# US 12,112,636 B2 · Method and control unit for detecting a vehicle moving in or out

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- Number: US 12,112,636 B2
- Document ID: US12112636B2
- Status: Granted
- Kind: B2
- Application number: 17/422,573
- Filed: 2020-01-30
- Published: 2021-12-16
- Granted: 2024-10-08
- Earliest claimed: 2019-03-05
- Assignees: Bayerische Motoren Werke Aktiengesellschaft
- Applicants: Bayerische Motoren Werke Aktiengesellschaft
- Inventors: Dominik Bauch; Marco Baumgartl; Michael Himmelsbach; Josef Mehringer; Daniel Meissner; Luca Trentinaglia
- Web page: https://patentgrep.com/patent/US12112636B2

## CPC

- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 30/0956: {the prediction being responsive to traffic or environmental parameters}
- B60W 40/04: Traffic conditions
- B60W 40/105: Speed
- B60W 40/12: related to parameters of the vehicle itself {, e.g. tyre models}
- B60W 50/0097: {Predicting future conditions}
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V 20/584: {of vehicle lights or traffic lights}
- G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road}
- B60W 2552/53: Road markings, e.g. lane marker or crosswalk
- B60W 2554/4041: Position
- B60W 2554/4046: Behavior, e.g. aggressive or erratic
- B60W 2554/806: Relative heading
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

A control unit for a vehicle is designed to predict a driving tube for the vehicle, which driving tube surrounds a motion path ahead of the vehicle. The control unit detects an object ahead, for example a vehicle moving in or out. The control unit determines a reference point on the object and determines overlap information regarding overlap of the reference point with the driving tube. The control unit determines, on the basis of the overlap information, whether the object is penetrating into the driving tube of the vehicle.

## Claims

### Claim 1

A control unit for a vehicle, comprising:
the control unit, wherein the control unit is configured to:
predict a driving tube for the vehicle surrounding an upcoming movement path of the vehicle;
provide an overlap profile that shows different overlap values for different positions relative to the driving tube, wherein each of the different overlap values indicates a proximity of each of the different positions to the driving tube;
detect an object located in front of the vehicle, based on vicinity data received from one or more of an image camera, a radar sensor, a lidar sensor, and an ultrasonic sensor;
determine a reference point at the object;
determine a reference position of the reference point relative to the driving tube;
determine, based on the overlap profile and the reference position, an overlap value of the reference point as overlap information with respect to an overlap of the reference point with the driving tube;
determine, based on different overlap information for the different positions, whether the proximity of the reference point to the driving tube increases or not, and thereby determining whether or not the object enters the driving tube of the vehicle; and
control a driving function of the vehicle based on a determination of whether or not the object enters the driving tube of the vehicle, wherein the driving function is configured to adapt the driving speed of the vehicle to the driving speed of the object and/or to set a specific following distance from the object in a case in which the determination is that the object enters the driving tube of the vehicle.

### Claim 2 (depends on 1)

The control unit according to claim 1, wherein the control unit is further configured to:
determine, based on the vicinity data, a contour model for a contour of the object; and
determine the reference point as a point of the contour model.

### Claim 3 (depends on 2)

The control unit according to claim 2, wherein
the contour model comprises a polygon having a multiplicity of corners, and
the control unit is further configured to select the reference point as a corner from the multiplicity of corners.

### Claim 4 (depends on 1)

The control unit according to claim 1, wherein the control unit is further configured to:
determine uncertainty information with respect to a degree of uncertainty of the reference position; and
determine the overlap value of the reference point on the basis of the uncertainty information.

### Claim 5 (depends on 4)

The control unit according to claim 4, wherein the control unit is further configured to:
determine, on the basis of the uncertainty information, a value region around the reference position of the reference point;
determine, based on the overlap profile, a maximum or a minimum overlap value for the value region around the reference position; and
determine the overlap value of the reference point on the basis of the determined maximum or minimum overlap value.

### Claim 6 (depends on 5)

The control unit according to claim 5, wherein the control unit is further configured to:
determine the overlap value for each of a plurality of points of the object; and
select, from the plurality of points, the reference point in dependence on the overlap values for the plurality of points.

