Method for determining a distance to be driven by a vehicle without collision, along a travel trajectory, control device, vehicle, and computer program

Abstract

The method comprises the steps of: - providing the travel trajectory (6) and an item of object information, which describes the position of an object (7) that collides with the vehicle (1) or with a vehicle part (21) during movement along the travel trajectory (6), - determining a plurality of items of contour information (8, 9) for various positions (10, 11) of the vehicle (1) or of the vehicle part (21) along the travel trajectory (6), said items of contour information each describing the contour of the vehicle (1) or of the vehicle part (21), - determining an item of contour information (9) that collides with the object (7) and a collision-free item of contour information (8) that is closer to a starting point (20) of the travel trajectory (6), - dividing the area between the items of contour information (8, 9) into a plurality of cells (16, 17, 18) that are each associated with a contour portion (15) of the items of contour information (8, 9), - determining a cell (17) that overlaps with the object (7) and determining a collision-free portion (R) of the movement of the contour portion (15) associated with the overlapping cell (17) in the overlapping cell (17), - ascertaining a collision position (19) on the travel trajectory (6) according to the collision-free portion (R), and - determining a collision-free movement of the vehicle (1) according to the collision position (19).

Description

[0001] Description

[0002] Method for determining a route to be traveled by a vehicle without collision along a travel trajectory, control device, vehicle and Corn puterprogram m

[0003] The invention relates to a method for determining a collision-free route along a travel trajectory for a vehicle. Furthermore, the invention relates to a control device, a vehicle, and a computer program.

[0004] Partially or fully automated driving maneuvers are typically performed along a planned driving trajectory. This trajectory is usually determined before the start of the driving maneuver and describes a path the vehicle will follow or will follow when performing the maneuver.

[0005] Various geometric descriptions can be used for vehicle trajectories, which describe a vehicle's movement between two points. For example, a trajectory can consist of curved segments with a constant radius and / or straight segments without curvature. To achieve improved ride comfort, trajectories can also be used that include segments with a continuously changing curvature.

[0006] The determination of a travel trajectory from clothoids is described, for example, in document DE 10 2019 204 651 A1. The clothoids each exhibit a continuous curvature. To avoid analytical determination of the clothoids, they are determined using a geometric approximation method.

[0007] A collision check may be necessary during the determination of the driving trajectory. Using the collision check, it can be determined for a planned driving trajectory, before or even during the vehicle's movement along the driving trajectory, whether a collision with an object in the surroundings can or will occur. For such a collision check, a planned driving trajectory can, for example, be compared with objects described by an environment map and / or detected by the vehicle's sensors. If the collision check determines that a collision could occur when the vehicle moves along the driving trajectory, the driving trajectory is recalculated, at least in sections.

[0008] In addition to detecting a potential collision, it is desirable to also determine how far along the planned trajectory can be traveled without collision. Furthermore, it is desirable to keep the computational effort of a computer system for such a determination as low as possible, so that the determination can be performed quickly and, if necessary, repeated at short intervals for moving objects in the vehicle's vicinity and / or for previously unknown objects detected by the vehicle's sensors.

[0009] The invention is therefore based on the object of specifying an improved method for determining a route to be traveled by a vehicle without collision along a travel trajectory, which method in particular has a low computational effort.

[0010] To achieve this object, a method for determining a route to be travelled by a vehicle without collision along a travel trajectory is provided according to the invention that it comprises the following steps:

[0011] - Providing the travel trajectory and object information, wherein the object information describes the position of at least one object colliding with the vehicle or a vehicle part of the vehicle when the vehicle moves along the travel trajectory,

[0012] - Determining the position and arrangement of several pieces of outline information, each describing the outline of the vehicle or vehicle part, for different positions of the vehicle or vehicle part along the travel trajectory, - Determining an outline information item that collides with the object and a collision-free outline information item that is closer to a starting point of the travel trajectory,

[0013] - Dividing the area between the collision-free outline information and the colliding outline information into several cells, each assigned to an outline section of the outline information,

[0014] - Determining a cell overlapping with the object and a collision-free portion of the movement of the outline section assigned to the overlapping cell in the overlapping cell,

[0015] - Determining a collision position on the travel trajectory depending on the collision-free portion and

[0016] - Determining a collision-free movement of the vehicle along the travel trajectory depending on the collision position.

