Method and arrangement for determining safe vehicle trajectories

A vehicle and safety technology, applied in vehicle position/route/altitude control, measurement devices, control devices, etc., to solve problems such as object response not mentioned in vehicle candidates

Active Publication Date: 2016-11-16
VOLVO CAR CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] However, although the document EP1990787A1 deals with an obstacle detection met

Method used

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  • Method and arrangement for determining safe vehicle trajectories
  • Method and arrangement for determining safe vehicle trajectories
  • Method and arrangement for determining safe vehicle trajectories

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Embodiment Construction

[0044] In summary, the embodiments herein relate to a method for determining a safe vehicle trajectory for a vehicle 1 equipped with sensors 2 for monitoring the surrounding environment, taking into account sensing constraints, so that the vehicle 1 can Driving with precautions, which are measures taken in advance to prevent dangerous, unpleasant or troublesome things from happening. Thus, a safe trajectory of the vehicle 1 as used herein means a trajectory that allows a relatively safe and / or comfortable ride for the occupants of the vehicle 1 .

[0045] Examples of sensors 2 include, but are not limited to, radio detection and ranging (radar) sensors, light detection and ranging (lidar) sensors, light amplification by radiation (laser) sensors, acoustic navigation and ranging (sonar) sensors ( One or more of, for example, ultrasound), infrared (IR) sensors, image sensors (such as cameras), vehicle location devices (such as global positioning systems), and any combination the...

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Abstract

A method and arrangement for determining safe vehicle trajectories for a vehicle (1) equipped with sensors (2) for monitoring a surrounding environment, taking into account sensing limitations, as well as a vehicle (1) including such an arrangement. The method includes detecting observable obstacles (3), detecting unobservable areas (4), adding virtual obstacles (5) in unobservable areas (4), associating each observable obstacle (3) and each virtual obstacle (5) with one or more hypothetical events and assigning an occurrence probability to each combination of obstacle (3, 5) and one or more events, and determining safe vehicle (1) trajectories based on both observable obstacles (3) and virtual obstacles (5) and the occurrence probability of each combination of obstacle and one or more events.

Description

technical field [0001] Embodiments herein relate to a method and apparatus for determining a safe vehicle trajectory for a vehicle equipped with sensors for monitoring the surrounding environment, taking into account sensing constraints, and to a vehicle comprising such an apparatus. Background technique [0002] Motor vehicles are increasingly equipped with sensors that monitor the surrounding environment. This sensor information can be used to more or less automatically control the future trajectory of the vehicle. The automation can vary from a fully autonomous vehicle to a driver-controlled vehicle where the sensor information is used only to inform the driver. At all levels of automation, safe driving is required, which means in this case designing and implementing a vehicle trajectory with an acceptably low degree of risk. [0003] Where an automation function is responsible for a specific drive task, the automation system must be able to operate with a sufficiently ...

Claims

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Application Information

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IPC IPC(8): B60W30/095B60W40/02B60W50/00G01S13/931
CPCB60W30/0956B60W40/02B60W50/0097B60W2720/106B60W2720/125B60W2720/14B60W2554/00B60W2754/30G01S13/931B60W30/025B60W30/095B60W30/143B60W30/16B60W30/18145B60W40/04G01S2013/9323G01S2013/9322G01S2013/9315G01S2013/93271G01S2013/932G01S2013/9324B60W2556/20B60W60/0011B60W60/00274B60W2554/4029G05D2201/0212G08G1/16
Inventor J·尼尔松M·E·布伦斯特伦M·阿里J·L·索尔斯泰德
Owner VOLVO CAR CORP
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