Method for calculating a collision-free route for a vehicle along a travel path, control device, vehicle, and computer program

Abstract

Method for calculating a collision-free route for a vehicle along a travel path, control device, vehicle, and computer program The method comprises: - providing a travel trajectory (6) and object information, the object information describing the position of an object (7) that will collide with the vehicle (1) or vehicle part (21) when moving along the travel trajectory (6); - calculating a plurality of contour information (8, 9) each describing a contour of the vehicle (1) or vehicle part (21) for different positions (10, 11) of the vehicle (1) or vehicle part (21) along the travel path (6); - calculating contour information (9) that collides with the object (7) and contour information (8) that does not collide and is located closer to the starting point of the travel trajectory (6); - dividing the area between the contour information (8, 9) into a plurality of cells (16, 17, 18) each assigned to a contour portion (15) of the contour information (8, 9); - calculating the overlapping cells (17) of the object (7) and the proportion (R) of the overlapping cells (17) at which the movement of the contour portions (15) assigned to the overlapping cells (17) does not collide; determining a collision location (19) on the travel path (6) based on the collision-free rate (R); and - calculating a collision-free movement of the vehicle (1) based on the collision position (19).

Description

[Technical Field]

[0001] The present invention relates to a method for calculating a path along which a vehicle will travel without collision along a travel trajectory, and also to a control device, a vehicle, and a computer program. [Background technology]

[0002] A partially or fully automated driving maneuver is typically performed along a planned trajectory, which is typically calculated before the maneuver begins and describes the path of travel that the vehicle is traveling or is intended to travel when the maneuver is performed.

[0003] The vehicle trajectory, which describes the vehicle's movement between two points, can be described using various geometrical descriptions. In this case, the trajectory can consist of, for example, circular arcs with a constant radius and / or straight lines with no curvature. To improve driving comfort, trajectories with continuously changing curvatures can also be used.

[0004] Calculating a running trajectory from a clothoid is described, for example, in Patent Document 1. Here, the clothoids each have a continuous curvature progression. To avoid analytical calculation of the clothoids, the clothoids are determined using a geometric approximation method.

[0005] During the calculation of the driving trajectory, a collision check may be required. The collision check may be used to determine whether the planned driving trajectory is likely to collide with an object in the surrounding environment before or even while the vehicle is moving along the driving trajectory. Such a collision check may compare the planned driving trajectory with, for example, objects described by an environment map and / or objects seen by the vehicle's sensors. If the collision check determines that a collision is likely to occur as the vehicle moves along the driving trajectory, for example, the driving trajectory is at least partially recalculated.

[0006] In addition to determining the likelihood of a collision, it is desirable to calculate how far along the planned trajectory the vehicle can travel without a collision, and it is desirable to minimize the amount of computation required by the computing device to perform such calculations so that the calculations can be performed quickly and, if necessary, repeated at short intervals in case of the presence of moving objects in the vehicle's environment and / or the detection of unknown objects by the vehicle's sensors. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] German Patent Application Publication No. 102019204651 Summary of the Invention [Problem to be solved by the invention]

[0008] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide an improved method for calculating a collision-free path for a vehicle along a travel trajectory, in particular a method that requires less computational effort. [Means for solving the problem]

[0009] To achieve this object, a method for calculating a collision-free path for a vehicle along a travel trajectory is as follows: - providing a driving trajectory and object information, the object information describing the position of at least one object that will collide with the vehicle or vehicle portion of the vehicle as the vehicle moves along the driving trajectory; - calculating the position and arrangement of a plurality of contour information each describing the contour of the vehicle or vehicle part for different positions of the vehicle or vehicle part along the travel path; - calculating contour information of a collision with an object and contour information of a non-collision object located closer to the starting point of the travel trajectory; - dividing the area between the non-colliding contour information and the colliding contour information into a plurality of cells, each cell being assigned to a contour portion of the contour information; - calculating the cells that overlap with the object and the proportion of overlapping cells that are free from collisions when moving the contour parts assigned to the overlapping cells; determining a collision location on the travel path based on the collision-free rate; and - calculating a collision-free movement of the vehicle based on the collision location.

