there are also situations in which the driver must fold the mirrors to navigate through a very narrow passage.

[0006] One problem is that a protruding sensor arm is likely mounted in such a way that it is not visible to the driver from the normal driving position (so as not to obstruct the driver's view). A concealed protruding component is easily forgotten by the driver, particularly in situations where the driver requires intense concentration, such as maneuvering in tight spaces. This means there is a certain likelihood that a protruding sensor arm will be damaged in collisions. The likelihood that the driver will forget about the protruding sensor arm and that damage will occur in a collision is even greater if the rearview mirror is folded in.

[0007] The problem also affects other space-related issues related to a vehicle, such as vehicle roofs, garage ceilings, and clearance heights for the vehicle.

[0008] Document IN 2016 41039331 describes a system for monitoring a vehicle's load. Vehicle sensors determine the size of the load, and if the load extends beyond the vehicle's body contours, an alarm is generated and communicated to the driver.

[0009] The solution in this document addresses cargo, whose dimensions typically vary depending on the delivery, but not protruding sensor arms, which typically have constant dimensions. Constantly alerting a driver will most likely result in them ignoring it.

[0010] Document US 2016 / 0 375 829 A1 describes another system for monitoring the environment around a vehicle, in particular a truck. A sensor is mounted on a protruding sensor arm. This enables the driver to view the surroundings of the vehicle. Based on the sensor's view, the driver can estimate the extent of the protruding sensor arm relative to an obstacle and adjust driving accordingly to avoid a collision.

[0011] Document US 2018 / 0 328 757 A1 describes a system for measuring the contour of a vehicle. If a load extends beyond the vehicle's contour, an alarm is triggered and notified to the driver.

[0012] This document also applies to load dimensions, which typically vary depending on the delivery, but not to protruding sensor arms, which typically have a constant extension. Continuously alerting the driver will most likely result in the driver ignoring the alarm.

[0013] Document GB 2 269 038 A describes a collision warning system. A protruding arm is used to warn the driver of a possible collision between the vehicle and an obstacle.

[0014] The goal is not to avoid a collision between the protruding arm and the obstacle, but to warn the driver that there is a risk of the protruding arm penetrating the object. This is, in fact, the opposite of what is intended: to avoid a collision between the protruding arm and the obstacle.

[0015] There is therefore a need to improve collision avoidance between protruding vehicle parts and an obstacle in the surrounding area.

[0016] The documents DE 20 2005 006 903 U1, DE 10 2012 016 138 A1, DE 198 08 181 A1, DE 199 06 667 A1, DE 10 2014 204 382 A1 and DE 10 2013 214 305 A1 describe exterior mirrors that fold in to avoid a collision. SHORT DESCRIPTION

[0017] It is therefore an object of this invention to solve at least some of the above problems and to improve traffic safety and / or an autonomous traffic system. The present invention solves the above problems by the features of independent claims 1 and 3.

[0018] According to a first embodiment of the invention, this object is achieved by a control arrangement in a vehicle having a protruding object extending outside the vehicle body, for avoiding a collision involving the protruding object. The control arrangement is configured to detect an obstacle in the direction of travel of the vehicle via an on-board sensor. Furthermore, the control arrangement is configured to predict a collision of the protruding object with the detected obstacle. Furthermore, the control arrangement is configured to trigger a measure to avoid the predicted collision.

[0019] According to a second embodiment of the invention, the objective is achieved by a method implemented in a vehicle, the vehicle having a protruding object extending outside the vehicle body to avoid an impact involving the protruding object. The method includes detecting an obstacle in the direction of travel of the vehicle. Furthermore, the method includes predicting a possible impact of the protruding object on the detected obstacle. Furthermore, the method includes initiating a measure to avoid the predicted impact.

