Methods, programs, storage media and support systems for assisting the agent, as well as vehicles

Abstract

To provide a computer-implemented method for supporting the own agent.SOLUTION: A method includes: at least one of: estimating a visible area of another agent that exists in an environment of the own agent; calculating a visible state of another agent with respect to the own agent using the estimated visible area of another agent; estimating a collision risk between the own agent and another agent; planning a behavior of the own agent by minimizing a total cost of the behavior of the agent, the total cost including the estimated collision risk; notifying the own agent of the estimated collision risk and / or the planned behavior of the own agent; outputting a warning that another agent does not recognize the own agent; and using the estimated collision risk and / or the planned behavior of the own agent to control the own agent.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] This disclosure relates to the field of assisting an agent. More specifically, methods for assisting an agent, corresponding programs comprising program code, corresponding non-temporary computer-readable storage media, assistance systems for assisting an agent, and vehicles equipped with such assistance systems are proposed. [Background technology]

[0002] U.S. Patent No. 9,463,797(B2) discloses a method for risk-based traffic scene analysis and a vehicle having an advanced driver assistance system. U.S. Patent No. 10,627,812(B2) discloses risk-based driver assistance for approaching intersections with limited visibility. U.S. Patent Application Publication 2020 / 0231149(A1) discloses a method for assisting a driver, a driver assistance system, and a vehicle equipped with such a driver assistance system. U.S. Patent Application Publication 18 / 190,932 discloses a driver assistance system based on determining a perceived situation from multiple possible situations and a vehicle equipped with such a driver assistance system. U.S. Patent Application Publication 17 / 709,420 discloses an advanced driver assistance system for assisting the driver of a vehicle.

[0003] In particular, U.S. Patent Application Publication 17 / 709,420 discloses a system for visualizing an individual's risk space. U.S. Patent Application Publication 17 / 709,420 discloses an advanced driver assistance system for assisting the driver of a vehicle. The system comprises a sensor unit, a processing unit, and a display unit. The sensor unit is configured to sense the vehicle environment and provide a sensing output to the processing unit. The processing unit is configured to determine at least one feature of the environment based on its sensing output. The processing unit is configured to determine the risk zone of the feature for the current time by estimating the respective risk for each of two or more virtual locations of the vehicle based on at least one parameter of the vehicle at the current time, and by estimating two or more risks for two or more virtual locations, and by forming a risk zone based on these two or more risks. The display unit is configured to display the vehicle environment along with the feature and its risk zone.

[0004] In other words, the document, U.S. Patent Application Publication 17 / 709,420, discloses a processing unit configured to estimate a theoretical risk regarding a detected feature of a vehicle in its environment, based on at least one parameter of the vehicle at the present time, assuming that the vehicle is at a virtual location rather than its actual location at the present time. The virtual location corresponds to a hypothetical location of the vehicle that is different from its actual location, and is therefore a theoretical location. In detail, two or more virtual locations consist of or correspond to locations that are different from each other and different from the actual location of the vehicle at the present time.

[0005] A risk zone may represent a dangerous area where the vehicle should not be at the current time. A feature's risk zone may represent the personal (i.e., peripersonal) space of that feature. This allows the driver to intuitively recognize the vehicle's risk status at the current time from the display unit, based on the displayed vehicle environment, the displayed feature, and the displayed feature's risk zone, because everyone has their own personal space that they do not want to be invaded. Therefore, by showing the feature's personal space to the driver in the form of a risk zone, the driver not only receives information about two or more estimated risks related to the feature from the display of the feature's risk zone, but the driver also recognizes the feature's personal space and, psychologically, intuitively pays attention to this personal space. In other words, the feature's risk zone informs the driver of an area where the vehicle should not enter.

[0006] The system for visualizing an individual's risk space described in U.S. Patent Application Publication 17 / 709,420 is an example of how risk can be visualized. This disclosure, in particular the disclosure regarding the sharing of visibility conditions, may be incorporated into the overall framework of U.S. Patent Application Publication 17 / 709,420. In that case, U.S. Patent Application Publication 17 / 709,420 would be able to visualize the visibility of other drivers, which is the subject of this disclosure, in addition to the risk zone around the vehicle.

[0007] In the context of mobility, various agents interact with the environment. For example, with respect to a road, there may be various land vehicles such as one or more cars moving within the area of ​​the road, one or more bicycles, and one or more people (e.g., pedestrians). The term "road" is sometimes used as a synonym for "road." An assistance system to support any of such agents may help warn each supported agent of the risk of collision with other agents. In this regard, the supported agent is sometimes called the "self-agent." For example, a blind spot system for a car driven by a driver on a road may warn the driver of another agent on the road (e.g., a pedestrian, bicycle, or another car) that is in one of the car's blind spots. A car's blind spot is the area of ​​the car where the driver has zero visibility. That is, no object in the car's blind spot can be visually perceived by the driver (e.g., directly or through the side mirror or rearview mirror). A car's blind spot can refer to the blind spot area of ​​the car.

