FORM 2
THE PATENTS ACT 1970
[39 OF 1970]
&
THE PATENTS RULES, 2003
COMPLETE SPECIFICATION
[See section 10; rule 13] TITLE: “UNDERRIDE PROTECTION DEVICE OPERATION IN VEHICLE”
Name and Address of the Applicant:
TATA MOTORS LIMITED, an Indian company having its registered office at Bombay house, 24 Homi Mody Street, Hutatma Chowk, Mumbai 400 001, Maharashtra, INDIA.
Nationality: Indian
The following specification particularly describes the invention and the manner in which it is performed.

TECHNICAL FIELD
[001] The present disclosure generally relates to vehicle protection and more specifically to
underride protection device and operation thereof.
BACKGROUND OF THE DISCLOSURE
[002] Vehicle safety is improving everyday, to ensure less accidents occur. Often heavy vehicles cause more damage as collision with heavy vehicles are fatal. Especially, passenger vehicles colliding with heavy vehicles result in fatal injuries. Therefore, the heavy vehicles are equipped with Rear Underride Protection Device (RUPD) on a rear side of the vehicle to avoid riding of passenger cars beneath of heavy vehicle. Similarly, Side UPD (SUPD) is provided to protect vehicle underride in side impacts.
[003] Currently all the Commercial Vehicles (CV) come with the fixed Underride Protection Device (RUPD &SUPD), which is at a fixed height from the ground, however the vehicle front end structure varies for different makes and models of vehicle. In accident scenarios it is observed that fixed UPD’s effectiveness differ with respect to vehicle ride height and front end structure colliding with the CV. Hence there is a requirement to have a solution which protect the all types of passenger vehicles irrespective of their design and application types during rear and side underrun.
[004] The information disclosed in this background of the disclosure section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
SUMMARY OF THE DISCLOSURE
[005] In an embodiment, a method of operating an underride protection in a vehicle is disclosed. The method comprising: receiving, by a control unit of a subject vehicle, data of a target vehicle from one or more sensors mounted on the subject vehicle; determining, by the control unit, a category and a structure of the target vehicle based on the data; detecting, by the control unit, the target vehicle is in a collision prone distance from the subject vehicle based on target vehicle

position determined using the data; and adjusting, by the control unit, a height of an underride protection device mounted on the subject vehicle based on the category and the structure of the target vehicle when the target vehicle is in the collision prone distance from the subject vehicle.
[006] In some embodiments is disclosed an Electronic Control Unit (ECU), comprising: a processor; a memory; and an actuator interface. The processor is configured to: receive data of a target vehicle from one or more sensors mounted on a vehicle; determine a category and a structure of the target vehicle based on the data; detect the target vehicle is in a collision prone distance from the vehicle based on a relative speed and distance of the target vehicle determined using the data; and adjust a height of an underride protection device mounted on the subject vehicle and connected to the processor via the actuator interface, based on the category and the structure of the target vehicle when the target vehicle is in the collision prone distance from the vehicle.
[007] In yet another embodiment a vehicle is disclosed. The vehicle comprising; an underride protection device; one or more sensors; and a control unit configured to: receive the data of a target vehicle from the one or more sensors; determine a category and a structure of the target vehicle based on the data; detect the target vehicle is in a collision prone distance from the vehicle based on relative speed of the target vehicle determined using the data; and adjust a height of an underride protection device based on the category and the structure of the target vehicle when the target vehicle is in the collision prone distance from the vehicle.
[008] The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features will become apparent by reference to the drawings and the following detailed description.
BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWINGS
[009] The novel features and characteristics of the disclosure are set forth in the appended claims. The disclosure itself, however, as well as a preferred mode of use, further objectives, and advantages thereof, will best be understood by reference to the following detailed description of an illustrative embodiments when read in conjunction with the accompanying figures. One or more