[0020] With the described embodiments, an interaction between the protruding object and the obstacle can be avoided by using on-board sensors on or in the vehicle to detect an obstacle in the path of the vehicle and to predict a possible interaction between the detected obstacle and a protruding object of the vehicle that extends outside the vehicle body, by triggering an action to avoid the predicted interaction, such as issuing a warning to the driver / autonomous system, changing the vehicle's travel path to create a greater distance between the vehicle and the obstacle, braking the vehicle and / or folding the protruding object if it is foldable.The solution presented here can also be implemented without additional sensors beyond those already installed on or in the vehicle for other purposes, thus saving costs and improving road safety.

[0021] Further advantages and additional new features will become even clearer from the following description of details. FIGURES

[0022] Embodiments of the invention will now be described in further detail with reference to the accompanying figures: Fig. 1A shows a side view of a vehicle according to an embodiment of the invention; Fig. 1B shows a vehicle according to an embodiment in a top view; Fig. 2A shows a vehicle according to an embodiment traveling toward an obstacle; Fig. 2B shows a vehicle according to an embodiment traveling toward an obstacle; Fig. 3A shows a vehicle according to an embodiment from above when encountering another vehicle; Fig. 3B shows a vehicle according to an embodiment encountering another vehicle; Fig. 4 is a flowchart for explaining an embodiment of the method; and Fig. 5 is an illustration of a system according to an embodiment. DESCRIPTION OF DETAILS

[0023] Embodiments of the invention described herein are defined as a method and a control arrangement that can be implemented using the embodiments described in more detail below. However, embodiments can be implemented and realized in many different ways and are not limited to the examples described in more detail here; rather, these illustrative examples serve to provide a thorough and complete disclosure.

[0024] Other objects and features will become apparent from the following detailed description taken in conjunction with the accompanying drawings. It should be understood, however, that the drawings are for illustrative purposes only and do not represent limitations on the embodiments described herein, for which reference is made to the accompanying claims. Furthermore, the drawings are not necessarily to scale unless expressly stated otherwise; rather, they serve only to explain the principles concerning the structures and methods described herein.

[0025] Fig. 1A shows a scenario with a vehicle 100. The vehicle 100 is traveling on a road in the direction of travel 105.

[0026] The vehicle 100 may be, for example, a truck, a bus, a passenger car, or any vehicle or other means of transportation on wheels, rails, in air, in water, or in a similar medium.

[0027] The vehicle 100 can be controlled with or without a driver (the latter being autonomous control) according to various embodiments. For clarity, the vehicle 100 with a driver is described below.

[0028] The vehicle 100 may include a protruding object (item) 110a, 110b extending outside the contour of the vehicle body. The protruding object 110a, 110b may, for example, include a sensor mounted on a protruding arm to provide better vision / sensor detection of the surroundings of the vehicle 100 and to avoid so-called "blind spots" for the driver around the vehicle 100.

[0029] The sensor can be any type of sensor, such as a camera, a stereo camera, an infrared camera, a video camera, a radar device, a lidar device, an ultrasonic device, a time-of-flight camera or a similar device.

[0030] The protruding object 110a, 110b may comprise a protruding arm holding a sensor, but may otherwise also be any part of the vehicle 100 and / or an object protruding from the vehicle 100, such as a box on the vehicle roof, the vehicle roof itself, a lower part on the vehicle, additional headlights, indicators, a trailer hitch, or the like.

[0031] The problem of avoiding a collision involving the protruding object 110a, 110b and an approaching obstacle can be solved with sensors already mounted on the vehicle 100 for detecting / predicting a collision, followed by active or passive action by the driver or the vehicle 100 regarding an impending collision. The action to avoid a collision may include: issuing a warning to the driver, emergency braking of the vehicle 100, folding the protruding object 110a, 110b (if foldable), etc.

[0032] This reduces the risk of a vehicle accident due to damaged side-view sensors. Sensors and sensor calibrations already installed on board can be utilized. If the protruding object has a folding mechanism, this can be triggered, which can prevent a collision involving the protruding object 110a, 110b. This avoids damage to the vehicle 100.

[0033] Even if the protruding object 110a, 110b, such as a protruding sensor arm, is foldable, a warning of a collision may be preferable.

[0034] This prevents damage to protruding objects 110a, 110b of the vehicle 100 due to a collision with external obstacles.