[0008] However, such blind spot systems only inform the driver that there are agents in the vehicle's environment that are not visually perceptible to the driver. In other words, one or more agents in the blind spot may not know that they are in the car's blind spot and therefore may not realize that they are not visible to the driver.

[0009] Many accidents can occur because human drivers overlook critical traffic hazards, and because there is a lack of or inaccurate communication between human drivers. [Overview of the project] [Problems that the invention aims to solve]

[0010] Therefore, the purpose of this disclosure is to provide an improved computer implementation method for assisting one's own agent. In particular, the purpose may be to provide an improved computer implementation method for assisting one's own agent that is capable of improving interaction between one's own agent and other agents in the environment. [Means for solving the problem]

[0011] In the first embodiment, the computer implementation method according to independent claim 1 solves the above-mentioned problem. The program according to the second embodiment, the non-temporary computer-readable storage medium according to the third embodiment, the support system according to the fourth embodiment, and the vehicle according to the fifth embodiment provide further convenient solutions to this problem.

[0012] In a first embodiment, a computer implementation method for assisting its own agent includes estimating the view area of ​​other agents present in the environment of its own agent. The method further includes using the estimated view area of ​​other agents to calculate the view status of other agents with respect to its own agent. The method further includes using the calculated view status of other agents to estimate the collision risk between its own agent and other agents. The method further includes planning its own agent's behavior by minimizing the total cost of its behavior, the cost including the estimated collision risk. The method further includes notifying its own agent of the estimated collision risk and / or the planned behavior of its own agent, outputting a warning that other agents are not aware of its own agent in accordance with the estimated collision risk, and controlling its own agent using the estimated collision risk and / or the planned behavior of its own agent.

[0013] The method according to the first embodiment provides an improved method for assisting the local agent, since it takes into account the ability of other agents present in the local agent's environment to perceive the local agent in order to estimate a collision between the local agent and other agents. Thus, the method according to the first embodiment makes it possible to improve the interaction between the local agent and other agents in the environment with respect to avoiding collisions between the local agent and other agents.

[0014] The first aspect of the method allows the local agent to recognize that other agents may be overlooking it. The method can provide improved assistance to the local agent in any of the following cases: when the other agent's assistance system is not functioning, when the other agent does not have an assistance system, or when the other agent does not respond to warnings from its own assistance system regarding a collision between the other agent and the local agent. In each of the above cases, the first aspect of the method allows the local agent to know the other agent's limited visibility of the local agent when the other agent's visibility is limited, so that collisions between the local agent and the other agent can still be avoided by the local driver.

[0015] The dependent claims provide further advantageous embodiments of the present disclosure.

[0016] The program according to the second aspect comprises program code means for performing a method for assisting an autonomous agent when the program is executed on a computer or a digital signal processor. The method includes estimating the visibility area of other agents present within the environment of the autonomous agent. The method further includes calculating the visibility state of other agents with respect to the autonomous agent using the estimated visibility areas of the other agents. Further, the method includes estimating the risk of collision between the autonomous agent and the other agents using the calculated visibility states of the other agents. The method further includes planning the behavior by minimizing the total cost of the behavior of the autonomous agent, the cost including the estimated risk of collision. Further, the method includes performing at least one of notifying the autonomous agent of the estimated risk of collision and / or the planned behavior of the autonomous agent, outputting a warning that the other agent does not recognize the autonomous agent in response to the estimated risk of collision, and controlling the autonomous agent using the estimated risk of collision and / or the planned behavior of the autonomous agent.

[0017] In other words, the program according to the second aspect comprises program code means for performing a method according to the first aspect, for example an operation according to one of the embodiments of the method according to the first aspect, when the program is executed on a computer or a digital signal processor.

[0018] The non - transitory computer - readable storage medium according to the third aspect embodies a program of machine - readable instructions executable by a digital processing device, and the instructions cause the digital processing device to estimate the viewing area of other agents existing within the environment of the self - agent, calculate the viewing state of the other agents with respect to the self - agent using the estimated viewing area of the other agents, estimate the risk of collision between the self - agent and the other agents using the calculated viewing state of the other agents, plan the behavior by minimizing the total cost of the behavior of the self - agent, where the total cost includes the estimated risk of collision, and notify the self - agent of the estimated risk of collision and / or the planned behavior of the self - agent, output a warning that the other agents do not recognize the self - agent according to the estimated risk of collision, and control the self - agent using the estimated risk of collision and / or the planned behavior of the self - agent, and perform at least one of these actions.