[0017] The driving trajectory can be determined, for example, by a trajectory planning unit or a trajectory planning function performed by a control unit and made available for the method for determining the collision-free route, which can be performed, for example, in the same or a further control unit. The driving trajectory can describe a specific driving maneuver, for example, a parking maneuver such as entering or exiting a parking space. In principle, the method according to the invention can be used for all types of driving trajectories or for all driving maneuvers described by a driving trajectory.

[0018] In addition to the travel trajectory, object information is also provided, which describes the position of at least one object that collides with the vehicle or a vehicle part of the vehicle while moving along the travel trajectory. The object information can describe the object, in particular, relative to the travel trajectory and / or in relation to a coordinate system used to describe the travel trajectory.

[0019] According to the invention, the object information can be determined from map information describing one or more objects in the surroundings of the travel trajectory and a travel path, wherein the travel path at least approximately describes the area swept over by the vehicle when traveling along the travel trajectory.

[0020] The object positions and / or the geometric dimensions of the objects can be compared with the travel path or with the area swept by the vehicle when moving along the travel trajectory. If the travel path overlaps with an object described in the map information, it can therefore be assumed that there is a colliding object. The object information can then be formed from the objects in the map information, with the object information containing those objects from the map information that collide with the vehicle when moving along the travel trajectory or with which the vehicle collides during this movement. In addition to using a travel path to determine the colliding objects, other methods are also possible for determining a possible collision between the object and the vehicle when moving along the travel trajectory.

[0021] In order to determine how far the vehicle can move along the travel trajectory before the vehicle or a part of the vehicle collides with a colliding object, the position and arrangement of several pieces of outline information, each describing the outline of the vehicle or part of the vehicle, are determined for various positions of the vehicle or part of the vehicle along the travel trajectory. The positions for which each piece of outline information is determined can be determined, for example, based on specified absolute distance intervals along the travel trajectory and / or based on specified relative distances relative to the total length of the travel trajectory.

[0022] The outline information can represent the actual vehicle geometry or describe a simplified and / or approximate shape of the vehicle outline. Furthermore, the outline information can be slightly enlarged compared to the actual vehicle outline to implement an additional safety margin.

[0023] In the case of the vehicle part, the outline information can also describe the actual geometry of the vehicle part or a simplified geometry. According to the invention, the vehicle part can be a vehicle part that is movable relative to a vehicle body, in particular a wheel of the vehicle. A rectangle, for example, can be used as outline information for the wheel. In addition to a wheel, the method according to the invention can also take into account the collision of other vehicle parts, e.g., movable superstructures such as crane booms, bucket arms, etc.

[0024] From the plurality of outline information pieces, a piece of outline information that collides with the object is then determined. The outline information that collides with the object can be determined, for example, based on an overlap of the vehicle outline described by the outline information with the object outline when depicting the vehicle outline and the object outline in a common map, or by comparing the mathematical descriptions of the vehicle outline or the outline information and the object outline with reference to a common coordinate system.

[0025] Furthermore, additional contour information is determined that does not collide with the object and is closer to a starting point of the travel trajectory. The positions along the travel trajectory assigned to the additional contour information correspond, in particular, to a position that the vehicle can approach from the starting point of the travel trajectory without colliding with the object.

[0026] The area between the collision-free outline information and the colliding outline information is then divided into several cells, each assigned to an outline section or an edge of the outline information. The cells thus each describe the area extending between the outline section in the vehicle position assigned to the collision-free outline information and the vehicle position assigned to the colliding outline information. The shape of the cells can depend on the geometry of the vehicle outline described by the outline information, in particular on the shape of the outline section. The outline sections can each be, in particular, a straight or a curved edge of the vehicle outline described by the outline information.