[0035] A warning message or, for example, an image of the vehicle's surroundings, the protruding object 110a, 110b, and / or the obstacle is provided. This makes it easy for the driver to estimate the distance to the obstacle and plan a maneuver to avoid a collision. The warning may be provided in conjunction with an acoustic or haptic signal, if appropriate.

[0036] In some embodiments, an object detected in the surroundings of the vehicle 100 can be displayed in an overall representation, e.g., on a display device in the driver's cab or in some other display device. This improves traffic safety.

[0037] Fig. Figure 1B shows a schematic scenario similar to the previously explained scenario according to Fig. 1A, wherein the vehicle 100 is now shown from a top view and wherein an obstacle 120 is shown.

[0038] The obstacle 120 can be another vehicle (as in the picture), or a person, an animal, a building, a light pole, a tree or any other imaginable stationary or moving size.

[0039] If the vehicle 100 is traveling in the direction of travel 105, the sensors can detect the obstacle 120 in the direction of travel 105, even if it is not directly visible to the driver.

[0040] The obstacle 120 may therefore, for example, be positioned in the driver's blind spot mentioned above, and thus a dangerous traffic situation may arise if the driver is not aware of the obstacle 120 and he may (upon detection) decide to take action to avoid a collision between the protruding object 110a, 110b, 110c of the vehicle 100 and the obstacle 120, for example, he may adapt the intended route to the situation.

[0041] Fig. Figure 2A schematically shows a scenario in which the vehicle 100 (viewed from the rear) approaches an obstacle 120 in the form of a tree on the road side.

[0042] A protruding object 110a on the left side of the vehicle 100 poses a risk of collision with the obstacle 120 if the vehicle 100 maintains its given direction of travel.

[0043] In the illustrated embodiment, the protruding objects 110a, 110b of the vehicle 100 are folded by means of a folding mechanism 210a, 210b.

[0044] Fig. 2B shows the same scenario as in Fig. 2A, but at a slightly later time, wherein the obstacle 120 has been detected, an interaction with the protruding object 110a on the left has been predicted, and wherein this prediction has triggered an action to avoid the predicted interaction.

[0045] The triggered action in the illustrated scenario involves the folding of the protruding object 110a by the folding mechanism 210a in the protruding object 110a. This avoids an interaction involving the object 110a protruding on the left side and the obstacle 120.

[0046] Fig. 3A shows a scenario in which the vehicle 100 (from a top view) approaches an obstacle 120 in the form of an oncoming vehicle.

[0047] In this embodiment, there is a risk that a protruding object 110c on the left side of the vehicle 100 will collide with an obstacle / oncoming vehicle 120. The protruding object 110c has a sensor in the direction of travel 105 of the vehicle 100.

[0048] If the protruding object 110c has a folding mechanism 210a, 210b, the protruding object 110c can be folded to avoid a collision; this applies to the illustrated situation. However, the sensor arranged on the protruding arm 110c may also be unable to obtain information regarding the surroundings, which can result in other problems, such as the driver of the vehicle 100 being surprised by another vehicle 320 behind the first oncoming vehicle 120.

[0049] One solution to this problem may be to obtain information from a rearward-facing sensor 310, ie in the direction of travel 105 of the vehicle 100, wherein the information may be obtained via wireless communication.

[0050] Communication can occur via a wireless communication interface, such as vehicle-to-vehicle (V2V) communication or vehicle-to-infrastructure (V2I) communication. The term "vehicle-to-everything (V2X)" is also sometimes used.

[0051] In some embodiments, communication between vehicles 100, 120 may occur via V2V communication, e.g., based on dedicated short-range communication (DSRC) devices. DSRC operates in the 5.9 GHz band with a bandwidth of 75 MHz and an effective range of approximately 1000 m, according to some embodiments.

[0052] Wireless communication can be implemented according to an IEEE standard for wireless vehicle communication, such as a special IEEE 802.11 operating mode for vehicle networks called Wireless Access in Vehicular Environments (WAVE). IEEE 802.11p is an extension of the 802.11 wireless LAN medium access layer (MAC) with a physical layer (PHY).

