Method for operating an adaptive speed controller

Abstract

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

Description

[0001] METHOD FOR OPERATING AN ADAPTIVE CRUISE CONTROL SYSTEM

[0002] The present invention relates to a method for operating an adaptive cruise control system, a computer program product, a control device for a vehicle and a vehicle.

[0003] When driving on multi-lane country roads or motorways, or even on inner-city streets, situations arise in which a vehicle traveling in an adjacent lane crosses a lane marking in the lane of an ego vehicle. If the ego vehicle is equipped with adaptive cruise control, this selects the vehicle as the target vehicle and regulates the distance to it by adjusting the speed. However, situations arise, particularly on motorways, in which a vehicle only partially crosses into the adjacent lane and there is no intention of merging. In such situations, selecting the vehicle that only travels in the lane for a short period of time and is faster than the ego vehicle is not advantageous, as this usually results in the ego vehicle braking sharply due to other vehicles ahead.Even on inner-city roads, situations arise where, for example, motorcycles open up an additional lane between the usual traffic lanes. In these situations, too, selecting a usually faster motorcycle as the target for adaptive cruise control is disadvantageous.

[0004] US 2019 / 0315355 A1 discloses an adaptive cruise control system for a vehicle configured to detect a transition state of a small vehicle. An upper limit storage unit is configured to store an upper limit of a target acceleration set before the transition state of the small vehicle was detected by the determination unit. A target acceleration setting unit is configured to set the target acceleration to a value equal to or lower than the upper limit as long as the small vehicle is selected as a following object. Against this background, an object of the present invention is to provide an improved method for adaptive cruise control.

[0005] According to a first aspect, a method for operating an adaptive cruise control system of a vehicle is provided. The method comprises the steps of: a) selecting a first preceding vehicle as a target vehicle; b) controlling a distance between the target vehicle and the ego vehicle; c) detecting a second preceding vehicle on a road section between the target vehicle and the ego vehicle; d) determining a speed difference between a speed of the target vehicle and a speed of the second preceding vehicle; e) comparing the speed difference with a threshold value; and f) maintaining the first preceding vehicle as the target vehicle or selecting the second preceding vehicle as the new target vehicle depending on the comparison according to step e).

[0006] This method has the advantage that a second vehicle ahead is only selected as the target vehicle if there is a high probability that it will remain in the lane of the ego vehicle. This is signaled by adjusting the speed of the second vehicle ahead to the speed prevailing in the lane of the ego vehicle and the target vehicle. This prevents incorrect acceleration and deceleration by the adaptive cruise control of the ego vehicle. This leads to greater application reliability of the adaptive cruise control and, on the other hand, to increased ride comfort for passengers of the ego vehicle.

[0007] The vehicle is, for example, a motor vehicle, such as a passenger car or a truck. A first vehicle ahead is selected as the target vehicle if it meets predetermined criteria of the adaptive cruise control. These include, for example, that the target vehicle is a vehicle and not another road user, such as a pedestrian.

[0008] "Selecting" the first or second vehicle ahead means that the corresponding vehicle is set as the target vehicle to which the adaptive cruise control will steer. This is done, in particular, by selecting or setting a parameter in the adaptive cruise control software. "Maintaining" the corresponding target vehicle maintains control of that vehicle. In particular, a corresponding parameter in the software remains unchanged.

[0009] The adaptive cruise control of the ego vehicle is configured to control a distance between the target vehicle and the ego vehicle. The distance is controlled, in particular, by adjusting the speed of the ego vehicle. The adaptive cruise control receives sensor data from one or more sensors of the ego vehicle, which are used, for example, to determine the speed of the target vehicle and a distance between the target vehicle and the ego vehicle. The adaptive cruise control is further configured to control an engine control unit, a braking device, and / or a steering device of the ego vehicle.

[0010] By controlling an engine control unit, a steering device and / or the braking device of the ego vehicle and thereby inducing acceleration or braking, the adaptive cruise control regulates the distance between the target vehicle and the ego vehicle.