embodiments are now described, by way of example only, with reference to the accompanying figures wherein like reference numerals represent like elements and in which:
[010] FIG. 1A illustrates a vehicle in a side view including an Underride Protection Device (UPD), in accordance with an embodiment of the present disclosure;
[011] FIG. 1B a vehicle in a rear view including the UPD, in accordance with an embodiment of the present disclosure;
[012] FIG. 2 illustrates an ECU for operating a UPD, in accordance with an embodiment of the present disclosure;
[013] FIG. 3 illustrates a method of operating a UPD, in accordance with an embodiment of the present disclosure;
[014] FIG. 4 illustrates a mechanism of moving a UPD, in accordance with an embodiment of the present disclosure; and
[015] FIG. 5A, 5B and 5C illustrate different use cases of operating the UPD, in accordance with an embodiment of the present disclosure;
[016] It should be appreciated by those skilled in the art that any block diagrams herein represent conceptual views of illustrative systems embodying the principles of the present subject matter. Similarly, it will be appreciated that any flow charts, flow diagrams, state transition diagrams, pseudo code, and the like represent various processes which may be substantially represented in computer readable medium and executed by a computer or processor, whether or not such computer or processor is explicitly shown.
DETAILED DESCRIPTION
[017] In the present document, the word “exemplary” is used herein to mean “serving as an example, instance, or illustration”. Any embodiment or implementation of the present subject

matter described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.
[018] While the disclosure is susceptible to various modifications and alternative forms, specific embodiment thereof has been shown by way of example in the drawings and will be described in detail below. It should be understood, however that it is not intended to limit the disclosure to the particular forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternative falling within the spirit and the scope of the disclosure.
[019] The terms “comprises”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a setup, device, or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a device or system or apparatus proceeded by “comprises… a” does not, without more constraints, preclude the existence of other elements or additional elements in the device or system or apparatus.
[020] In the following detailed description of the embodiments of the disclosure, reference is made to the accompanying drawings that form a part hereof, and in which are shown by way of illustration specific embodiments in which the disclosure may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments may be utilized and that changes may be made without departing from the scope of the present disclosure. The following description is, therefore, not to be taken in a limiting sense.
[021] Fig. 1A illustrates a vehicle 102 having a Underride Protection Device (104). In some embodiments, the vehicle 102 is a Commercial Vehicle (CV) such as a trailer, a truck, a bus, or any other CV. The UPD (104) may be mounted on a rear side of the vehicle 102 as shown in the Fig. 1A and/ or on sides of the vehicle 102.. Additionally, the UPD 104 may be mounted on a front side of the vehicle 102. In some embodiments, the UPD 104 may be made of steel to provide necessary protection against colliding vehicles. However, the UPD 104 may be constructed of

different materials known in the art. In some embodiments, the UPD 104 may be mounted on a bumper of the vehicle 102. The UPD 104 may be moved in a vertical direction to adjust its height according to a target vehicle. The target vehicle may be a vehicle on a rear side or a left side or a right side of the vehicle 102. The height of the UPD 104 can be adjusted using motors.
[022] Fig. 2 illustrates the an Electronic Control Unit (ECU) 200. The ECU 200 may be part of a control system (not shown) for controlling and operating the UPD 104. The ECU 200 is depicted to include a 202, a memory 204, a communication interface 206 and an Input/Output module 208. It shall be noted that, in some embodiments, the ECU 200 may include more or fewer components than those depicted herein. The various components of the ECU 200 may be implemented using hardware, software, firmware or any combinations thereof. Further, the various components of the ECU 200 may be operably coupled with each other. More specifically, various components of the ECU 200 may be capable of communicating with each other using communication channel media (such as buses, interconnects, etc.).
[023] In one embodiment, the processor 202 may be embodied as a multi-core processor, a single core processor, or a combination of one or more multi-core processors and one or more single core processors. For example, the processor 202 may be embodied as one or more of various processing devices, such as a coprocessor, a microprocessor, a controller, a digital signal processor (DSP), a processing circuitry with or without an accompanying DSP, or various other processing devices including, a microcontroller unit (MCU), a hardware accelerator, a special-purpose computer chip, or the like.
[024] In one embodiment, the memory 204 is capable of storing machine executable instructions, referred to herein as instructions 205. In an embodiment, the processor 202 is embodied as an executor of software instructions. As such, the processor 202 is capable of executing the instructions 205 stored in the memory 204 to perform one or more operations described herein. For example, the memory 204 may include one or more volatile or non-volatile memories, or a combination thereof. For example, the memory 204 may be embodied as semiconductor memories, such as flash memory, mask ROM, PROM (programmable ROM), EPROM (erasable PROM), RAM (random access memory), etc. and the like.