[0053] Such a wireless communication interface may comprise or at least be based on a wireless communication technology, such as Wi-Fi Ethernet, Wireless Local Area Network (WLAN), to name just a few possibilities for wireless communication in some embodiments.

[0054] On the other hand, communication can also take place via a wireless interface which has or is at least based on radio technologies such as 3GPP LTE, LTE-Advanced, 4G, etc., each via a wireless communication network.

[0055] Fig. 3B shows a scenario corresponding Fig. 3A, as perceived by a driver (if present) in vehicle 10.

[0056] The sensor information transmitted by the sensor 310 of the other vehicle 120 may be received by a transceiver of the vehicle 100 and then output via an output device 340. The output device 340 (referred to as a display device) may include, for example, a display device, a speaker, a projector, a head-mounted display device, a display device integrated into the windshield of the vehicle 100, a display device integrated into the instrument panel of the vehicle 100, a touchable display device, a wearable display device of the vehicle driver / owner, a set of near-vision display devices (i.e., so-called smart glasses) for the vehicle driver / owner, etc., or a combination of such devices.

[0057] The vehicle 100 may also include a control arrangement 330. The control arrangement 330 is intended to prevent undesirable interaction involving the protruding object 110a, 110b, 110c of the vehicle 100 itself.

[0058] The control arrangement 330 may, for example, comprise one or more electronic control units (ECUs), typically a plurality of interacting ECUs. The control arrangement 330 may also comprise a digital computer that controls one or more electrical systems or electrical subsystems of the vehicle 100 according to information read from sensors arranged at various locations and in various components of the vehicle 100. ECU is a general term often used in the context of automotive electronics for an embedded system that controls one or more electrical systems or subsystems in the vehicle 100.The control arrangement 330 may in particular be provided for implementing an altitude estimation and a distance measurement based on sensor inputs and for carrying out parameter comparisons and decision processes based on the result of the comparisons.

[0059] The control arrangement 330 can communicate with the vehicle's own sensors, as well as with a wireless transceiver and with the output device 340, e.g., via a wired or wireless communication bus of the vehicle 100, or via a wired or wireless connection. The communication bus can, for example, comprise a Controller Area Network (CAN) bus, a Media Oriented Systems Transport (MOST) bus, or the like. Communication can also take place via a wireless connection using, or at least based on, one of the aforementioned wireless communication technologies.

[0060] The disadvantage of not being able to use one's own sensor is compensated by information from the sensor 310 of the other vehicle 120. This improves road safety.

[0061] Fig. 4 shows an example of a method 400 according to an embodiment. The flowchart according to Fig. 4 shows the method 400 as it is used in a vehicle 100 having a protruding object 110a, 110b, 110c extending outside the vehicle body, wherein an interaction involving the protruding object 110a, 110b, 110c is to be avoided.

[0062] The vehicle 100 may be, for example, a truck, a bus, a passenger car or a similar transport device.

[0063] The vehicle 100 may have multiple sensors, of the same or different types, that may be directed toward the object 200, and according to some embodiments, they may be deployed simultaneously, offset, or sequentially.

[0064] To reliably prevent interaction of the protruding object 110a, 110b, 110c, the method 400 may include a number of steps 401-404. However, some of these steps 401-404 may be performed in different ways. Some of the method steps are only required in some possible embodiments, such as steps 404. The described steps 401-404 may also be performed in a different chronological order than the numbering indicates. The method 400 may comprise the following steps: Step 401 involves the detection of an obstacle 120 in the direction of travel 105 of the vehicle 100.

[0065] The obstacle 120 may be another vehicle, a person, an animal, a building, a road barrier, a traffic light, or any other obstacle.

[0066] Step 402 involves predicting a possible interaction of the protruding object 110a, 110b, 110c of the vehicle 100 with the obstacle 120 detected in step 401.

[0067] The prediction is based on sensor detections of the obstacle 120 according to step 401 in combination with the information about the travel path of the vehicle 100 in which the method is running.

[0068] Step 403 involves triggering an action (measure) to avoid the interaction predicted in step 402.