[0027] In a next step, a cell overlapping with the object as well as the collision-free portion of the movement of the outline section of the vehicle assigned to the overlapping cell in the overlapping cell are determined. The cell overlapping with the object can be determined, for example, based on a geometric overlap of a description of the cell with an object description, related to a common coordinate system. The collision-free portion of the movement of the outline section refers, for example, to the ratio of the partial distance between the outline section in the collision-free outline information and the outline section in the colliding outline information, on which there is no collision of the vehicle with the object or no overlap of the outline section with the object information, to the partial distance on which the outline section rests against the object and / or overlaps with or intersects the object.

[0028] The collision-free portion is then used to determine a collision position on the travel trajectory. In other words, the collision-free portion represents a measure of the collision-free portion of a vehicle's movement from the position of the vehicle associated with the collision-free outline information to the position of the vehicle associated with the colliding outline information, which can be transferred to the travel trajectory, for example.

[0029] Based on the collision position, the collision-free movement of the vehicle along the travel trajectory can then be determined. Depending on the determined collision-free movement, at least one actuator of the vehicle, for example, a lateral guidance actuator and / or a longitudinal guidance actuator, can then be controlled. In this way, the vehicle can be operated, for example, in a partially automated or fully automated ferry operation, in particular in a partially automated or fully automated parking maneuver.

[0030] In addition or alternatively to the control of the at least one actuator, a display device of the vehicle can also be controlled depending on the determined, collision-free movement, wherein the display device displays the collision-free movement and / or information derived from the collision-free movement for a user of the vehicle.

[0031] The method can be carried out, in particular, by a control device or a computing device. The control device can, in particular, be a control device of the vehicle. The use of a vehicle-external control device is also conceivable, with the external control device being communicatively connected to the vehicle, in particular for the transmission of data.

[0032] By taking into account the collision-free outline information and the colliding outline information, as well as by determining the collision-free portion of the movement assigned to a contour section of the vehicle outline described by the outline information, the computational effort required to determine the collision-free route can be reduced. Particularly for driving trajectories with a comparatively complex mathematical description, the determination of the collision-free route on the driving trajectory can be divided into several sub-steps that are geometrically simple to describe, each of which can be calculated with minimal effort.Advantageously, the computing effort required for a computing device configured to carry out the method according to the invention is thus reduced, so that the method can advantageously be carried out on computing devices with comparatively low overall computing power. Determining a route along the travel trajectory that can be traveled collision-free has the further advantage, for example in the case of a travel trajectory that is assigned to a parking maneuver, such as parking in or out of a parking space, that the movement of the vehicle along the travel trajectory is simplified. Depending on the determined collision position or the route that can be traveled collision-free until the collision position is reached, the maneuvering or manoeuvring of the vehicle is made considerably easier, since, starting from the already determined travel trajectory, only a new planning of the travel trajectory ora travel trajectory section is required at least from the collision position.

[0033] Advantageously, a determined driving trajectory in which a collision with an object occurs can be used at least in accordance with the possible collision-free movement, thereby making it possible to perform any necessary replanning of the driving trajectory at least from the collision position during the vehicle's movement on the route to be traveled collision-free. This can contribute to a faster execution of a partially or fully automated driving maneuver depending on the driving trajectory.

[0034] According to the invention, it can be provided that a travel trajectory is used whose curvature has a constant sign and / or changes continuously at least in sections, and / or that a clothoid curve or a polynomial is used as the travel trajectory. In particular, for a travel trajectory whose curvature has a constant sign and / or whose curvature changes continuously at least in sections, a polynomial or a clothoid curve represents a suitable mathematical description.

[0035] According to the invention, it is possible to use a trajectory segment of an overall driving trajectory describing a driving maneuver, in particular a parking maneuver, as the driving trajectory. The overall driving trajectory can be broken down into individual trajectory segments, wherein the individual trajectory segments each have, in particular, a curvature with a constant sign and / or a curvature that changes continuously at least in sections. These trajectory segments can then each be used as a driving trajectory within the meaning of the invention, i.e., a collision-free route can be determined for each of the individual trajectory segments.