[0010] The driving trajectory can be calculated, for example, by a trajectory planning unit or a trajectory planning function executed by the control unit and can be fed to a method for calculating a collision-free driving path, for example, executed in the same control unit or a further control unit. Here, the driving trajectory can describe a specific driving maneuver, for example, a parking maneuver such as entering or leaving a parking space. In principle, the method according to the invention can be used for all types of driving trajectories or all driving maneuvers described by driving trajectories.

[0011] In addition to the driving trajectory, object information is also provided that describes the position of at least one object that collides with the vehicle or vehicle portion of the vehicle as it moves along the driving trajectory, where the object information can, in particular, describe the object relative to the driving trajectory and / or with respect to a coordinate system used to describe the driving trajectory.

[0012] According to the present invention, object information can be calculated based on map information describing one or more objects in the surrounding environment of the driving trajectory and a driving lane, the driving lane at least approximately describing the area swept by the vehicle as it travels along the driving trajectory.

[0013] The object location and / or geometric extent of the object can be compared to a lane or an area swept by a vehicle as it moves along the driving track. If the lane overlaps with an object described in the map information, the presence of a colliding object can therefore be inferred. Object information can then be generated based on the objects in the map information, including objects based on the map information that collide with or will collide with the vehicle as it moves along the driving track. In addition to using lane marks to calculate a colliding object, other methods are possible for determining a potential collision between an object and a vehicle as it moves along the driving track.

[0014] The position and arrangement of a plurality of contour information pieces each describing a contour of the vehicle or vehicle portion is determined for various positions of the vehicle or vehicle portion along the travel path so that it can be determined how far the vehicle or vehicle portion of the vehicle can move along the travel path before colliding with a collision object. The positions at which each contour information piece is determined can be calculated, for example, based on a defined absolute distance interval along the travel path and / or based on a defined relative distance with respect to the entire travel path.

[0015] Here, the contour information may reflect the actual vehicle geometry or may describe a simplified shape and / or a shape that only approximates the actual shape of the vehicle contour, and may be slightly enlarged relative to the actual vehicle contour to provide additional safety distance.

[0016] In the case of vehicle parts, the contour information can also describe the actual geometry or a simplified geometry of the vehicle part. According to the present invention, the vehicle part can be a vehicle part that can move relative to the body of the vehicle, in particular a wheel of the vehicle. As the contour information of the wheel, for example, a rectangle can be used. In addition to the wheel, the method according to the present invention can also take into account collisions of further vehicle parts, for example, collisions of movable body superstructures, such as crane jibs, bucket arms, etc.

[0017] Subsequently, contour information of the collision with the object is calculated from the plurality of contour information, which can be calculated based on the overlap of the vehicle contour and the object contour described by the contour information, for example, if the vehicle contour and the object contour are mapped on a common map, or by comparing a mathematical description of the vehicle contour or contour information and the object contour in a common coordinate system.

[0018] Further contour information that does not collide with an object and further contour information that is located closer to the start of the travel path are calculated, where the positions assigned to the additional contour information along the travel path correspond in particular to positions that the vehicle can approach from the start of the travel path without colliding with an object.

[0019] The area between the non-colliding contour information and the colliding contour information is then divided into a number of cells, each of which is assigned to a contour portion or edge of the contour information. Thus, each cell describes an area extending between a contour portion of the vehicle position assigned to the non-colliding contour information and a vehicle position assigned to the colliding contour information. Here, the shape of the cell can depend on the geometry of the vehicle contour described by the contour information, in particular the geometry of the contour portion. The contour portions can each in particular be straight or curved edges of the vehicle contour described by the contour information.