[0069] The triggered action to avoid the interaction predicted in step 402 may include generating an alarm, for example, to the driver (if present) of the vehicle 100 or to an autonomous system, wherein the alarm concerns the interaction predicted in step 402. The alarm may include: outputting an image, an acoustic signal, a text message via an output device 320, a haptic signal / touch signal, etc.

[0070] Furthermore, the triggered action may include executing a sideways movement of the vehicle to avoid the interaction predicted in step 402. A collision could be avoided by moving the vehicle 100 sideways away from the obstacle 120.

[0071] On the other hand, the triggered action may also include stopping the vehicle 100 to avoid the interaction predicted in step 402. By immediately stopping the vehicle 100, the interaction between the protruding object 110a, 110b, 110c and the obstacle 120 is avoided.

[0072] In some embodiments where a folding mechanism 210a, 210b is provided in the protruding object 110a, 110b, 110c, the triggered action may include temporarily folding the protruding object 110a, 110b, 110c upon passing the obstacle 120.

[0073] The advantage of folding / unfolding the protruding object 110a, 110b, 110c when passing the obstacle 120 is in particular that the speed and / or the intended travel path are not affected, which promotes fast and safe transport.

[0074] Step 404 is only to be carried out in some embodiments in which the obstacle 120 detected in step 401 is an oncoming vehicle and the protruding object 110a, 110b, 110c has a sensor directed in the direction of travel 105, and wherein a sensor signal is obtained from the sensor 310 of the oncoming vehicle 120 which compensates for information gaps due to the folding of the sensor of the foldable protruding object 110a, 110b, 110c.

[0075] One advantage of this is that the missing sensor input due to the folded-in sensor of the protruding object 110a, 110b, 110c is compensated for by information obtained instead from a rearward-facing sensor 310 of the oncoming vehicle 120. This allows, for example, another obstacle in the form of another vehicle 320 to be detected behind the first oncoming vehicle 120. This avoids an accident or interaction with the other obstacle / vehicle 320, which increases traffic safety.

[0076] Fig. 5 shows an embodiment of a system 500 in a vehicle 100 having a protruding object 110a, 110b, 110c extending outside the vehicle body.

[0077] The system 500 may perform at least some of the steps 401-404 described above according to the method 400 and the description in Fig.4 to avoid an interaction involving the above object 110a, 110b, 110c.

[0078] The system 500 comprises at least one control arrangement 330 in the vehicle 100. The control arrangement 330 is configured to detect an obstacle 120 in the direction of travel 105 of the vehicle 100 using an on-board sensor. The sensor can be arranged on a protruding object 110a, 110b, 110c or it can be arranged at another location on the vehicle 100, according to different embodiments. Furthermore, the control arrangement 330 is configured to predict an interaction of the protruding object 110a, 110b, 110c with the detected obstacle 120. The control arrangement 330 is further configured to trigger an action to avoid the predicted interaction.

[0079] Furthermore, according to some embodiments, the control arrangement 330 may additionally be configured to warn the driver of the vehicle 100 regarding the predicted interaction via an output device 340, such as a screen, a loudspeaker, a touch device, or the like. The control arrangement 330 may also be configured to generate a control command to perform a sideways movement of the vehicle to avoid the predicted interaction. Furthermore, the control arrangement 330 may be configured to generate a control command to stop the vehicle 100 to avoid the predicted interaction.

[0080] In embodiments in which a folding mechanism 210a, 210b is provided in the protruding object 110a, 110b, 110c, the control arrangement 330 may further be configured to generate a command to fold the protruding object 110a, 110b, 110c upon passing the obstacle 120.

[0081] In some embodiments where the detected obstacle 120 includes an oncoming vehicle and the protruding object 110a, 110b, 110c has a sensor oriented in the direction of travel 105 of the vehicle 100, the control arrangement 330 may be configured to obtain a sensor signal from a sensor 310 of the oncoming vehicle 120 to compensate for missing information from the sensor of the folded protruding object 110a, 110b, 110c.

