Operational design domain validation coverage for adjacent lane relative velocity

A vehicle comprising:

• a device for monitoring velocity of the vehicle;
• a perception system comprising at least one sensor for monitoring a surrounding environment of the vehicle;
• a control system for an ego-vehicle traveling in a first direction in a first lane on a road segment, wherein the ego-vehicle has a driver support function for autonomously manoeuvring the ego-vehicle, the control system comprising control circuitry configured to:
• obtain sensor data comprising information about a surrounding environment of the ego-vehicle;
• determine a relative velocity, with respect to the ego-vehicle, of at least one external vehicle of a plurality of external vehicles traveling in a second lane adjacent to the first lane based on the obtained sensor data;
• compare the determined relative velocity to a maximum velocity threshold;
• and
• generate a control signal to control an availability of the driver support function for the road segment based on the comparison to make the driver support function available for an occupant of the ego-vehicle when:
• at least one external vehicle has been confirmed to have a relative velocity below the maximum velocity threshold during a first time period;
• and
• no external vehicle has been confirmed to have a relative velocity above the maximum velocity threshold during a second time period,
• wherein the first time period comprises a defined first time period and the second time period comprises a second defined time period, and wherein the first and second time period occur over a same time interval.

A method for controlling a driver support function for autonomously manoeuvring a vehicle traveling in a first direction on a road segment, the method comprising:

• obtaining sensor data comprising information about a surrounding environment of the vehicle;
• determining a relative velocity, with respect to the vehicle, of at least one external vehicle of a plurality of external vehicles traveling in a second lane adjacent to the first lane based on the obtained sensor data;
• comparing the relative velocity with a maximum velocity threshold;
• and
• controlling an availability of the driver support function for the road segment based on the comparison to make the driver support function available for an occupant of the vehicle when:
• at least one external vehicle has been confirmed to have a relative velocity below the maximum velocity threshold during a first time period;
• and
• no external vehicle has been confirmed to have a relative velocity above the maximum velocity threshold during a second time period,
• wherein the first time period comprises a defined first time period and the second time period comprises a second defined time period, and wherein the first and second time period occur over a same time interval.

A non-transitory computer-readable storage medium storing one or more instructions which, when executed by one or more processors of a vehicle control system, the one or more instructions for performing a method for controlling a driver support function for autonomously manoeuvring a vehicle traveling in a first direction on a road segment, the method comprising:

• obtaining sensor data comprising information about a surrounding environment of the vehicle;
• determining a relative velocity, with respect to the vehicle, of at least one external vehicle of a plurality of external vehicles traveling in a second lane adjacent to the first lane based on the obtained sensor data;
• comparing the monitored relative velocity with a maximum velocity threshold;
• and
• controlling an availability of the driver support function for the road segment based on the comparison to make the driver support function available for an occupant of the vehicle when:
• at least one external vehicle has been confirmed to have a relative velocity below the maximum velocity threshold during a first time period;
• and
• no external vehicle has been confirmed to have a relative velocity above the maximum velocity threshold during a second time period,
• wherein the first time period comprises a defined first time period and the second time period comprises a second defined time period, and wherein the first and second time period occur over a same time interval.