[0020] In a next step, cells overlapping with the object and non-colliding portions of the movement of the vehicle contour portion assigned to the overlapping cells are calculated. In this case, the cells overlapping with the object can be calculated based on, for example, a geometric overlap between the cell description and the object description in a common coordinate system. The non-colliding portions of the movement of the contour portion are related, for example, to the ratio of a partial distance between a contour portion in the non-colliding contour information and a contour portion in the colliding contour information, where the vehicle and the object do not collide or the contour portion does not overlap with the object information, to a partial distance where the contour portion touches and / or overlaps or intersects with the object.

[0021] The non-collision portion is then used to calculate the collision position on the driving trajectory, in other words, the non-collision portion represents a measure of the non-collision portion of the vehicle movement from the vehicle position assigned to the non-collision contour information to the vehicle position assigned to the collision contour information, and this measure can be transferred to the driving trajectory, for example.

[0022] A collision-free movement of the vehicle along the travel path can then be calculated based on the collision position. At least one actuator of the vehicle, for example, a lateral guide actuator and / or a longitudinal guide actuator, can then be controlled based on the calculated collision-free movement. In this way, the vehicle can be driven, for example, by a partially automated or fully automated driving maneuver, in particular by a partially automated or fully automated parking maneuver.

[0023] Additionally or alternatively to controlling the at least one actuator, a display device of the vehicle may also be controlled based on the calculated collision-free movement, the display device presenting the collision-free movement and / or information derived from the collision-free movement to a user of the vehicle.

[0024] The method can be performed in particular by a control device or a computing device. The control device can in particular be a control device of the vehicle. Alternatively, a control device external to the vehicle can be used, in which case the external control device is in particular communicatively connected to the vehicle for data transmission.

[0025] By taking into account the collision-free and collision-related contour information and by calculating the collision-free portion of the movement assigned to the contour portion of the vehicle contour described by the contour information, the amount of calculations required to calculate the collision-free path can be reduced. In particular, for driving trajectories with relatively complex mathematical descriptions, the calculation of the collision-free path along the driving trajectory can be divided into several geometrically simple substeps, each of which can be calculated at low cost. In this way, the amount of calculations required in a computing device configured to perform the method according to the present invention is advantageously reduced, which allows the method to be performed on a computing device with an overall relatively low computing power.

[0026] Calculating a collision-free path along a travel path has the further advantage that, for example, in the case of a travel path assigned to a parking maneuver, such as a loading or unloading process, the vehicle's maneuvering along the travel path is simplified. Based on the calculated collision position or the collision-free path up to the collision position, the vehicle's maneuvering or steering is significantly reduced, since, based on the already calculated travel path, the replanning of the travel path or travel path segments is only necessary at least from the collision position onwards.

[0027] The calculated trajectory where a collision with an object occurs can be advantageously used to consider at least a collision-free movement, thereby allowing the necessary trajectory replanning at least from the collision point onwards while the vehicle is moving along a collision-free path, thereby contributing to faster driving maneuvers that are performed partially or fully automatically depending on the trajectory.

[0028] According to the invention, a running track whose curvature has a constant sign and / or varies at least partially continuously can be used and / or a clothoid curve or a polynomial can be used as the running track. In particular, for a running track whose curvature has a constant sign and / or varies at least partially continuously, a polynomial or a clothoid curve represents a suitable mathematical description.

[0029] According to the invention, the travel trajectory can be a trajectory section of the entire travel trajectory that describes a driving maneuver, in particular a parking maneuver. Here, the entire travel trajectory can be divided into individual trajectory sections, each of which in particular has a curvature with a constant sign and / or an at least partially continuously changing curvature. Each of these trajectory sections can then be used as a travel trajectory in the sense of the invention, i.e., a collision-free travel path can be calculated for each individual trajectory section.

[0030] According to the present invention, when there are multiple pieces of contour information that collide with an object, the contour information that collides with the object that is closest to the start point of the travel path is calculated as the colliding contour information. Here, the closest object may be, in particular, the object that is closest in the direction of movement of the vehicle along the travel path, i.e., the object that the vehicle approaches first or the object that the vehicle will collide with first as the vehicle moves along the travel path.