[025] In an embodiment, the processor 202 is configured to execute the instructions for: (1) receiving data of a target vehicle from one or more sensors mounted on the subject vehicle, (2) determining a category and a structure of the target vehicle based on the data, (3) detecting the target vehicle is in a collision prone distance from the subject vehicle based on target vehicle position determined using the data s, (4) adjusting a height of an underride protection device mounted on the subject vehicle based on the category and the structure of the target vehicle when the target vehicle is in the collision prone distance from the subject vehicle.
[026] In an embodiment, the I/O module 208 may include mechanisms configured to receive inputs from and provide outputs to an operator of the ECU 200. To enable reception of inputs and provide outputs to the ECU 200, the I/O module 208 may include at least one input interface and/or at least one output interface. The I/O module 208 may be used by the operator of the ECU 200 to provide at least one threshold value for a collision prone distance of a target vehicle from the vehicle 102 (also referred as subject vehicle, and the like. This optimizes the process of adjusting the height of the UPD 104 according to category of the target vehicle.
[027] Examples of the input interface may include, but are not limited to, a keyboard, a mouse, a joystick, a keypad, a touch screen, soft keys, a microphone, and the like. Examples of the output interface may include, but are not limited to, a display such as a light emitting diode display, a thin-film transistor (TFT) display, a liquid crystal display, an active-matrix organic light-emitting diode (AMOLED) display, a microphone, a speaker, a ringer, and the like. It shall be noted that, the I/O module 208 is an optional component and some the ECU 200 may be implemented without the I/O module 208.
[028] The communication interface 206 may include mechanisms configured to communicate with external entities/peripheral devices, for example, one or more sensors 210 for receiving data of the target vehicle. The data of the target vehicle may include images of the target vehicle, speed of the target vehicle and a collision distance.

[029] In an embodiment, the one or more sensors 210 may include at least one of a Radar or a lidar sensor. In some embodiments, the one or more sensors 210 may include a camera.
[030] The ECU 202 is depicted to be in operative communication with a database (not shown). In one embodiment, the database is configured to store vehicle categories data. The categories data comprises a small vehicle, a large vehicle, passenger cars, a Sports Utility Vehicle (SUV), a pickup truck, a sedan, a bus, a Multi Utility Vehicle (MUV), a trailer, and a truck. Further, the database may hold data regarding vehicle features related to each category.
[031] The database may include multiple storage units such as hard disks and/or solid-state disks in a redundant array of inexpensive disks (RAID) configuration. In some embodiments, the database 220 may include a storage area network (SAN) and/or a network attached storage (NAS) system. In one embodiment, the database may correspond to a distributed storage system, wherein individual databases are configured to store custom data, In some embodiments, the database is integrated within the ECU 200. For example, the ECU 200 may include one or more hard disk drives as the database. In other embodiments, the database is external to the ECU 200 and may be accessed by the ECU 200 using a storage interface (not shown in FIG. 2). The storage interface is any component capable of providing the processor 202 with access to the database 220. The storage interface may include, for example, an Advanced Technology Attachment (ATA) adapter, a Serial ATA (SATA) adapter, a Small Computer System Interface (SCSI) adapter, a RAID controller, a SAN adapter, a network adapter, and/or any component providing the processor 202 with access to the database.
[032] As already explained, the communication interface 206 is configured to receive the data of the target vehicle from the one or more sensors 208.
[033] The processor 202 in conjunction with the instructions is configured to determine a category and a structure of the target vehicle based on the data. Further, the processor 202 is configured to detect the target vehicle is in a collision prone distance from the subject vehicle 102 based on a relative speed and distance of the target vehicle determined using the data Furthermore, the processor 202 is configured to adjust a height of the UPD 104 mounted on the subject vehicle

