US 12,112,636 B2
Method and control unit for detecting a vehicle moving in or out
Dominik Bauch, Muehldorf am Inn (DE); Marco Baumgartl, Gilching (DE); Michael Himmelsbach, Munich (DE); Josef Mehringer, Gmund (DE); Daniel Meissner, Friedberg (DE); and Luca Trentinaglia, Eichenau (DE)
Assigned to Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
Appl. No. 17/422,573
Filed by Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
PCT Filed Jan. 30, 2020, PCT No. PCT/EP2020/052277
§ 371(c)(1), (2) Date Jul. 13, 2021,
PCT Pub. No. WO2020/177958, PCT Pub. Date Sep. 10, 2020.
Claims priority of application No. 10 2019 105 547.4 (DE), filed on Mar. 5, 2019.
Prior Publication US 2021/0387617 A1, Dec. 16, 2021
Int. Cl. G08G 1/16 (2006.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 40/04 (2006.01); B60W 40/105 (2012.01); B60W 40/12 (2012.01); B60W 50/00 (2006.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC G08G 1/167 (2013.01) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 40/04 (2013.01); B60W 40/105 (2013.01); B60W 40/12 (2013.01); B60W 50/0097 (2013.01); G06V 20/58 (2022.01); G06V 20/584 (2022.01); G06V 20/588 (2022.01); B60W 2552/53 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4046 (2020.02); B60W 2554/806 (2020.02)] 16 Claims
OG exemplary drawing
 
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.