[0019] In other words, the non - transitory computer - readable storage medium according to the third aspect embodies a program of machine - readable instructions executable by a digital processing device, and the instructions cause the digital processing device to perform the method according to the first aspect, for example, the operations according to one of the embodiments of the method according to the first aspect.

[0020] The program according to the third aspect includes program code means for performing the steps according to one of the embodiments of the method according to the first aspect when the program is executed on a computer or a digital signal processor.

[0021] According to the third aspect, the non - transitory computer - readable storage medium embodies a program of machine - readable instructions executable by a digital processing device, and the instructions cause the digital processing device to perform the operations according to one of the embodiments of the method according to the first aspect.

[0022] A fourth embodiment of the support system for assisting its own agent comprises a processor configured to estimate the view area of ​​other agents present in the environment of its own agent. The processor is configured to use the estimated view area of ​​other agents to calculate the view status of other agents with respect to its own agent. The processor is configured to use the calculated view status of other agents to estimate the collision risk between its own agent and other agents. The processor is configured to plan its own agent's behavior by minimizing the total cost of its behavior, the total cost including the estimated collision risk. The processor is configured to notify its own agent of the estimated collision risk and / or the planned behavior of its own agent, to output a warning that other agents are not aware of its own agent in accordance with the estimated collision risk, and to control its own agent using the estimated collision risk and / or the planned behavior of its own agent.

[0023] In other words, the support system according to the fourth embodiment comprises a processor configured to perform the method according to the first embodiment, for example, the operation according to one embodiment of the method according to the first embodiment.

[0024] A vehicle according to the fifth embodiment includes a support system according to the fourth embodiment.

[0025] The vehicle may be any vehicle known in the art that can move on the surface, near the surface, in the air, underwater, and deep underwater. The vehicle may be, for example, a land vehicle (car, truck, bus, bicycle, motorcycle, fork truck, etc.), an air vehicle (airplane, helicopter, drone, space vehicle, etc.), or a surface / underwater vehicle (boat, submarine, etc.). The vehicle may be configured to be operated by an operator present in the vehicle. Optionally, the vehicle may be remotely operated by an operator not present in the vehicle. The vehicle may be configured to move autonomously, such as an autonomous driving (AD) vehicle.

[0026] For a description of the embodiments, please refer to the attached drawings below. [Brief explanation of the drawing]

[0027] [Figure 1] This is a simplified flowchart of the method according to one embodiment. [Figure 2] This is an example of an implementation of the steps of a method according to one embodiment. [Figure 3] This is an example of data that can be used in an implementation of the steps of a method according to one embodiment. [Figure 4] (A) and (B) are examples of implementation forms of the steps of a method according to one embodiment. [Figure 5] This figure shows optional steps of an example implementation of the method according to one embodiment. [Figure 6] This is an example of the visibility status of other agents that can be calculated by implementing the steps of the method according to one embodiment. [Figure 7] (A) and (B) are examples of implementation forms of the steps of a method according to one embodiment. [Figure 8] This figure shows optional steps of an example implementation of the method according to one embodiment. [Figure 9] This figure shows optional steps of an example implementation of the method according to one embodiment. [Figure 10] This is an example of an implementation of the two steps of a method according to one embodiment. [Figure 11] This is a diagram of a support system according to one embodiment. [Figure 12] (A) and (B) are diagrams illustrating use cases that utilize an example of the method according to one embodiment. [Figure 13] (A) and (B) are diagrams illustrating use cases that utilize an example of the method according to one embodiment. [Figure 14] Figures (A), (B), and (C) are diagrams illustrating use cases that utilize an example of the method according to one embodiment. [Modes for carrying out the invention]

[0028] In the figures, corresponding elements share the same reference numeral. Explanations of the same reference numeral in different figures are omitted where possible without negatively impacting comprehension.

[0029] The method according to the first aspect provides a favorable solution to the problem described above. The program according to the second aspect, the non-temporary computer-readable storage medium according to the third aspect, the support system according to the fourth aspect, and the vehicle according to the fifth aspect provide further favorable solutions to the problem. Dependent claims define further advantageous embodiments of the present disclosure.

[0030] The method according to the first embodiment may be carried out by a processing unit such as a computer. The agent may also be referred to by the word "agent".

[0031] The term "field of view" is sometimes used as a synonym for the term "visibility area." The visibility area of ​​an agent, such as another agent or one's own agent, can be understood as the area that the agent is aware of in order to perceive other entities, such as further agents or obstacles, for example, visually. In other words, an agent's visibility area is the area in which entities can be seen by that agent. That is, entities located outside the visibility area of ​​an agent, such as another agent or one's own agent, cannot be perceived by that agent, for example, visually.