[0031] In a preferred embodiment of the present invention, polygons, particularly convex polygons, can be used as the contour information, and / or edges of the contour information can be used as contour portions. Here, a convex polygon is a polygon having only outward-facing corners. By describing each of the contour information as a polygon, particularly a convex polygon, it is possible to easily calculate collisions or overlaps of the contour information with colliding objects described in the object information. The first polygon or the second polygon determined for calculating the travel lane can be used as one or more of the contour information.

[0032] According to the present invention, if there are multiple objects overlapping a cell, at least one additional contour information can be calculated, and this at least one additional contour information can be located between the initial positions on the driving path. In other words, if one of the cells between the non-colliding contour information and the colliding contour information overlaps with two or more objects, the distance between the vehicle positions at which the contour information is respectively determined can be selected to be small. In this way, additional contour information is calculated at additional positions on the driving path between the vehicle positions assigned to the colliding contour information and the non-colliding contour information. This allows for refinement of the spatial resolution, and in particular, it can be repeated until the cell overlaps with only a single object. In this way, the collision-free movement of the vehicle along the driving path can be determined until the collision with the first colliding object on the driving path.

[0033] In a preferred embodiment of the present invention, a collision-free movement can be calculated to an end point that is a safe distance away from the collision position. By taking the safe distance into consideration when calculating the collision-free movement, it is possible to prevent the occurrence of a collision with an object during actual vehicle movement due to inaccuracies in determining the vehicle position and / or inaccuracies in the description of the object in the object information.

[0034] The control device according to the invention is configured to carry out the method according to the invention.

[0035] A vehicle according to the present invention is configured to include a control device according to the present invention. The vehicle may be a motor vehicle, such as a passenger car, a freight vehicle, or a utility vehicle. The vehicle may also be a mobile vehicle, in particular a robot or a mobile platform that can move freely in space.

[0036] The computer program according to the invention comprises instructions for causing a control device to carry out the method according to the invention.

[0037] All advantages and features described above with respect to the method according to the invention also apply to the control device according to the invention, to the vehicle according to the invention and to the computer program according to the invention, and vice versa.

[0038] Further advantages and details of the invention will become apparent from the drawings described below, which are schematic and show: [Brief explanation of the drawings]

[0039] [Figure 1] FIG. 1 shows an embodiment of a vehicle according to the present invention. [Figure 2] FIG. 2 shows a flow diagram of an example embodiment of a method for calculating a collision-free path along a driving trajectory according to the present invention. [Figure 3] FIG. 3 is a diagram showing contour information that collides with an object and contour information that does not collide, for explaining an embodiment of the method according to the present invention. [Figure 4] FIG. 4 shows the calculation of the collision-free rate of movement of contour portions in assigned cells to explain an example embodiment of the method according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0040] 1 illustrates an example embodiment of a vehicle 1. The vehicle 1 includes a controller 2, a plurality of environmental sensors 3, and at least one actuator 4. The environmental sensors 3 may each be configured as, for example, an ultrasonic sensor, a camera, a radar, a lidar, etc. The at least one actuator 4 may each be a longitudinal guide actuator or a lateral guide actuator of the vehicle 1. The environmental sensor 3 and the at least one actuator 4 are communicatively coupled to the controller 2, although for clarity, corresponding connections are not shown.

[0041] The control device 2 is configured to execute a method for calculating a collision-free path for the vehicle 1 along a driving trajectory. A flow diagram 5 of an example embodiment of such a method is shown in Figure 2. This example embodiment will now be described with reference to Figures 3 and 4.

[0042] In step S1 of the method, a travel trajectory 6, exemplarily shown in Fig. 3, and object information are provided, the object information describing the position of the vehicle 1 and any objects 7 that may collide with it during its movement along the travel trajectory 6 relative to the travel trajectory 6, in order to calculate a collision-free path. The travel trajectory 6 can in particular have a curvature with a constant sign that at least partly varies continuously. The travel trajectory 6 can be described, for example, by a clothoid curve or a polynomial.