[0082] The system 500 also includes a protruding object 110a, 110b, 110c. The protruding object 110a, 110b, 110c may be a protruding sensor arm that supports a sensor according to some embodiments. However, the protruding object 110a, 110b, 110c may also be another object that extends outside the vehicle body, such as a vehicle roof, a roof-mounted box, and / or a device for indicating clearance above the vehicle.

[0083] The system 500 may further comprise one or more vehicle sensors for detecting the obstacle 120 in the direction of travel 105 of the vehicle 100.

[0084] The at least one sensor may, for example, comprise: a camera, a stereo camera, an infrared camera, a video camera, a radar device, a lidar device, an ultrasonic sensor, a time-of-flight camera, a thermal camera, or the like. In some embodiments, the at least one sensor for executing at least part of the method 400 may have a different primary purpose than executing the method 400, ie, the sensor is already present in the vehicle 100 (independently of the method 400).

[0085] The control arrangement 330 has a receiving circuit 510 configured to receive a signal from the sensors on board the vehicle 100.

[0086] The control arrangement 330 further has a processor circuit 520 configured to execute at least some of the steps of the method 400, depending on the embodiment.

[0087] Such a processor circuit 520 may include one or more embodiments of processor circuitry, such as a central processing unit (CPU), a processor, a processor circuit, an application-specific integrated circuit (ASIC), a microprocessor, or other processor logic capable of interpreting and executing instructions. Thus, the term "processor" as used herein includes a processor circuit having a plurality of processor circuits, such as those listed above.

[0088] Furthermore, the control arrangement 330 may comprise a memory 525 according to some embodiments. The optional memory 525 may comprise a physical device configured to store data or programs, i.e., sequences of instructions, whether temporarily or permanently. According to some embodiments, the memory 525 may include integrated circuits with silicon-based transistors. The memory 525 may, for example, comprise a memory card, a flash memory, a USB memory, a hard disk, or another volatile or non-volatile storage device for storing data, such as a ROM (read-only memory), a PROM (programmable read-only memory), an EPROM (erasable PROM), an EEPROM (electrically erasable PROM), etc., depending on the embodiment.

[0089] Furthermore, the control arrangement 330 may include a signal transmitter 530, depending on the embodiment. The signal transmitter 530 may be configured to transmit a signal to, for example, the display 340 and / or to a warning system or warning device, depending on the embodiment.

[0090] The above-described method steps 401-404 to be performed in the vehicle 100 can be implemented with one or more processor circuits 520 in the control arrangement 330, together with a computer program product for performing at least some of the functions according to the method steps 401-404. Thus, a computer program product with instructions for performing the method steps 401-404 in the control arrangement 330 can execute the method 400 with at least some of the method steps 401-404 for avoiding an interaction involving a protruding object 110a, 110b, 110c when the computer program is loaded into the one or more processor circuits 520 of the control arrangement 330.

[0091] Also, some embodiments of the invention may comprise a vehicle 100 having the control arrangement 330 for avoiding an interaction involving the protruding object 110a, 110b, 110c of the vehicle 100 according to at least some of the method steps 401-404.

[0092] The aforementioned computer program product can, for example, be provided in the form of a data carrier with a computer program code for executing at least some of the method steps 401-404 according to some embodiments when loaded into the one or more processor circuits 520 of the control unit 330. The data carrier can, for example, be: a hard disk, a CD-ROM, a memory stick, an optical storage device, a magnetic storage device, or any other suitable medium, such as a disk or tape, which stably contains machine-readable data. The computer program product can further be provided as a computer program code in a server from which it can be downloaded into a control arrangement 330, for example via the Internet or via an intranet.

[0093] The terms used to describe the above embodiments illustrated in the accompanying figures do not limit the described method 400, the control arrangement 330, the computer program, the system 500, and / or the vehicle 100. Various changes, substitutions, and / or modifications may be made without departing from the embodiments of the invention according to the appended claims.