[0036] According to the invention, it can be provided that, in the case of multiple pieces of outline information colliding with an object, the piece of outline information that collides with the object closest to a starting point of the travel trajectory is determined as the colliding outline information. The closest object can in particular be the object closest to a direction of movement of the vehicle along the travel trajectory, i.e., the object that the vehicle approaches first when moving along the travel trajectory or with which it would first collide.

[0037] In a preferred embodiment of the invention, a polygon, in particular a convex polygon, can be used as the outline information and / or an edge of the outline information can be used as the outline section. In this context, a convex polygon is understood to mean a polygonal line that has only outward-facing corners. Describing the outline information as a polygon, in particular as a convex polygon, results in a simple calculation of the collision or overlap of the outline information with a colliding object described in the object information.

[0038] According to the invention, in the case of multiple objects overlapping a cell, at least one further piece of outline information can be determined, wherein the at least one further piece of outline information lies at a position on the travel trajectory between the original positions. In other words, in the case that one of the cells between the collision-free outline information in the colliding information overlaps with two or more objects, a smaller distance can be selected between the positions of the vehicle at each of which a piece of outline information is determined. Thus, a further piece of outline information is determined, which lies at a further position on the travel trajectory between the positions of the vehicle associated with the colliding outline information and the collision-free outline information.This represents a refinement of the spatial resolution, which can be repeated until, in particular, the cell overlaps only with a single object. In this way, the collision-free movement of the vehicle along the travel trajectory can be determined until the collision with the first colliding object in relation to the travel trajectory.

[0039] In a preferred embodiment of the invention, it can be provided that the collision-free movement is determined up to an end point that is a safety distance away from the collision position. When determining the collision-free movement, taking the safety distance into account can prevent a collision with the object during an actual vehicle movement due to inaccuracies in the vehicle position determination and / or inaccuracies in the description of the object in the object information.

[0040] It is provided for a control device according to the invention that it is set up to carry out a method according to the invention.

[0041] A vehicle according to the invention is provided for comprising a control device according to the invention. The vehicle can be a motor vehicle, for example, a passenger car, a truck, or a commercial vehicle. Furthermore, the vehicle can also be a mobile robot, in particular a robot that can move freely in space, a mobile platform, or the like.

[0042] A computer program according to the invention comprises instructions which cause a control device to carry out a method according to the invention.

[0043] All advantages and embodiments described above in relation to the method according to the invention also apply accordingly to the control device according to the invention, the vehicle according to the invention and the computer program according to the invention and vice versa.

[0044] Further advantages and details of the invention will become apparent from the following drawings. These are schematic representations and show:

[0045] Fig. 1 shows an embodiment of a vehicle according to the invention,

[0046] Fig. 2 is a flowchart of an embodiment of a method according to the invention for determining a route to be traveled collision-free along a travel trajectory,

[0047] Fig. 3 is a representation of outline information colliding with an object and of collision-free outline information to explain the embodiment of the method according to the invention, and

[0048] Fig. 4 is a representation of the determination of a collision-free portion of the movement of a contour section in an associated cell to explain the embodiment of the method according to the invention.

[0049] Fig. 1 shows an exemplary embodiment of a vehicle 1. The vehicle 1 comprises a control device 2, a plurality of environmental sensors 3 and at least one actuator 4. The environmental sensors 3 can each be designed, for example, as an ultrasonic sensor, a camera, a radar, a lidar or the like. The at least one actuator 4 can each be a longitudinal guidance actuator or a lateral guidance actuator of the vehicle 1. The environmental sensors 3 and the at least one actuator 4 are communicatively connected to the control device 2, wherein the corresponding connections are not shown for reasons of clarity. The control device 2 is configured to carry out a method for determining a route along a travel trajectory that the vehicle 1 can travel without collision. Fig. 2 shows a flowchart 5 of an exemplary embodiment of such a method.This embodiment will be explained below with reference to Figs. 3 and 4.

[0050] In step S1 of the method, the travel trajectory 6 shown as an example in Fig. 3 and an object information item are provided, wherein the object information describes the position of an object 7 colliding with the vehicle 1 while moving along the travel trajectory 6 relative to the travel trajectory 6. The travel trajectory 6 can, in particular, have a curvature with a constant sign, which changes continuously at least in sections. The travel trajectory 6 can, for example, be described by a clothoid curve or by a polynomial.