[0043] A trajectory portion of the entire driving trajectory describing a maneuver, in particular a parking maneuver, can be used as the driving trajectory 6. Thus, the entire driving trajectory assigned to a driving maneuver can be divided into a plurality of trajectory portions, each representing a driving trajectory 6, and a method for calculating a collision-free path for one or more of the trajectory portions or driving trajectories 6 is correspondingly performed.

[0044] The object information describing an object 7 that will collide with the vehicle 1 as it moves along the planned driving path 6 can be calculated, for example, based on map information describing one or more objects 7 in the environment of the driving path 6 and on driving lanes. Here, the driving lanes can at least approximately describe the area swept by the vehicle 1 as it moves along the driving path 6. If the object 7 overlaps with the driving lanes, for example, if they are mapped to a common coordinate system or if corresponding geometric calculations are performed, a collision can be detected. Here, the collision determination can be performed, in particular, by means of the control device 2. Alternatively, the collision determination can be performed by means of a further calculation device that transmits the object information and / or map information to the vehicle 1.

[0045] Additionally or alternatively, the map information can also be calculated based on sensor data acquired using the surrounding environment sensors 3 of the vehicle 1. The surrounding environment sensors 3 can in particular capture the surrounding environment of the vehicle 1 both before the vehicle 1 moves along the travel path 6 and while the vehicle 1 moves along the travel path 6, thereby enabling the map information to be continuously updated.

[0046] Next, in step S2, the positions and arrangements of a plurality of contour information 8, 9 are calculated for different positions 10, 11 of the vehicle 1 along the travel path 6, where the contour information 8 is assigned to a first position 10 of the vehicle 1 on the travel path 6 and the contour information 9 is assigned to a second position 11 of the vehicle 1 on the travel path 6, the positions 10, 11 being associated with, for example, the rear axle center 12 of the vehicle 1. In this case, the first position is located closer to the start point 20 of the travel path 6 than the second position 11. The positions and arrangements of each of the contour information 8, 9 correspond to the position and orientation of the vehicle 1 at the positions 10, 11 as it travels along the travel path 6. In this way, each contour information represents a "snapshot" of the vehicle 1 at the positions 10, 11 while it is traveling along the travel path 6.

[0047] The contour information 8, 9 is each a convex polygon, and each of the contour information 8, 9 describes the same geometric shape or defines the same area portion. The contour information 8, 9 each describes the contour 13 of the vehicle 1. In this case, each of the contour information 8, 9 defines an area portion that is larger than the actual contour 13 of the vehicle. In this way, a safety clearance and, if necessary, the space required for the movement of the steering wheels 14 of the vehicle 1 when turning can be taken into account.

[0048] The positions 10, 11 at which the contour information 8, 9 is determined can be determined, for example, based on a predetermined absolute length interval along the running track 6. For example, a distance of 10 cm to 1 m can be selected as the length interval, although other distances are also possible. Alternatively, the length of the interval between the positions 10, 11 can be determined relative to the total length of the running track 6. In this case, for example, a value of 1% to 10% of the total length of the running track 6 can be used as the distance between the positions. For clarity, only two contour information 8, 9 are shown in FIG. 3, but further contour information at further positions along the running track 6 can also be determined within the scope of the method.

[0049] In step S3 of this method, contour information that collides with the object 7 and contour information that does not collide and is located closer to the starting point of the traveling trajectory are calculated. In FIG. 3, contour information 9 is contour information that collides with the object 7. Contour information 8 is contour information that does not collide and is located closer to the starting point of the traveling trajectory 6. In this case, contour information 8 may be, in particular, contour information that is adjacent to the colliding contour information 9 and located on the traveling trajectory 6, from a predetermined set of contour information.

