公开(公告)号：US20220348209A1

公开(公告)日：2022-11-03

申请号：US17861632

申请日：2022-07-11

申请人： Arriver Software AB

发明人： Michael MAAS ,  Andreas SCHMID ,  Christopher UNVERDORBEN

IPC分类号： B60W40/04

摘要： A vehicle environment detection system in an ego vehicle, including a sensor arrangement and a main control unit is arranged to detect and track at least one oncoming vehicle, and to determine whether the ego vehicle has entered a curve. The main control unit is arranged to determine a common curve with a radius, along which common curve the ego vehicle is assumed to travel, determine a measured oncome direction of the oncoming vehicle on the common curve, corresponding to an oncome angle, determine a difference angle between the measured oncome direction and an oncome direction corresponding to if the oncoming vehicle would be moving along the common curve, compare the difference angle with a threshold angle, and to determine that the oncoming vehicle is crossing if the difference angle exceeds the threshold angle.