[0032] The visibility status of an agent regarding a second agent, such as the visibility status of another agent regarding the agent itself, can be understood as a state indicating whether the second agent is perceived by the agent in question, for example, whether or not it is perceived visually.

[0033] Other agents may be vehicles. A vehicle may be any vehicle known in the art that can move on the surface, near the surface, in the air, underwater, and deep underwater. Vehicles may include, for example, land vehicles (cars, trucks, buses, bicycles, motorcycles, fork trucks, etc.), air vehicles (airplanes, helicopters, drones, space vehicles, etc.), and surface / underwater vehicles (boats, submarines, etc.). The terms "land vehicle," "aircraft," and "underwater vehicle" may be used as synonyms for "land vehicle," "aircraft," and "surface / underwater vehicle," respectively.

[0034] Optionally, the other agent may be a vehicle operated by an operator present in the vehicle, i.e., a vehicle operated by a driver present in or on the vehicle. In this case, the other agent's field of view is the operator's field of view, i.e., the driver's field of view of the vehicle. Optionally, the other agent may be a vehicle remotely operated by an operator not present in the vehicle. In this case, the other agent's field of view is the field of view provided by one or more sensors in the vehicle for providing the operator with a visual perception of the vehicle's environment. Optionally, the other agent may be a vehicle configured to move autonomously, such as an autonomous driving (AD) vehicle. In this case, the other agent's field of view is the field of view provided by one or more sensors in the vehicle for providing a visual perception of the vehicle's environment to the vehicle's control entity. The control entity may comprise one or more control devices mounted on the vehicle and / or one or more external control devices, e.g., an autonomous system. In this specification, the control device may include at least one of a processor, microprocessor, controller, microcontroller, application-specific integrated circuit (ASIC), and field-programmable gate array (FPGA). Optionally, the other agent may be a person (e.g., a pedestrian). In such a case, the other agent's field of view is the field of view of that person's eyes.

[0035] Vehicles may be equipped with motors such as combustion motors, electric motors, and hybrid motors. If the vehicle is an aerial vehicle such as an airplane, the road description is applicable when the aerial vehicle is moving on or near the ground (for example, a helicopter flying close to the ground). If the vehicle is an aerial vehicle such as an airplane, the road description is applicable when the vehicle is moving through the air, in relation to aerial corridors. If the vehicle is a water / water vehicle such as a boat, the road description is applicable when the vehicle is moving through the water in relation to underwater routes such as waterways and shipping lanes.

[0036] The above explanation regarding other agents is applicable and valid for your own agent.

[0037] Estimating the collision risk between one's own agent and other agents using the calculated visibility status of other agents may involve using one or more risk models, such as one or more stochastic risk models. The collision risk between one's own agent and other agents may be estimated using the current trajectories of one's own agent and other agents, the visibility status of other agents, and optionally the visibility status of one's own agent.

[0038] For example, estimating the collision risk between your own agent and other agents involves estimating the collision risk R, which is caused by criteria other than the other agent's visibility status. collision And the collision risk R due to the visibility status of other agents visibility Total collision risk R is equal to the sum of the above. total This may include estimating (R total =R collision +R visibility ). For example, the above criteria may include the speed of your agent, the speed of other agents, the direction of your agent's movement, the direction of other agents' movement, environmental conditions (e.g., weather conditions, the width and route of roads that your agent and other agents can travel on), the planned behavior of your agent, the planned behavior of other agents, etc. For example, the collision risk R due to the visibility status of other agents. visibilityThe parameter k may be equal to the value obtained by dividing k by the sum of 1 and the distance of the position of the self-agent to the visibility area of other agents (R visibility =k / (1+dist(pos ego ,visibility area other / / ]] ))). The parameter k is a scaling parameter that specifies the severity of the risk arising from the visibility state. It can be regarded as the weight of how much the risk arising from the visibility state is considered in the total collision risk cost. The risk coefficient can be calculated by using other means, for example, by changing the prediction of other agents due to its own visibility state and calculating the collision risk for the different predictions. Alternatively, instead of the collision risk R visibility arising from the visibility state of other agents, a collision risk depending on the visibility state of other agents and the visibility state of the self-agent may be used.

[0039] For example, if the total collision risk R total is greater than its threshold value (R total >R threshold,1 )) and the collision risk R visibility arising from the visibility state of other agents is greater than its threshold value (R visibility >R threshold,2 ), a warning that the other agent does not recognize the self-agent may be output to the self-agent. The total collision risk R total may be referred to as the estimated collision risk, and the collision risk R visibility arising from the visibility state of other agents may be referred to as the risk coefficient calculated using the calculated visibility state of other agents.