[0051] It is possible for a trajectory segment of an overall driving trajectory describing a driving maneuver, in particular a parking maneuver, to be used as the driving trajectory 6. Thus, an overall driving trajectory assigned to a driving maneuver can be broken down into several trajectory segments, each of which represents a driving trajectory 6, wherein the method for determining the collision-free route is carried out accordingly for one or more of the trajectory segments or driving trajectories 6.

[0052] The object information describing that object 7 will collide with vehicle 1 when vehicle 1 moves along planned travel trajectory 6 can be determined, for example, from map information describing one or more objects 7 in the vicinity of travel trajectory 6 and from a travel path. The travel path can at least approximately describe the area swept over by vehicle 1 when traveling along travel trajectory 6. A collision can be detected if an object 7 overlaps with the travel path, for example if these are mapped in a common coordinate system or if corresponding geometric calculations are performed. The collision determination can in particular also be carried out by control device 2. Alternatively, the collision determination can be carried out by a further computing device which transmits the object information and / or the map information to vehicle 1.

[0053] Additionally or alternatively, the map information can also be determined based on sensor data obtained using the environment sensors 3 of the vehicle 1. The environment sensors 3 can, in particular, detect the environment of the vehicle 1 both before the movement of the vehicle 1 along the travel trajectory 6 and during the movement of the vehicle 1 along the travel trajectory 6, so that the map information can be continuously updated.

[0054] Subsequently, in step S2, the position and arrangement of a plurality of outline information items 8, 9 for different positions 10, 11 of the vehicle 1 along the travel trajectory 6 are determined. The outline information 8 is assigned to a first position 10 of the vehicle 1 and the outline information 9 is assigned to a second position 11 of the vehicle 1 on the travel trajectory 6, wherein the positions 10, 11 relate, for example, to a rear axle center 12 of the vehicle 1. In the present case, the first position is closer to a starting point 20 of the travel trajectory 6 than the second position 11. The respective position and arrangement of the outline information 8, 9 corresponds to the position and orientation of the vehicle 1 in the positions 10, 11 when traveling along the travel trajectory 6. The outline information thus represents a “snapshot” of the vehicle 1 at the positions 10, 11 during its movement along the travel trajectory 6.

[0055] The outline information 8, 9 is each a convex polygon, with the outline information 8, 9 each describing the same geometry or delimiting an identical surface segment. The outline information 8, 9 each describes the outline 13 of the vehicle 1. The outline information 8, 9 each delimits a surface segment that is larger than the actual outline 13 of the vehicle. In this way, safety distances and, if applicable, the space required for movement of the steerable wheels 14 of the vehicle 1 when turning can also be taken into account.

[0056] The positions 10, 11 at which the outline information 8, 9 is determined can, for example, be determined using predefined, absolute length intervals along the travel trajectory 6. For example, a distance between 10 cm and 1 m can be selected as the length interval, although other distances are also possible. Alternatively, it is possible for the length of the intervals between the positions 10, 11 to be determined relative to the total length of the travel trajectory 6. In this case, a value between 1% and 10% of the total length of the travel trajectory 6 can be used as the distance between the positions. For the sake of clarity, only two pieces of outline information 8, 9 are shown in Fig. 3, although further outline information can also be determined at other positions along the travel trajectory 6 within the scope of the method.

[0057] In step S3 of the method, a piece of outline information colliding with object 7 and a piece of collision-free outline information located closer to a starting point of the travel trajectory are determined. In Fig. 3, the outline information 9 is the outline information colliding with object 7. The outline information 8 is collision-free outline information located closer to a starting point of the travel trajectory 6. In this case, the outline information 8 can, in particular, be the outline information located adjacent to the colliding outline information 9 on the travel trajectory 6 from the set of previously determined outline information.