[0011] In step c), a second vehicle driving ahead is detected, in particular, by one or more sensors of the ego vehicle. The sensors described here are, in particular, one or more cameras (e.g., a front camera) of the ego vehicle. For detection, object recognition (e.g., by means of software-based image recognition) can be performed in the image data captured by the one or more cameras.

[0012] The second vehicle ahead is advantageously detected as soon as it is located on a section of road between the target vehicle and the ego vehicle. The vehicle is particularly advantageously detected as soon as it has crossed a boundary of the road on which the ego vehicle is located.

[0013] Using the sensor data from one or more sensors of the ego vehicle, the speed of the second vehicle ahead and the speed of the target vehicle are determined. A speed difference between the speeds of the two vehicles is then determined.

[0014] In step e) the speed is compared with a limit value, where the limit value can be either a lower or an upper limit.

[0015] Depending on this comparison, the target vehicle is retained or a new target vehicle is selected. The comparison is used to estimate whether the second vehicle ahead will remain in the ego vehicle's lane or whether the second vehicle ahead intends to leave the lane again. If the second vehicle ahead does not adjust its speed to that of the target vehicle, i.e., if the speed difference is greater than the threshold, it can be assumed that the second vehicle ahead will most likely leave the lane again.

[0016] According to one embodiment, in step f), the first preceding vehicle is retained as the target vehicle if the speed difference is greater than or equal to the threshold value, and the second preceding vehicle is selected as the new target vehicle if the speed difference is less than the threshold value. Accordingly, the second preceding vehicle is selected as the new target vehicle if the speed difference between the second preceding vehicle and the target vehicle is less than the threshold value. Accordingly, the second preceding vehicle can be faster than the target vehicle and still be selected as the new target vehicle if the speed difference is less than the threshold value.

[0017] According to one embodiment, the limit value is set before step e), in particular before step a).

[0018] The limit value can therefore, for example, be a fixed limit value that is set in an adaptive cruise control software.

[0019] The threshold can also be set before step e), for example, by the adaptive cruise control system, which uses sensor data to estimate the traffic volume around the ego vehicle and derives a threshold from it. Preferably, a threshold is set by a driver of the ego vehicle.

[0020] According to one embodiment, the limit value has a value between 3 km / h and 10 km / h.

[0021] The limit value is particularly advantageous at 5 km / h.

[0022] According to one embodiment, the second preceding vehicle is a motorcycle.

[0023] According to one embodiment, steps d) to f) are repeated until the second preceding vehicle is selected as the new target vehicle or the second preceding vehicle has left the roadway section between the target vehicle and the ego vehicle. Accordingly, as long as a second preceding vehicle is detected between the target vehicle and the ego vehicle, a speed difference is determined, and the speed difference is subsequently compared with the threshold value. This ensures that the second preceding vehicle is selected as the target vehicle as soon as the speed difference is smaller than the threshold value. This improves a safety aspect of the adaptive cruise control.

[0024] According to one embodiment, after step c) and before step d), the second preceding vehicle is selected as the new target vehicle if the second preceding vehicle obscures the first preceding vehicle.

[0025] If the second vehicle ahead obscures the first vehicle ahead, a speed difference cannot be determined because the speed of the first vehicle ahead cannot be determined. Accordingly, the second vehicle ahead is selected as the target vehicle, and the method continues with step a).

[0026] According to one embodiment, the distance between the ego vehicle and the target vehicle is selected depending on the speed of the target vehicle and / or depending on the road conditions.

[0027] Accordingly, the distance controlled by the adaptive cruise control in step b) can be determined dynamically depending on the speed of the target vehicle. For example, the adaptive cruise control is set to never fall below a safe distance that is, for example, half the speed.

[0028] Furthermore, the distance between the target vehicle and the ego vehicle can be selected depending on the road conditions. For example, if a sensor on the ego vehicle detects a wet road, the adaptive cruise control is configured to maintain a greater distance than on a dry road.

[0029] According to one embodiment, a driver of the ego vehicle sets the distance between the ego vehicle and the target vehicle before step b).