[0040] Planning the behavior of an agent by minimizing the total cost of its actions (total cost including estimated collision risk) may involve using a behavior planning algorithm. The higher the estimated collision risk, the higher the total cost may be, and vice versa. That is, the optimal behavior of an agent may be planned by minimizing the total cost of its actions, and the total cost includes the estimated collision risk. The step of planning the behavior by minimizing the total cost of an agent's actions may involve planning safe behavior using a planning model. For example, if an agent and another agent are traveling on a road, safe behavior may include braking to avoid a collision, following the lane, etc.

[0041] The steps of estimating the collision risk between the agent and other agents, and planning the behavior of the agent, may be performed by one or more control devices of the agent and / or one or more external control devices, such as an autonomous system. If one or more external control devices, such as an autonomous system, perform the steps described above, at least one of the estimated collision risk, cost, and the planned behavior of the agent (e.g., optimal behavior) may be communicated to the agent (e.g., wirelessly). Where there is communication between two entities, it may be wireless and / or wired. Such communication may be performed using the respective communication devices of each of the two entities. Such communication may be performed according to any known communication standard or protocol. For example, such communication may include vehicle-to-vehicle (V2V) communication technology and / or vehicle-to-infrastructure (V2I) communication technology.

[0042] Optionally, the steps of estimating the viewing area of ​​other agents and / or calculating the viewing status of other agents may be performed by one or more control devices of the agent itself and / or one or more external control devices, such as an autonomous system.

[0043] Optionally, the steps of estimating the other agent's view area and / or calculating the other agent's view status may be performed by the other agent. In this case, the other agent's communication device may transmit the estimated view area and / or calculated view status to the agent's communication device. The communication devices of the other agent and the agent may be configured for wireless and / or wired communication. The communication may follow any known communication standard or protocol. For example, the communication may include vehicle-to-vehicle (V2V) communication technology and / or vehicle-to-infrastructure (V2I) communication technology. Additionally or alternatively, the other agent's communication device may transmit the estimated view area and / or calculated view status to the autonomous system. The autonomous system may be configured to control the agent's own, for example, its movement.

[0044] A warning that another agent does not recognize your agent may be output to your agent. The information that may be output to your agent may include information about safe behaviors that reduce the risk of collision, such as maintaining a safe distance from other agents.

[0045] According to one embodiment of the method, estimating the view area of ​​another agent includes estimating the direction of the other agent's visual perception, tracking the history of the other agent's visual perception direction, and generating a view area using the tracked history of the other agent's visual perception direction.

[0046] For example, estimating the direction of another agent's visual perception may involve applying computer vision. The history of other agents' visual perception directions may be tracked using filters.

[0047] If the other agent is a vehicle operated by an operator present in the vehicle, the direction of the other agent's visual perception is the direction of the operator's visual perception (e.g., the eyes of the person operating the vehicle). For example, the operator's direction of visual perception may be the direction of the operator's line of sight. If the other agent is a vehicle remotely operated by an operator not present in the vehicle, the direction of the other agent's visual perception is the direction of visual perception provided by one or more sensors in the vehicle to provide the operator with a visual perception of the vehicle's environment. If the other agent is a vehicle configured to move autonomously, the direction of the other agent's visual perception is the direction of visual perception provided by one or more sensors in the vehicle to provide the vehicle's control entity with a visual perception of the vehicle's environment. If the other agent is a person (e.g., a pedestrian), the direction of the other agent's visual perception is the direction of visual perception of that person's eyes. For example, the person's direction of visual perception may be the direction of their line of sight.

[0048] According to one embodiment of the method, estimating the visibility area of ​​another agent includes using data from at least one of the following: one or more cameras of the other agent facing the face of the operator of the other agent when the other agent is operated by an operator present at the other agent; one or more sensors of the other agent that sense whether the operator of the other agent is aware of or has received a warning about the agent when the other agent is operated by an operator present at the other agent; one or more sensors of the other agent that sense the environment of the other agent; one or more cameras installed within the environment of the other agent; and one or more cameras of the agent facing the face of the operator of the other agent when the other agent is operated by an operator present at the other agent.

[0049] Here, the operator may be a person or a humanoid robot. For example, if the other agent is a car driven by an operator (e.g., a person), one or more cameras may be installed inside the car such that one or more cameras face the operator's face. For example, if the other agent is a motorcycle driven by a person (who is the operator), one or more cameras may be installed on (e.g., inside) the helmet worn by that person such that one or more cameras face the operator's face.

[0050] Here, one or more sensors for sensing the environment or providing a visual perception of the environment may include at least one of one or more cameras, one or more radar sensors, one or more lidar sensors, one or more ultrasonic sensors, one or more infrared sensors, one or more human presence sensors and / or motion sensors, and any one or more other sensors known in the art for sensing or providing a visual perception of the environment. One or more sensors for sensing the environment or providing a visual perception of the environment may include sensors used in adaptive cruise control.