[0050] A collision between the contour information 9 and the object 7 can be determined, for example, by the overlap of the contour information 9 with the object 7, which is also described as a polygon. Furthermore, the contour information 9 and the object 7 do not overlap each other, and therefore do not collide. If multiple pieces of contour information are considered to collide with the object 7, the contour information located closest to the start point 20 of the travel trajectory 6, or the contour information that is considered to collide with the object 7 located closest to the start point 20, can be selected as the colliding contour information 9. Here, the contour information located closest to the start point 20 or the object 7 located closest to the start point 20 can be selected, particularly with respect to vehicle movement along the travel trajectory 6.

[0051] Next, in step S4 of the method, the area between the non-colliding contour information 8 and the colliding contour information 9 is divided into a number of cells 16, 17, and 18, each of which is assigned to a contour portion 15 of the contour information 8 and 9, as exemplarily shown in Fig. 4. Fig. 4 shows a portion of the scene shown in Fig. 3, where the contour information 8 and 9 are located close to each other for clarity, and the scene shown in Fig. 4 uses a first position 10 and a second position 11 located close to each other on the driving trajectory 6. Here, the straight edges of the contour information 8 and 9 are used as the contour portions 15, and each cell extends between the corresponding edges of the non-colliding contour information 8 and the colliding contour information 9, respectively.

[0052] Thereafter, in step S5, cells 16 to 18 that overlap with object 7 are calculated. In the example shown in FIG. 4, cell 17 overlaps with object 7, so cell 17 is calculated as an overlapping cell. Also, a collision-free rate R of movement of outline portion 15 assigned to overlapping cell 17 is determined. Here, the collision-free rate represents, for example, the rate of a path along which outline portion 15 can proceed from non-colliding outline information 8 to colliding outline information 9 without coming into contact with object 7. Here, collision-free rate R can be calculated, for example, using the following formula: R=a / (a+b) (1) Here, a indicates the length of the path portion that does not collide, and b indicates the length of the path portion that is already inside the object 7 and therefore collides with the object.

[0053] If the contour information 9 collides with two or more objects 7, at least one further contour information can be calculated, and the further contour information is determined at a further position on the driving trajectory 6, in particular, located between the initial positions 10, 11 of the originally used colliding contour information 9 and the non-colliding contour information 8.

[0054] Next, in step S6 of the method, a collision position 19 on the travel path 6 is determined based on the non-collision rate R. The collision position 19 is schematically shown in Figure 3. The collision position 19 is located between a position 10 of the non-collision contour information 8 and a position 11 of the collision contour information 9.

[0055] The collision position 19 can be calculated, for example, based on the collision-free rate R, the distance between the positions 10 and 11, and / or the curvature change of the traveling trajectory 6 between the positions 10 and 11. In this case, the collision position 19 can be determined starting from the first position 10 by taking the position 10 as the starting point and considering the path portion or curvature change portion corresponding to the rate R. In other words, the path or curvature change between the position 10 and the collision position 19, and therefore the rate R of the path or curvature change between the position 10 and the collision position 19, is used. In this way, the collision position 19 can be determined or approximated at low cost. Here, the curvature change can be taken into account, particularly in the case of a traveling trajectory 6 described as a clothoid with a constant curvature change.

[0056] Subsequently, in step S7 of the method, a collision-free movement of the vehicle 1 can be calculated based on the collision position 19. For example, the collision-free movement is calculated from the collision position 19 to an end point displaced by a safety distance in the direction of the start point 20 of the travel path 6. In this way, when the vehicle 1 moves to this end point, a collision between the vehicle 1 and the object 7 can be avoided. The collision-free movement can be performed, for example, by the control device 2 controlling at least one actuator 4 of the vehicle 1.

[0057] The method for calculating a collision-free path can be performed before the vehicle 1 moves along the driving trajectory 6. The method can also be performed again if, while the vehicle 1 is moving along the driving trajectory 6, a further object 7 is detected in the environment of the vehicle 1 and is evaluated as a collision object 7, for example, based on a comparison with the driving lane. This can be the case, for example, if there is a moving object in the environment of the vehicle 1 and / or if there is an object that could not be detected from the start point 20 of the driving trajectory 6, for example, due to the presence of a shadow and / or a further object.