102 based on the category and the structure of the target vehicle when the target vehicle is in the collision prone distance from the subject vehicle 102.
[034] In an embodiment, the processor 202 is configured to determine the category of the target
vehicle. The processor 202 detects one or more features of the target vehicle and determines the
category of the target vehicle based on the one or more features of the target vehicle.
.
[035] In an embodiment, the processor 202 is configured identify the one or more features of the
target vehicle closer to the subject vehicle, detect the structure of the vehicle that is likely to collide
with the subject vehicle and determine a height of the structure.
[036] In an embodiment, the processor 202 is configured to determine the relative speed of the target vehicle and subject vehicle. Further, the processor 202 is configured to determine a distance between the subject vehicle 102 and the target vehicle and determine the target vehicle is in the collision prone distance based on the relative speed and the distance between the subject vehicle 102 and the target vehicle.
[037] In an embodiment, the processor 202 is configured to determine a current height of the UPD 104, obtain a height of the structure of the target vehicle and displace the UPD 104 in the vertical direction to match the height of the UPD with the height of the structure of the target vehicle.
[038] Fig. 3 is a flowchart illustrating a method 300 for operating the UPD 104, in accordance with an embodiment of the present disclosure. The method 300 depicted in the flow diagram may be executed by, for example, the ECU 200. Operations of the flow diagram, and combination of operations in the flow diagram, may be implemented by, for example, hardware, firmware, a processor, circuitry and/or a different device associated with the execution of software that includes one or more computer program instructions. The operations of the method 300 are described herein with help of the processor 202 of the ECU 200. It is noted that the operations of the method 300 can be described and/or practiced by using one or more processors of a system/device other than the processor 202. The method 300 starts at operation 302.

[039] At operation 302 of the method 300, receiving the data of a target vehicle from one or more sensors mounted on the subject vehicle. The data includes images of the target vehicle, speed of the target vehicle and the collision distance. In some embodiments, the images are received from the one or more sensors 208. Furthermore, the speed of the target vehicle may also be received from the one or more sensors 208. In some embodiments, the speed of the target vehicle may be calculated using the images received from the one or more sensors 208. Similarly, the collision prone distance may be calculated using the images received from the one or more sensors 208. For example RADAR/ LIDAR signals can be used to detect the transmitted signal and reflected signals to calculate the collision prone distance and speed of the target vehicle.
[040] At operation 304 of the method 300, determining a category and a structure of the target vehicle based on the data. In an embodiment, the method further comprises detecting one or more features of the target vehicle and determining the category of the target vehicle based on the one or more features of the target vehicle. In one instance, the one or more features may indicate the reflected signal characteristics. For example, the signals reflected off a hatch back vehicle is different from signals reflected off a sedan and a SUV. Similarly, in case of cameras, the one or more features may include features identified in the image, such as bonnet of the target vehicle. In some embodiments, a machine learning model may be used for determining the category of the target vehicle. In some embodiments, sensor fusion may be sued to fuse inputs from multiple sensors for categorizing and determining the structure of the target vehicle. The categories may include, a small vehicle, a large vehicle, passenger cars, a Sports Utility Vehicle (SUV), a pickup truck, a sedan, a bus, a Multi Utility Vehicle (MUV), a trailer, and a truck.
[041] In an embodiment, the structure is identified by identifying one or more features of the target vehicle closer to the subject vehicle102. Further, the structure of the target vehicle that is likely to collide with the subject vehicle is determined. This determination is made using the collision prone distance. When the distance of the target vehicle is less than the threshold distance value, and when the target vehicle speed is not decreasing by a speed threshold value, the determination is made that the target vehicle is likely to collide with the subject vehicle. When such determination is made, the structure of the target vehicle is determined. The structure of the