[0051] For example, if your agent and another agent are traveling on a road, one or more cameras may be installed on road infrastructure, such as traffic lights or traffic signs. In other words, the other agent's environment can be a road.

[0052] Optionally, estimating the field of view of another agent involves using data from one or more cameras of your own agent pointed towards the other agent. For example, if your agent is a car and the other agent is another car driven by a driver, one or more cameras may be mounted on the rear of your car and perceive the driver of the other car through the front window, including the driver's posture, face, and / or direction of visual perception (e.g., direction of gaze). In this case, since one or more cameras are located on your own agent, the data and field of view do not need to be transmitted to your own agent.

[0053] According to one embodiment of the method, estimating the viewing area of ​​another agent includes applying ray projection from the other agent's position and reducing the viewing area of ​​the other agent by corresponding to areas obstructed by objects in the other agent's environment. Objects in the other agent's environment may include, for example, walls, other vehicles, trees, buildings, etc.

[0054] According to one embodiment of the method, estimating the view area of ​​another agent includes setting the view area to zero square meters if the other agent is operated by a person or is a person and that person is looking at a portable device or speaking to at least one other person.

[0055] According to one embodiment of the method, the method includes estimating the view area of ​​the agent itself; calculating the view status of the agent with respect to other agents using the estimated view area of ​​the agent itself; and estimating the collision risk between the agent and other agents using the calculated view status of other agents and the calculated view status of the agent itself.

[0056] In other words, the method may consider the visibility of the own agent in addition to the visibility of the other agent in order to estimate the collision risk between the own agent and the other agent. That is, the collision risk may depend on the combination of the visibility of the own agent and the visibility of the other agent. This can be advantageous because even if the other agent recognizes the own agent, the collision risk may still be high if the own agent does not recognize the other agent. For example, if the own agent and the other agent are vehicles driven by drivers on a road, the collision risk may depend on the combination of the visibility of the driver of the own vehicle and the visibility of the driver of the other vehicle. The collision risk may be highest, for example, when neither driver recognizes the other.

[0057] According to one embodiment of the method, the visibility status of other agents is determined by a Boolean variable (e.g., pos) that indicates whether the local agent's position is within the estimated visibility area of ​​the other agent. ego ∈visibility area other ), a distance variable that indicates the distance of your agent's position to the line of sight of other agents (for example, dist(pos ego , visibility area other )), and a random variable indicating whether other agents recognize your agent, which depends on the position of your agent and the visibility area of ​​other agents (for example, (pos ego , visibility area other )), may include at least one of the following.

[0058] According to one embodiment of the method, calculating the view status of other agents with respect to one's own agent using the estimated view area of ​​other agents includes combining the calculated view status of other agents with an estimate confidence value, and using at least one of a moving average, hysteresis, and outlier correction.

[0059] For example, the confidence value of the estimate may account for changes in visibility over time. The calculated visibility can be made more robust by using at least one of the following: moving average, hysteresis, and outlier correction.

[0060] According to one embodiment of the method, estimating the collision risk between one's own agent and another agent using the calculated visibility status of the other agent includes at least one of predicting the behavior of the other agent using the calculated visibility status of the other agent, and modifying the collision risk by a risk coefficient calculated using the calculated visibility status of the other agent.

[0061] For example, if both your agent and the other agent are vehicles driven by drivers on a road, the driver of the other agent is likely to change lanes when the other agent's driver is unaware of your vehicle. Such a lane change could lead to a collision between your vehicle and the other vehicle if your vehicle is traveling in the lane the other vehicle is changing into. Therefore, the behavior of the other agent has an impact on the collision risk between your agent and the other agent. This can be considered by modifying the collision risk using a risk coefficient calculated using the other agent's calculated visibility status. The collision risk between your agent and the other agent can be estimated by considering the other agent's predictable behavior. For example, the risk coefficient can be calculated using the other agent's predictable behavior.

[0062] According to one embodiment of the method, the method includes calculating a risk coefficient using the calculated visibility status of another agent, and outputting a warning that the other agent does not recognize the agent if the estimated collision risk is higher than the collision risk threshold and the calculated risk coefficient is higher than the risk coefficient threshold.

[0063] According to one embodiment of the method, the method includes determining whether another agent is aware of the local agent based on the estimated line of sight of the other agent and the local agent's location; notifying the local agent to use visual notification to notify the other agent if it is aware of the local agent, and acoustic notification to notify the other agent otherwise; and controlling the local agent to use visual notification to notify the other agent if it is aware of the local agent, and acoustic notification to notify the other agent otherwise.