[0058] Instead of the contour information 8, 9 describing the vehicle contour, contour information 8, 9 can be used which each describe a vehicle part 21 of the vehicle 1. In this way, it is possible to determine in particular a collision with a vehicle part 21 which may be movable relative to the body of the vehicle 1, for example one of the wheels 14 of the vehicle 1.

[0059] Similar to the above embodiment, using contour information 8, 9 describing the contour of the vehicle 1, it is also possible to determine a collision between a movable vehicle part 21 and an object 7. In this case, the contour information 8, 9 may take into account the relative positioning of the vehicle part 21 at the respective positions 10, 11, which in the case of the wheels 14 of the vehicle 1 can be obtained, for example, from the current steering angle.

[0060] Based on the collision-free rate R of movement of the vehicle part 21 obtained using this method, it is possible to estimate the collision position or vehicle position along the driving trajectory 6 where a collision does not occur, taking into account the relative positioning of the vehicle part 21 on the vehicle 1.

Claims

1. A method for calculating a collision-free path for a vehicle (1) along a travel path (6), comprising: - providing said travel trajectory (6) and object information, said object information describing the position of at least one object (7) that will collide with said vehicle (1) or a vehicle part (21) of said vehicle (1) as said vehicle (1) moves along said travel trajectory (6); - calculating the position and location of a plurality of contour information (8, 9) each describing a contour of the vehicle (1) or vehicle part (21) for different positions (10, 11) of the vehicle (1) or vehicle part (21) along the travel path (6); - calculating contour information (9) that collides with the object (7) and contour information (8) that does not collide and is located closer to the starting point of the running trajectory (6); - dividing the area between the non-colliding contour information (8) and the colliding contour information (9) into a number of cells (16, 17, 18) each assigned to a contour portion (15) of the contour information (8, 9); - calculating the cells (17) that overlap with said object (7) and the proportion (R) of said overlapping cells (17) that does not cause a collision of the movement of said contour portion (15) assigned to said overlapping cell (17); - determining a collision position (19) on the running track (6) based on the collision-free rate (R); and - calculating a collision-free movement of said vehicle (1) based on said collision location (19).

2. 2. The method according to claim 1, characterized in that a running path (6) is used whose curvature has a constant sign and which varies at least in part continuously and / or a clothoid curve or a polynomial is used as the running path (6).

3. 3. The method according to claim 1 or 2, characterized in that as driving trajectory (6) a trajectory section of the entire driving trajectory is used which describes a driving maneuver, in particular a parking maneuver.

4. 4. The method according to claim 1, wherein the object information can be calculated based on map information describing one or more objects in the environment of the driving path (6) and on driving lanes, the driving lanes at least approximately describing an area swept by the vehicle (1) as it travels along the driving path (6).

5. The method according to any one of claims 1 to 4, characterized in that when there are multiple pieces of contour information (8, 9) that collide with an object (7), the contour information that collides with the object (7) that is located closest to the starting point (20) of the running trajectory (6) among the pieces of contour information (8, 9) is calculated as the colliding contour information (9).

6. 6. The method according to claim 1, wherein polygons, in particular convex polygons, are used as the contour information (8,9) and / or edges of the contour information (8,9) are used as contour parts.

7. 7. The method according to claim 1, further comprising calculating at least one further contour information if there are multiple objects overlapping with the cells (16, 17, 18), the at least one further contour information being located between the initial positions (10, 11) on the travel path (6).

8. Method according to any one of the preceding claims, characterized in that a collision-free movement is calculated from the collision position (19) to an end point at a safe distance.

9. 9. The method according to any one of claims 1 to 8, characterized in that the vehicle part (21) is a vehicle part that can move relative to the body of the vehicle (1), in particular a wheel (14) of the vehicle (1).

10. A control device configured to carry out the method according to any one of claims 1 to 9.

11. A vehicle equipped with a control device (2) according to claim 10.

12. A computer program comprising instructions for causing a control device (2) to carry out the method according to any one of claims 1 to 9.

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