[0030] A driver of the ego vehicle can adjust the distance controlled by the adaptive cruise control before step b). For example, the adaptive cruise control is configured to only allow distances greater than a safe distance.

[0031] The safety distance is determined by the adaptive cruise control system based on the speed of the ego vehicle. The safety distance is selected so that, in the event of the target vehicle applying emergency braking, the ego vehicle can stop in time, preventing a rear-end collision.

[0032] According to a second aspect, a computer program product is provided which comprises instructions which, when the program is executed by a computer, cause the computer to carry out the method described above according to a first aspect.

[0033] A computer program product according to a second aspect can, for example, be provided on a computer-readable storage medium, such as a memory card, USB stick, CD-ROM, or DVD. Furthermore, the computer program product can also be provided as a downloadable file from a server in a network. The computer program product can be transmitted, for example, in a wireless communications network by transmitting a corresponding file with the computer program product. According to a third aspect, a control unit for a vehicle is provided. The control unit for a vehicle comprises: a processor unit and a memory unit on which means for carrying out the method according to the first aspect described above are stored.

[0034] The control unit (for example in the form of the central vehicle control unit or electronic control unit - "ECU") is particularly designed to process the computer program product described above for operating an adaptive cruise control system, for example on the processor unit of the control unit.

[0035] The respective unit can be implemented in hardware and / or software. In a hardware implementation, the respective unit can be embodied, for example, as a computer or a microprocessor. In a software implementation, the respective unit can be embodied as a computer program product, as a function, as a routine, as an algorithm, as part of a program code, or as an executable object.

[0036] According to a fourth aspect, a vehicle is provided. The vehicle comprises one or more sensors and a control unit according to the third aspect.

[0037] The sensors of the ego vehicle can be, for example, radar sensors, LiDAR sensors, ultrasonic sensors, and / or cameras (as already described above). The ego vehicle can have one sensor of one type, multiple sensors of one type, and / or multiple sensors of multiple types. Advantageously, the ego vehicle has multiple sensors of multiple types. In particular, the ego vehicle has a radar sensor, which is advantageously arranged in the center of the front of the ego vehicle.

[0038] Steps a), b), c), etc. can also be performed in a different order. "One" does not include

[0039] The majority. Further possible implementations of the invention also include combinations of features or embodiments described above or below with respect to the exemplary embodiments that are not explicitly mentioned. In this case, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the invention.

[0040] Further advantageous embodiments and aspects of the invention are the subject of the dependent claims and the exemplary embodiments of the invention described below. The invention will be explained in more detail below using preferred embodiments with reference to the accompanying figures.

[0041] Fig. 1 shows a schematic plan view of a vehicle with adaptive cruise control according to an embodiment;

[0042] Fig. 2 shows a schematic representation of a situation in which an adaptive cruise control is used according to an embodiment; and

[0043] Fig. 3 shows a flowchart of an adaptive cruise control according to an embodiment.

[0044] In the figures, identical or functionally equivalent elements have been given the same reference numerals unless otherwise stated.

[0045] Although the present invention has been described using exemplary embodiments, it can be modified in many ways.

[0046] Fig. 1 shows a schematic plan view of a vehicle 100 with a control unit 103 and a sensor 102 according to one embodiment. In the example of Fig. 1, the vehicle 100 is a motor vehicle, in particular a passenger car. The sensor 102 is designed, for example, as part of a driver assistance system. Adaptive cruise control is designed, for example, as a software component of the driver assistance system. The driver assistance system serves, for example, to support a driver of the vehicle 100. Furthermore, the driver assistance system can be designed for semi-autonomous or fully autonomous operation of the vehicle 100. The driver assistance system is configured, for example, to control components of the vehicle, such as an engine control device 104, a braking device 106, and a steering device 107, so that driver assistance, semi-autonomous, and / or fully autonomous operation can be carried out.The driver assistance system is designed, for example, to operate at higher speeds, such as those found on country roads or highways, and at lower speeds, such as those found on inner-city roads. In particular, the driver assistance system is configured for operation in traffic jams, such as stop-and-go traffic on any type of road characterized by slow vehicle progress interrupted by frequent stops.