[0064] According to one embodiment of the method, estimating the view area of ​​other agents includes determining the blind spots of other agents using the shape of those agents, and planning the behavior by minimizing the total cost of the own agent's behavior includes using a cost function that penalizes the own agent's position within the blind spots.

[0065] Determining the blind spot area of ​​another agent using the shape of that agent may include estimating the blind spot area from the geometric shape of that agent. The blind spot area of ​​another agent includes the blind spot of that agent.

[0066] According to one embodiment of the method, notifying and / or issuing warnings to the agent is done using a human-machine interface (HMI).

[0067] According to one embodiment of the method, notification to the local agent and / or outputting a warning may be performed in at least one of the following ways: visual, acoustic, and tactile. For example, an acoustic warning may include outputting a warning sound. For example, notification to the local agent and / or outputting a warning in a tactile way may include vibrating the steering wheel if the local agent is a vehicle with a steering wheel, such as a car or airplane. For example, outputting a warning in a visual way may include one or more warning icons. For example, notification to the local agent in a visual way may include highlighting other agents if those agents do not recognize the local agent. That is, entities present in the local agent's environment, such as other agents or one or more further agents that do not recognize the local agent, may be highlighted. For example, the visibility area of ​​other agents or other entities present in the local agent's environment may be visualized on the display, for example, by a bird's-eye view.

[0068] Notifications and / or warnings to the agent may be provided by a human-machine interface (HMI). The HMI may include a display for providing visual notifications and / or warnings. The HMI may include one or more loudspeakers for providing acoustic notifications and / or warnings. The HMI may include one or more actuators, such as one or more vibrators (e.g., located in a steering wheel for driving the agent), for providing tactile notifications and / or warnings.

[0069] According to one embodiment of the method, the warning may be made such that the modality of the warning and / or the intensity of the warning notification depend on the estimated collision risk.

[0070] For example, the higher the estimated collision risk, the stronger the warning alert, and vice versa.

[0071] Optionally, other agents may be notified of the estimated collision risk and / or the planned behavior of your agent (e.g., simultaneously with your agent). Additionally or alternatively, a warning may be output to other agents if they do not recognize your agent, depending on the estimated collision risk (e.g., simultaneously with your agent). Additionally or alternatively, other agents may be controlled using the estimated collision risk and / or the planned behavior of your agent (e.g., simultaneously with your agent). The instructions regarding notifying and / or outputting warnings to your agent are correspondingly valid with respect to other agents.

[0072] Descriptions relating to one's own agent may also be valid for other agents. Descriptions relating to other agents may also be valid for one's own agent.

[0073] To implement the method according to the first embodiment, some or all of the embodiments and optional features of the first embodiment described above may be combined with each other.

[0074] According to one embodiment of the support system, the support system is configured to support the operator of its agent when the agent is a vehicle operated by the operator.

[0075] Optionally, the support system may be included in a portable device carried by the user, which may include a human-machine interface (HMI). The support system may be configured to assist the user via the HMI.

[0076] The support system may be a driver assistance system (DAS). Optionally, the support system may be an advanced driver assistance system (ADAS).

[0077] The processor of the support system may include one or more control devices on its own agent and / or one or more external control devices, such as an autonomous system. The one or more control devices on its own agent and one or more external control devices may be configured to communicate with each other. The communication descriptions disclosed herein are valid in accordance with this.

[0078] If the processor uses data acquired by one or more sensors of another agent, e.g., one or more cameras, to estimate the other agent's view area, the support system may include a communication device for receiving the data. Optionally, the support system (e.g., the communication device) may send to the other agent or any other external entity (such as one or more further agents present in the agent's environment) at least one of the following: the other agent's estimated view area, the other agent's calculated view state, the agent's estimated view area, the agent's calculated view state, the estimated collision risk between the agent and the other agent, the agent's planned behavior, and a warning that the other agent is not aware of the agent.

[0079] A program according to a second embodiment, a non-temporary computer-readable storage medium according to a third embodiment, a support system according to a fourth embodiment, and a vehicle according to a fifth embodiment provide corresponding convenient solutions as described with respect to embodiments of the method according to the first embodiment. The description of the method according to the first embodiment is valid in relation to the program according to the second embodiment, the non-temporary computer-readable storage medium according to the third embodiment, the support system according to the fourth embodiment, and the vehicle according to the fifth embodiment.

[0080] Figure 1 shows a simplified flowchart of a method according to one embodiment. The method in Figure 1 is an example of a computer implementation method of the first embodiment. The description of the method of the first embodiment is applicable to the method in Figure 1.