[0094] The term “and / or” as used here includes any and all combinations of one or more of the listed features. The term “or” as used here is to be understood in the sense of a mathematical OR, i.e. as an inclusive operation; not in the sense of a mathematically exclusive OR (XOR), unless expressly stated otherwise. The singular forms “a”, “an”, “the”, “which” are to be understood in the sense of “at least one ...”, i.e., may include a plurality of features of the same type, unless expressly stated otherwise. The terms “contains, contain ...”, “has, have ...”, “containing” and / or “having” include the presence of the named features, actions, quantities, steps, operations, elements and / or components and do not exclude the additional presence of one or more further features, actions, quantities, steps, operations, elements, components and / or groups thereof.A single unit, such as a processor, may perform functions of several features recited in the claims. The mere fact that certain features are recited in mutually different dependent claims does not mean that a combination of those features could not be used to advantage. A computer program may be stored / presented on any suitable medium, such as an optical storage medium or a solid-state medium provided together with or as part of other hardware, but it may also be presented in other forms, such as via the Internet or other wired or wireless communication means.

Claims

[1] A control arrangement (330) in a vehicle (100) having a projecting object (110a, 110b, 110c) extending outside the vehicle body for avoiding a collision involving the projecting object (110a, 110b, 110c), the control arrangement (330) being arranged to: Detecting an obstacle (120) in the direction of travel (105) of the vehicle (100) by means of an on-board sensor; Predicting a possible collision of the projecting object (110a, 110b, 110c) with the detected obstacle (120); and Triggering an action to avoid the predicted collision, wherein a folding mechanism (210a, 210b) is provided in the projecting object (110a, 110b, 110c) and the control arrangement (330) is further configured to: Generating a command to fold the projecting object (110a, 110b, 110c) when passing the obstacle (120), and wherein, when the detected obstacle (120) comprises an oncoming vehicle and the projecting object (110a, 110b, 110c) comprises a sensor in the direction of travel (105), the control arrangement (330) is further configured to: Obtaining a sensor signal from a sensor (310) in the oncoming vehicle (120) which compensates for the loss of information due to the folded sensor. [2] Control arrangement (330) according to claim 1, further arranged to: Generating an alarm regarding the predicted collision; Generating a travel command to execute a sideways movement to avoid the predicted collision; and / or Generating a drive command to stop the vehicle (100) to avoid the predicted collision. [3] A method (400) for implementation in a vehicle (100) having a protruding object (110a, 110b, 110c) extending outside the vehicle body for avoiding a collision involving the protruding object (110a, 110b, 110c), the method (400) comprising: Detection (401) of an obstacle (120) in the direction of travel (105) of the vehicle (100); Predicting (402) a possible collision of the projecting object (110a, 110b, 110c) with the detected (401) obstacle (120); and effecting (403) a measure to avoid the predicted (402) collision, wherein a folding mechanism (210a, 210b) is provided in the projecting object (110a, 110b, 110c) and the effected (403) measure for avoiding the predicted (402) collision comprises: Folding the projecting object (110a, 110b, 110c) when passing the obstacle (120), and wherein, if the detected (401) obstacle (120) comprises an oncoming vehicle and the projecting object (110a, 110b, 110c) comprises a sensor in the direction of travel (105), the method further comprises: Obtaining (404) a sensor signal from a sensor (310) of the oncoming vehicle (120), which compensates for the loss of information due to the folded sensor. [4] Method (400) according to claim 3, wherein the effected (403) measure for avoiding the predicted (402) collision comprises: the generation of an indication concerning the predicted (402) collision; performing a sideways movement of the vehicle to avoid the predicted (402) collision and / or stopping the vehicle (100) to avoid the predicted (402) collision. [5] Computer program with a program code for carrying out a method (400) according to claim 3 or 4, when the computer program is executed in a control arrangement (330) according to claim 1 or 2. [6] A system (500) in a vehicle (100) for avoiding a collision involving a protruding object (110a, 110b, 110c) extending outside the vehicle body, the system (500) comprising: a control arrangement (330) according to claim 1 or 2; the projecting object (110a, 110b, 110c); and at least one sensor of the vehicle (100) for detecting an obstacle (120) in the direction of travel (105) of the vehicle (100).

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