The present disclosure relates to a vehicle environment detection system (40) in an ego vehicle (1), comprising a sensor arrangement (4) and a main control unit (8). The detection system (40) is arranged to detect and track at least one oncoming vehicle (9), and to determine whether the ego vehicle (1) has entered a curve (17). When this is the case, the main control unit (8) is arranged to: - Determine a common curve (12) with a radius (R), along which common curve (12) the ego vehicle (1) is assumed to travel. - Determine a measured oncome direction (13, 13') of the oncoming vehicle (9) on the common curve (16), corresponding to an oncome angle (¸ track . - Determine a difference angle (´) between said measured oncome direction (13, 13') and an oncome direction (13) corresponding to if the oncoming vehicle (9) would be moving along the common curve (12). - Compare the difference angle (´) with a threshold angle (¸ max ), and to determine that the oncoming vehicle (9) is crossing if the difference angle (´) exceeds the threshold angle (¸ max ).
A VEHICLE SYSTEM FOR DETECTION OF ONCOMING VEHICLES
FAHRZEUGSYSTEM ZUR DETEKTION VON ENTGEGENKOMMENDEN FAHRZEUGEN
SYSTÈME DE VÉHICULE POUR LA DÉTECTION DE VÉHICULES EN APPROCHE
2020-01-01
Patent
Elektronische Ressource
Englisch