[0058] The collision between the outline information 9 and the object 7 can be detected, for example, by an overlap of the outline information 9 with the object 7, which is also described, for example, as a polygon. Accordingly, there is no collision between the outline information 8 and the object 7, since they do not overlap. If several pieces of outline information collide with an object 7, the outline information that is closest to the starting point 20 of the travel trajectory 6 or that collides with an object 7 closest to the starting point 20 can be selected as the colliding outline information 9. The outline information closest to the starting point 20 or the object 7 closest to the starting point 20 can be selected, in particular, in relation to the vehicle movement along the travel trajectory 6.

[0059] Subsequently, in step S4 of the method, the area between the collision-free outline information 8 and the colliding outline information 9 is divided into a plurality of cells 16, 17, 18, each assigned to an outline section 15 of the outline information 8, 9, as shown by way of example in Fig. 4. Fig. 4 represents a section of the scene shown in Fig. 3, wherein the outline information 8, 9 are located closer together for reasons of clarity, or the scene depicted in Fig. 4 uses a first position 10 and a second position 11, which are closer to one another on the travel trajectory 6. A straight edge of the outline information 8, 9 is used as the outline section 15, wherein the cells each extend between the corresponding edge of the collision-free outline information 8 and the colliding outline information 9.

[0060] In step S5, a cell 16-18 overlapping with object 7 is then determined. In the example shown in Fig. 4, cell 17 overlaps with object 7, so that cell 17 is determined as an overlapping cell. Furthermore, a collision-free portion R of the movement of the circumferential section 15 assigned to the overlapping cell in the overlapping cell 17 is determined. The collision-free portion expresses, for example, the portion of the distance that the circumferential section 15 can travel from the collision-free outline information 8 to the colliding outline information 9 without coming into contact with object 7. The collision-free portion R can be calculated, for example, using the formula

[0061] R = a / (a ​​+b) (1 ), where a describes the length of the collision-free section and b the length of the section already running within the object 7 and thus colliding with the object.

[0062] In the event that the outline information 9 collides with two or more objects 7, at least one further outline information can be determined, wherein the further outline information is determined in particular at a further position on the travel trajectory 6, which lies between the original positions 10, 11 of the originally used, colliding outline information 9 and the collision-free outline information 8.

[0063] In step S6 of the method, a collision position 19 on the travel trajectory 6 is then determined as a function of the collision-free portion R. A collision position 19 is shown schematically in Fig. 3. The collision position 19 lies between the position 10 of the collision-free outline information 8 and the position 11 of the colliding outline information 9.

[0064] The collision position 19 can be determined, for example, based on the collision-free portion R and the distance between positions 10 and / or the change in curvature of the travel trajectory 6 between positions 10, 11. Starting from position 10, a portion of the distance or the change in curvature corresponding to the portion R can be taken into account in order to determine the collision position 19 starting from the first position 10. In other words, the portion R of the distance or the change in curvature between position 10 and position 11 is used as the distance or the change in curvature between position 10 and the collision position 19. In this way, the collision position 19 can be determined or approximated with little effort. The change in curvature can be taken into account in particular for a travel trajectory 6 described as a clothoid, which has a constant change in curvature.

[0065] Subsequently, in step S7 of the method, a collision-free movement of the vehicle 1 can be determined depending on the collision position 19. For example, the collision-free movement can be determined up to an end point that is offset by a safety distance from the collision position 19 in the direction of the starting point 20 of the travel trajectory 6. When the vehicle 1 moves up to this end point, a collision between the vehicle 1 and the object 7 can thus be avoided. The collision-free movement can be achieved, for example, by controlling the at least one actuator 4 of the vehicle 1 by the control device 2.

[0066] The method for determining the collision-free route can be carried out before the vehicle 1 moves along the travel trajectory 6. It is also possible for the method to be carried out again if, during the movement of the vehicle 1 along the travel trajectory 6, further objects 7 are detected in the vicinity of the vehicle 1 and, for example by comparison with a travel path, are assessed as colliding objects 7. This can be the case, for example, if moving objects are present in the vicinity of the vehicle 1 and / or if objects are present which could not be detected from the starting point 20 of the travel trajectory 6, for example due to shadowing and / or the presence of further objects.