[0047] Sensor 102 is a radar sensor and, as shown in Fig. 1, is arranged in the center of the front of vehicle 100. Sensor 102 is connected wirelessly and / or by wire to control unit 103 for transmitting sensor data. Vehicle 100 preferably includes additional sensors 109 configured to detect the driving state of vehicle 100 and to detect the surroundings of vehicle 100. Examples of such sensors 109 of vehicle 100 include image recording devices such as a camera, a radar (radio detection and ranging) or a lidar (light detection and ranging), ultrasonic sensors, location sensors, wheel angle sensors, and / or wheel speed sensors.The sensors 109 are each configured to provide sensor data, for example, to the control unit 103 and / or to the driver assistance system, which supports a driver and performs semi-autonomous and / or fully autonomous driving depending on the acquired sensor data. The control unit 103 has a processor unit and a memory unit (not shown) configured to carry out the method described below for operating an adaptive cruise control system during operation of the vehicle 100. The control unit 103 is configured to receive sensor data from the vehicle's sensors 109, and in particular to receive sensor data from the sensor 102. Data connections of the control unit 103 to vehicle components are identified by reference numeral 105, with data connections representing lines, data lines, a vehicle bus, and / or wireless data transmission.

[0048] In the exemplary representation of the vehicle 100 in Fig. 1, the control unit 103 is connected to the engine control unit 104 and 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 decelerate the vehicle 100.

[0049] Furthermore, the control unit 103 in Fig. 1 is connected to the braking device 106. The control unit 103 transmits data wirelessly and / or wired to the braking device 106 of the vehicle 100, wherein the data contains, for example, control signals. These control signals cause the braking device 106 to brake the vehicle 100. In particular, the control signals can contain information about a possible impending emergency braking by the driver of the vehicle 100, which is detected by the sensors 109 and / or by the adaptive cruise control, and thus prepare the braking device 106 for this.

[0050] The control unit 103 in Fig. 1 is connected to a steering device 107 of the vehicle 100. The control unit 103 transmits wirelessly and / or wired data to the steering device 106 of the vehicle 100, wherein the data contains, for example, control signals. These control signals cause the steering device 107 to change a steering angle of the vehicle 100. Furthermore, the control unit 103 has a computer program product that has program code means stored on a computer-readable medium in order to be able to carry out the method described below for operating an adaptive cruise control system. In particular, the computer program product is implemented on a processor of the control unit 103 and is processed there.

[0051] The method for operating an adaptive cruise control is explained in more detail by means of a schematic representation of a situation from Fig. 2 in which an adaptive cruise control according to an embodiment is used, and the flow chart from Fig. 3.

[0052] Fig. 2 a) shows the vehicle 100 (hereinafter ego vehicle 100) from Fig. 1. A first preceding vehicle 200 is selected as the target vehicle (see step S1 in Fig. 3). The adaptive cruise control of the ego vehicle 100 is configured to regulate a distance 201 between the target vehicle 200 and the ego vehicle 100 (see step S2 in Fig. 3). By means of the sensor 102, sensor data is acquired and transmitted to the control unit 103, with the aid of which the distance 201 and the speed and / or the acceleration of the preceding vehicle 200 are determined. The control unit 103 is further configured to regulate the distance 201 between the target vehicle 200 and the ego vehicle 100. For this purpose, the control unit 103 transmits data containing control signals to the engine control device 104, the braking device and / or the steering device 107.These devices then control the corresponding vehicle parts so that the distance 201 is regulated.

[0053] More specifically, controlling the distance 201 means that the ego vehicle 100 accelerates when the distance 201 is greater than a specified distance. Accordingly, the control unit 103 transmits data to the engine control device 104 containing control signals so that the engine control device 104 controls the engine of the ego vehicle 100 to accelerate the ego vehicle 100. If the distance 201 is less than a specified distance, the control unit 103 transmits data to the engine control device 104, to the steering device 107, and / or to the braking device 106 containing control signals so that the ego vehicle 100 exhibits negative acceleration.