### Claim 7 (depends on 6)

The control unit according to claim 6, wherein
the reference point is selected from the plurality of points as the point that has a relatively highest or a relatively lowest overlap value among the overlap values of the plurality of points with the driving tube.

### Claim 8 (depends on 1)

The control unit according to claim 1, wherein the control unit is further configured to:
determine a straight line, that is perpendicular to the upcoming movement path and extends through the reference point, as a cross section through the driving tube; and
determine the overlap profile as a function of the overlap value extending along the straight line as a function of the position on the straight line.

### Claim 9 (depends on 8)

The control unit according to claim 8, wherein the control unit is further configured to:
determine a plurality of differently aligned vertical lines through the reference point;
determine for the plurality of vertical lines a corresponding plurality of overlap profiles; and
determine, on the basis of the plurality of overlap profiles, a corresponding plurality of possible overlap values of the reference point with the driving tube; and
determine the overlap value of the reference point on the basis of the plurality of possible overlap values, wherein the overlap value of the reference point is determined as a maximally or minimally possible overlap value from the plurality of possible overlap values.

### Claim 10 (depends on 1)

The control unit according to claim 1, wherein
the overlap profile in a tolerance zone adjoining the driving tube transitions continuously from a maximum value to a minimum value of the overlap value as the distance from the driving tube increases, or vice versa, and/or
the overlap profile in the driving tube has the maximum value or the minimum value.

### Claim 11 (depends on 1)

The control unit according to claim 1, wherein
the control unit is further configured to compare the overlap value with at least one threshold value in order to determine whether or not the object enters the driving tube of the vehicle.

### Claim 12 (depends on 1)

The control unit according to claim 1, wherein the control unit is further configured to:
guide the vehicle in an at least partially automated manner in dependence on whether it has been determined that the object enters the driving tube of the vehicle or not.

### Claim 13 (depends on 1)

The control unit according to claim 1, wherein
the control unit is further configured to determine the driving tube and/or the upcoming movement path of the vehicle based on:
the vicinity data with respect to a vicinity of the vehicle;
vehicle data with respect to a driving direction and/or driving speed of the vehicle; and/or
a digital map with respect to a course of a road on which the vehicle is traveling; and/or
the control unit is configured to determine the driving tube and/or the upcoming movement path of the vehicle independently of a driving lane marking of a road on which the vehicle is traveling.

### Claim 14 (depends on 1)

The control unit according to claim 1, wherein a width of the driving tube around the upcoming movement path of the vehicle is dependent on:
a width of the vehicle;
a distance of a region of the driving tube from a current position of the vehicle; and/or
an uncertainty with which an upcoming point of the upcoming movement path can be determined.

### Claim 15 (depends on 1)

The control unit according to claim 1, wherein
the object comprises another vehicle that is moving into or out of a lane in front of the vehicle.

### Claim 16

A method for detecting an object that is relevant for a driving function of a vehicle, the method comprising:
predicting a driving tube for the vehicle surrounding an upcoming movement path of the vehicle;
providing an overlap profile that shows different overlap values for different positions relative to the driving tube, wherein each of the different overlap values indicates a degree of proximity of each of the different positions to the driving tube;
detecting an object located in front of the vehicle, based on vicinity data received from one or more of an image camera, a radar sensor, a lidar sensor, and an ultrasonic sensor;
determining a reference point at the object;
determining a reference position of the reference point relative to the driving tube;
determining, based on the overlap profile and the reference position, an overlap value of the reference point as overlap information with respect to an overlap of the reference point with the driving tube;
determining, based on different overlap information for the different positions, whether the proximity of the reference point to the driving tube increases or not, and thereby determining whether or not the object enters the driving tube of the vehicle; and
controlling a driving function of the vehicle based on a determination of whether or not the object enters the driving tube of the vehicle, wherein the driving function is configured to adapt the driving speed of the vehicle to the driving speed of the object and/or to set a specific following distance from the object in a case in which the determination is that the object enters the driving tube of the vehicle.