[0067] It is possible that, instead of the outline information 8, 9 describing a vehicle outline, outline information 8, 9 describing a vehicle part 21 of the vehicle 1 is used. In this way, a collision between the vehicle part 21, which may in particular be a vehicle part movable relative to a body of the vehicle 1, for example, one of the wheels 14 of the vehicle 1, can be determined.

[0068] Analogous to the previously described embodiment, in which the outline information 8, 9 describing an outline of the vehicle 1 was used, a collision between the movable vehicle part 21 and the object 7 can also be determined accordingly. The outline information 8, 9 can also take into account the relative arrangement of the vehicle part 21 in the respective position 10, 11, which in the case of a wheel 14 of the vehicle 1 can result, for example, from the current steering angle.

[0069] From the collision-free portion R of the movement of the vehicle part 21 obtained by means of the method, taking into account the relative

[0070] Arrangement of the vehicle part 21 on the vehicle 1 can be used to determine the collision position or the vehicle position along the travel trajectory 6 at which no collision occurs.

Claims

Patent claims 1 . Method for determining a route to be traveled by a vehicle (1) without collision along a travel trajectory (6), comprising the steps: - Providing the travel trajectory (6) and object information, wherein the object information describes the position of at least one object (7) colliding with the vehicle (1) or a vehicle part (21) of the vehicle (1) when the vehicle (1) moves along the travel trajectory (6), - determining the position and arrangement of a plurality of outline information items (8, 9) each describing the outline of the vehicle (1) or the vehicle part (21) for different positions (10, 11) of the vehicle (1) or the vehicle part (21) along the travel trajectory (6), - determining an outline information (9) colliding with the object (7) and a collision-free outline information (8) closer to a starting point (20) of the travel trajectory (6), - dividing the area between the collision-free outline information (8) and the colliding outline information (9) into a plurality of cells (16, 17, 18), each assigned to an outline section (15) of the outline information (8, 9), - determining a cell (17) overlapping with the object (7) and a collision-free portion (R) of the movement of the outline section (15) assigned to the overlapping cell (17) in the overlapping cell (17), - determining a collision position (19) on the travel trajectory (6) as a function of the collision-free portion (R) and - Determining a collision-free movement of the vehicle (1) depending on the collision position (19).

2. Method according to claim 1, characterized in that a travel trajectory (6) is used, the curvature of which has a constant sign and is at least partially continuous changes and / or that a clothoid curve or a polynomial is used as the driving trajectory (6). Method according to claim 1 or 2, characterized in that a trajectory segment of an overall driving trajectory describing a driving maneuver, in particular a parking maneuver, is used as the driving trajectory (6). Method according to one of the preceding claims, characterized in that the object information is determined from map information describing one or more objects (7) in the surroundings of the driving trajectory (6) and from a driving path, the driving path at least approximately describing the area swept over by the vehicle (1) when traveling along the driving trajectory (6).Method according to one of the preceding claims, characterized in that, in the case of multiple pieces of outline information (8, 9) colliding with an object (7), the piece of outline information (8, 9) that collides with the object (7) closest to a starting point (20) of the travel trajectory (6) is determined as the colliding outline information (9). Method according to one of the preceding claims, characterized in that a polygon, in particular a convex polygon, is used as the outline information (8, 9) and / or that an edge of the outline information (8, 9) is used as the outline section (15). Method according to one of the preceding claims, characterized in that. in the case of multiple objects (7) overlapping a cell (16, 17, 18), at least one further piece of outline information is determined, wherein the at least one further piece of outline information lies at a position on the travel trajectory (6) between the original positions (10, 11). Method according to one of the preceding claims, characterized in that the collision-free movement is determined up to an end point which is a safety distance away from the collision position (19). Method according to one of the preceding claims, characterized in that the vehicle part (21) is a vehicle part movable relative to a body of the vehicle (1), in particular a wheel (14) of the vehicle (1). Control device configured to carry out a method according to one of the preceding claims. Vehicle comprising a control device (2) according to claim 10.Computer program comprising instructions which cause a control device (2) to carry out a method according to one of claims 1 to 9.

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