target vehicle can be determined using signal characteristics as described in above paragraph. Further, the height of the structure is determined. For instance, the height of the structure is determined with reference to ground. In another instance, knowing the height of the LIDAR or the RADAR and the signals reflected off the structure can be evaluated to determine the height of the structure.
[042] At step 306, detecting the target vehicle is in a collision prone distance from the subject vehicle based on the data. This determination is performed by determining the relative velocity of the target vehicle and the subject vehicle. The relative velocity measurements are made as described above. Further, instantaneous distance between the subject vehicle 102 and the target vehicle is determined; and determining the target vehicle is in the collision prone distance based on the relative speed and the distance between the subject vehicle and the target vehicle.
[043] At step 308, adjusting the height of the UPD 104 based on the category of the target vehicle and the structure of the target vehicle is determined. In an embodiment, a current height of the UPD 104 is determined. For example, a height sensor may be used to determine the current height of the UPD 105. Further, the height of the structure of the target vehicle is obtained and the UPD 104 is displaced in a vertical direction to match the structure of the target vehicle.
[044] The sequence of operations of the methods 300 need not be necessarily executed in the same order as they are presented. Further, one or more operations may be grouped together and performed in form of a single step, or one operation may have several sub-steps that may be performed in parallel or in sequential manner.
[045] The disclosed method with reference to Fig. 3, or one or more operations of the flow diagram 300 may be implemented using software including computer-executable instructions stored on one or more computer-readable media (e.g., non-transitory computer-readable media, such as one or more optical media discs, volatile memory components (e.g., DRAM or SRAM), or non-volatile memory or storage components (e.g., hard drives or solid-state non-volatile memory components, such as Flash memory components) and executed on a computer (e.g., any suitable computer, such as a laptop computer, net book, Web book, tablet computing device, smart

phone, or other mobile computing device). Such software may be executed, for example, on a single local computer.
[046] Fig. 4 illustrates the mechanism of adjusting the height of the UPD 104. Fig. 4 shows a rear side of the subject vehicle 102. However, the mechanism is not limited to rear side alone and can be implemented on any side of the subject vehicle 102. As shown, the vehicle comprises the UPS 104. The Fig. 4 shows the UPD 104 in three different height. The UPD 104a is displaced at height h1, the UPD 104b is displaced at height h2 and the UPD 104c is displaced at height h3. For example, the UPD 104a may be displaced to height h1 when the target vehicle is a SUV where the structure of the SUV (bonnet) is at the height h1. Likewise, the UPD 104b may be displaced to height h2 when the target vehicle is a hatchback and the UPD 104c may be displaced to height h3 when the target vehicle is a sedan which has a low structure. The displacing the UPD 104 may be performed by providing control signals to a motor 404. The motor 404 may operate rails 402 on which the UPD 104 may be mounted to adjust the height of the UPD 104. In some embodiment, the displacement of the UPD 104 may be performed using rack and pinion or hydraulic methods or any other suitable methods. The control signal can be provided as electrical pulses. For example different pulse can be provided for different height adjustment of the UPD 104.
[047] Fig. 5A illustrates a scenario where the target vehicle is a hatch back car. As seen the hatch back car has a structure (bonnet) having a certain height. The subject vehicle 102 has the UPD 104 at a default height before detecting the target vehicle. When the target vehicle is detected, the bonnet of the car is detected along with the vehicle category. The bonnet height data is obtained and the UPD 104 is adjusted to match the height of the bonnet of the hatch back car. In this way, when there is a collision, the car collides completely with the UPD 104 and the danger of the car going under the subject vehicle 102 is avoided.
[048] Fig. 5B and Fig. 5C illustrates similar scenarios for a sedan and a SUV.
[049] Various embodiments of the present disclosure provide numerous advantages. Embodiments of the present disclosure ensure proper impact of the colliding vehicle with the UPD 104 to avoid the target vehicle going under the subject vehicle. Therefore, the severity of the collision is reduced.

[050] It will be understood by those within the art that, in general, terms used herein, and are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). For example, as an aid to understanding, the detail description may contain usage of the introductory phrases “at least one” and “one or more” to introduce recitations. However, the use of such phrases should not be construed to imply that the introduction of a recitation by the indefinite articles “a” or “an” limits any particular part of description containing such introduced recitation to inventions containing only one such recitation, even when the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”) are included in the recitations; the same holds true for the use of definite articles used to introduce such recitations. In addition, even if a specific part of the introduced description recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations or two or more recitations).
[051] While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following detailed description