[0054] If the ego vehicle 100 accelerates, the control unit 103 ensures that a maximum permissible speed is not exceeded. The maximum permissible speed can be derived, for example, from GPS data from the driver assistance system, with the maximum permissible speed for a section of road indicated on a stored map. Furthermore, the maximum permissible speed can also be determined by sensors 109, which are configured to detect traffic signs.

[0055] Furthermore, for example, the driver of the ego vehicle 100 can enter a maximum speed that they do not wish to exceed via an interface. The control unit 103 is further configured to adapt the data transmitted to the engine control unit 104 such that the engine control unit 104 does not accelerate the ego vehicle 100 to a speed greater than the maximum speed entered by the driver.

[0056] The distance 201 between the target vehicle 200 and the ego vehicle 100 is, for example, a distance that is determined by the adaptive cruise control system as a function of the speed of the target vehicle. Accordingly, the distance 201 is set as a function of the speed of the target vehicle 200. The distance 201 is therefore set dynamically and is not a fixed value. The distance 201 can also be determined as a function of the road conditions detected by the sensors 109. Thus, a distance 201 is selected to be greater when the road is detected to be wet than when the road is detected to be dry.

[0057] The distance 201 is, for example, a distance that is set by the driver of the ego vehicle 100 before step S2. The distance 201 is transmitted, for example, by the driver to the control unit 103 via an input interface. Accordingly, the adaptive cruise control is configured to control the distance 201 that is set by the driver of the ego vehicle 100. Furthermore, the adaptive cruise control can be configured to implement only those inputs from the driver of the ego vehicle 100 that are greater than a safety distance. The safety distance is determined by the adaptive cruise control depending on the speed of the ego vehicle 100. The safety distance can be selected such that the ego vehicle 100 does not cause a rear-end collision in the event of an emergency braking by a vehicle 200, 300 traveling ahead, but rather the ego vehicle 100 comes to a stop in time.

[0058] In Fig. 2 b), the ego vehicle 100 detects a second preceding vehicle 300 on a road section between the target vehicle 200 and the ego vehicle 100 (step S3 in Fig. 3). In the example shown in Fig. 2 b), the second preceding vehicle 300 is a passenger car. However, the second preceding vehicle 300 can, in particular, be a motorcycle.

[0059] The ego vehicle 100 detects the second preceding vehicle 300, for example, through sensor 102. Furthermore, the ego vehicle 100 detects the second preceding vehicle 300 through sensors 109. The second preceding vehicle 300 is detected, in particular, as soon as a portion of the second preceding vehicle 300 crosses a lane boundary and the second preceding vehicle 300 is located on a roadway section between the target vehicle 200 and the ego vehicle 100. In particular, the vehicle 300 can partially or completely merge between the vehicles 100, 200.

[0060] In step S4 in Fig. 3, a check is carried out to determine whether the second vehicle 300 traveling ahead obscures the target vehicle. "Occupied" means that only the second vehicle 300 traveling ahead is detected by the sensor 102 of the ego vehicle 100. If this is the case, as shown by way of example in Fig. 2 c), the second vehicle 300 traveling ahead is selected as the new target vehicle (step S8 in Fig. 3). The method for operating an adaptive cruise control system then begins again at step a) or at step S1 in Fig. 3. In step S2, a distance 301 between the ego vehicle 100 and the new target vehicle, the second vehicle 300 traveling ahead, is controlled.

[0061] If the target vehicle 200 is not obscured by the second preceding vehicle 300 and the sensor 102 of the ego vehicle 100 detects both the second preceding vehicle 300 and the target vehicle 200, step S5 in Fig. 3 is performed.

[0062] The adaptive cruise control determines the speed of the target vehicle 200 and the speed of the second preceding vehicle 300 from the sensor data of the sensor 102. A speed difference between the two determined speeds is then calculated.

[0063] In step S6 in Fig. 3, 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 the ego vehicle 100 or in particular before step S1, wherein the limit value is stored in the adaptive cruise control. For example, the limit value can also be determined dynamically by the adaptive cruise control using the sensor data from the sensors 109 and / or the sensor 102, taking traffic flow or the like into account. Accordingly, the limit value can be determined dynamically. The limit value has a value between 3 km / h and 10 km / h. In particular, the limit value particularly advantageously has a value of 5 km / h.

[0064] If the speed difference in the comparison in step S6 is greater than or equal to the limit value, the target vehicle 200 is maintained (step S7 in Fig. 3). The adaptive cruise control accordingly continues to regulate the distance 201 between the target vehicle 200 and the ego vehicle 100 (step S2 in Fig. 3). The adaptive cruise control is configured to carry out the method starting from step S2 and accordingly to check whether the second preceding vehicle 300 is still detected (step S3 in Fig. 3) and subsequently to carry out the corresponding steps S4 to S9 and then to repeat them (steps S2 - S7). In this state, the driver assistance system or the adaptive cruise control assumes that the vehicle 300 will soon begin to overtake the target vehicle 200 and maintains the target vehicle 200 as a reference for the speed or distance control.

[0065] If the speed difference in the comparison in step S6 is smaller than the threshold value, the second preceding vehicle 300 is selected as the new target vehicle (step S9 in Fig. 3). Accordingly, the adaptive cruise control regulates a distance 301 to the second preceding vehicle 300 as the new target vehicle, as shown in Fig. 2 c). In this situation, the driver assistance system or the adaptive cruise control assumes that the vehicle 300 has joined the current lane of the ego vehicle 100 for a certain period of time and uses this as a reference for the speed or distance control.

[0066] Although the present invention has been described using exemplary embodiments, it can be modified in many ways.

[0067] LIST OF REFERENCE SYMBOLS

[0068] 100 (ego) vehicles

[0069] 102 Sensor 104 Engine control unit

[0070] 105 Data connection

[0071] 106 Braking device

[0072] 107 Steering device

[0073] 109 Sensors 200 first vehicle ahead

[0074] 201 Distance (between the ego vehicle and the first vehicle ahead)

[0075] 300 second vehicle ahead

[0076] 301 Distance (between the ego vehicle and the second vehicle ahead)

[0077] S1-S9 process steps

Claims

PATENT CLAIMS 1. A method for operating an adaptive cruise control of an ego vehicle (100), comprising the steps of: a) selecting (S1) a first preceding vehicle (200) as a target vehicle; b) regulating (S2) a distance (201) between the target vehicle (200) and the ego vehicle (100); c) detecting (S3) a second preceding vehicle (300) on a road section between the target vehicle (200) and the ego vehicle (100); d) determining (S5) a speed difference between a speed of the target vehicle (200) and a speed of the second preceding vehicle (300); e) comparing (S6) the speed difference with a limit value; and f) maintaining (S7) the first preceding vehicle (200) as the target vehicle or selecting (S9) the second preceding vehicle (300) as the new target vehicle depending on the comparison according to step e).

2. The method according to claim 1, wherein in step f) the first preceding vehicle (200) is retained as the target vehicle if the speed difference is greater than or equal to the threshold value, and the second preceding vehicle (300) is selected as the new target vehicle if the speed difference is less than the threshold value.

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

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

5. The method according to any one of the preceding claims, wherein steps d) to f) are repeated until the second preceding vehicle (300) is selected as the new target vehicle or the second preceding vehicle (300) has left the roadway section between the target vehicle and the ego vehicle (100).

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

7. Method according to one of the preceding claims, wherein after step c) and before step d) the second preceding vehicle (300) is selected as the new target vehicle (S8) if the second preceding vehicle (300) obscures the first preceding vehicle (200).

8. Method according to one of the preceding claims, wherein the distance (201) between the target vehicle (200) and the ego vehicle (100) is selected as a function of the speed of the target vehicle (200) and / or as a function of the road conditions.

9. Method according to one of the preceding claims, wherein a driver of the ego vehicle (100) sets the distance (201) between the target vehicle (200) and the ego vehicle (100) himself before step b).

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

11. Control unit (103) for a vehicle (100) for operating an adaptive cruise control system, comprising: a processor unit; and a memory unit on which means for carrying out the method according to one of claims 1 to 9 are stored.

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

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