We claim:
1. A method of operating an underride protection in a vehicle, comprising:
receiving, by a control unit of a subject vehicle, data of a target vehicle from one or more sensors mounted on the subject vehicle;
determining, by the control unit, a category and a structure of the target vehicle based on the data;
detecting, by the control unit, the target vehicle is in a collision prone distance from the subject vehicle based on target vehicle position determined using the data; and
adjusting, by the control unit, a height of an underride protection device mounted on the subject vehicle based on the category and the structure of the target vehicle when the target vehicle is in the collision prone distance from the subject vehicle.
2. The method as claimed in claim 1, wherein the data comprises images of the target vehicle,
speed of the target vehicle and a collision distance.
3. The method as claimed in claim 1, wherein determining the category of the target vehicle
comprises:
detecting one or more features of the target vehicle; and
determining the category of the target vehicle based on the one or more features of the target vehicle.
4. The method as claimed in claim 1, wherein determining the structure of the target vehicle
comprises:
identifying one or more features of the target vehicle closer to the subject vehicle; and detecting the structure of the target vehicle that is likely to collide with the subject vehicle; and
determining a height of the structure.

5. The method as claimed in claim 1, wherein detecting the target vehicle is in a collision prone
distance from the subject vehicle comprises:
determining the relative velocity of the target vehicle and the subject vehicle;
determining the instantaneous distance between the subject vehicle and the target vehicle; and
determining the target vehicle is in the collision prone distance based on the relative speed and the distance between the subject vehicle and the target vehicle.
6. The method as claimed in claim 1, wherein adjusting the height of an underride protection device
comprises:
determining a current height of the underride protection device; obtaining a height of the structure of the target vehicle; and
displacing the underride protection device in a vertical direction to match the height of the underride protection device with the height of the structure of the target vehicle.
7. The method as claimed in claim 1, wherein the category comprises a small vehicle, a large
vehicle, passenger cars, a Sports Utility Vehicle (SUV), a pickup truck, a sedan, a bus, a Multi
Utility Vehicle (MUV), a trailer, and a truck.
8. An Electronic Control Unit, comprising:
a processor;
a memory; and
an actuator interface;
wherein the processor is configured to:
receive data of a target vehicle from one or more sensors mounted on a vehicle;
determine a category and a structure of the target vehicle based on the data;
detect the target vehicle is in a collision prone distance from the vehicle based on a relative speed and distance of the target vehicle determined using the data; and
adjust a height of an underride protection device mounted on the subject vehicle and connected to the processor via the actuator interface, based on the category and the

structure of the target vehicle when the target vehicle is in the collision prone distance from the subject vehicle.
9. The control unit as claimed in claim 8, wherein the one or more sensors comprises at least one
of, a Radar or a lidar sensor.
10. The control unit as claimed in claim 8, wherein the processor is configured to determine the
category of the target vehicle, wherein the processor is further configured to:
detect one or more features of the target vehicle; and
determine the category of the target vehicle based on the one or more features of the target vehicle.
11. The control unit as claimed in claim 8, wherein the processor is configured to determine the
structure of the target vehicle, wherein the processor is further configured to:
identify one or more features of the target vehicle closer to the subject vehicle; and detect the structure of the vehicle that is likely to collide with the subject vehicle; and determine a height of the structure.
12. The control unit as claimed in claim 8, wherein the processor is configured to detect the target
vehicle is in a collision prone distance from the subject vehicle, wherein the processor is further
configured to:
determine the relative speed of the target vehicle and subject vehicle; determine a distance between the subject vehicle and the target vehicle; and
determine the target vehicle is in the collision prone distance based on the relative speed and the distance between the subject vehicle and the target vehicle.
13. The control unit as claimed in claim 8, wherein the processor is configured to adjust the height
of an underride protection device, wherein the processor is further configured to:
determine a current height of the underride protection device; obtain a height of the structure of the target vehicle; and

displace the underride protection device in a vertical direction to match the height of the underride protection device with the height of the structure of the target vehicle.
14. A vehicle, comprising;
an underride protection device;
one or more sensors; and
a control unit configured to:
receive the data of a target vehicle from the one or more sensors;
determine a category and a structure of the target vehicle based on the data;
detect the target vehicle is in a collision prone distance from the vehicle based on relative speed of the target vehicle determined using the data; and
adjust a height of an underride protection device based on the category and the structure of the target vehicle when the target vehicle is in the collision prone distance from the vehicle.