[0081] The method shown in Figure 1 is a computer implementation method for assisting an agent. As shown in Figure 1, the method includes, in step 100, estimating the visibility area of ​​other agents present in the agent's environment. The method includes, in step 200 following step 100, calculating the visibility status of other agents with respect to the agent using the estimated visibility area of ​​other agents. The method includes, in step 300 following step 200, estimating the collision risk between the agent and other agents using the calculated visibility status of other agents. The method includes, in step 400 following step 300, planning the agent's behavior by minimizing the total cost of its behavior, the total cost including the estimated collision risk. The method includes, in step 500 following step 400, notifying the agent of the estimated collision risk and / or the planned behavior of the agent, outputting a warning that other agents do not recognize the agent according to the estimated collision risk, and controlling the agent using the estimated collision risk and / or the planned behavior of the agent.

[0082] The steps of this method may be performed in repeated time steps; that is, the method may be performed iteratively. The repeated time steps may be time steps that are repeated periodically.

[0083] Figure 2 shows an example of an implementation of one step of the method according to one embodiment. Thus, Figure 2 shows an example of an implementation of the method of Figure 1, and therefore an example of an implementation of the method of the first embodiment. In detail, Figure 2 shows an example of an implementation of step 100 of the method of Figure 1.

[0084] As shown in Figure 2, step 100 for estimating the other agent's viewing area includes, in step 101, estimating the direction of the other agent's visual perception; in step 102 following step 101, tracking the history of the other agent's visual perception direction; and in step 103 following step 102, generating a viewing area using the tracked history of the other agent's visual perception direction.

[0085] Figure 3 shows an example of data usable in one step implementation of the method according to one embodiment. Thus, Figure 3 shows an example of data usable in the implementation of the method of Figure 1, and therefore an example of data usable in the implementation of the first embodiment of the method. In detail, Figure 3 shows an example of data usable in the implementation of step 100 of the method of Figure 1.

[0086] As shown in Figure 3, step 100 for estimating the visibility area of ​​other agents may include using data 30. Data 30 may be at least one of the following: one or more cameras 31 of the other agent facing the face of the operator of the other agent when the other agent is operated by an operator present at the other agent; one or more sensors 32 of the other agent that sense whether the operator of the other agent is aware of or has received a warning about the self agent when the other agent is operated by an operator present at the other agent; one or more sensors 33 of the other agent that sense the environment of the other agent; one or more cameras 34 installed in the environment of the other agent; and one or more cameras 35 of the self agent facing the face of the operator of the other agent when the other agent is operated by an operator present at the other agent.

[0087] Figures 4A and 4B each show examples of implementations of one step of the method according to one embodiment. Thus, Figures 4A and 4B each show examples of implementations of the method of Figure 1, and therefore examples of implementations of the method of the first embodiment. In detail, Figures 4A and 4B each show examples of implementations of step 100 of the method of Figure 1.

[0088] As shown in Figure 4A, step 100 for estimating the other agent's viewing area may include, in step 104, applying ray projection from the other agent's position, and, in step 105 following step 104, reducing the other agent's viewing area to correspond to the area obstructed by objects in the other agent's environment.

[0089] As shown in Figure 4B, step 100 for estimating the view area of ​​another agent may include step 106 of setting the view area to zero square meters if the other agent is operated by a person or is a person and that person is looking at a portable device or talking to at least one other person.

[0090] Figure 5 shows an example of an optional step in an implementation of the method according to one embodiment. Thus, Figure 5 shows an example of an optional step in an implementation of the method of Figure 1, and therefore an example of an optional step in an implementation of the method of the first embodiment.

[0091] As shown in Figure 5, the method in Figure 1 may optionally include estimating the view area of ​​the local agent in step 100a. The method may optionally include calculating the view status of the local agent with respect to other agents using the estimated view area of ​​the local agent in step 200a following step 100a. The method may optionally include estimating the collision risk between the local agent and other agents in step 300 following step 200a using the calculated view status of other agents and the calculated view status of the local agent. Step 100a may be performed before either step 100 or 200 of the method in Figure 1, simultaneously with at least one of steps 100 or 200 of the method in Figure 1, or after step 200 of the method in Figure 1. Step 200a may be performed before either step 100 or 200 of the method in Figure 1, simultaneously with at least one of steps 100 or 200 of the method in Figure 1, or after step 200 of the method in Figure 1. If optional steps 100a and 200a are performed in addition to steps 100 and 200 of the method in Figure 1, step 300 of Figure 5 may replace step 300 of the method in Figure 1.

[0092] Figure 6 shows an example of the visibility status of other agents that can be calculated by an implementation of one step of the method according to one embodiment. Thus, Figure 6 shows an example of the visibility status of other agents that can be calculated by an implementation of the method of Figure 1, and therefore an example of the visibility status of other agents that can be calculated by an implementation of the method of the first embodiment. In detail, Figure 6 shows an example of the visibility status of other agents that can be calculated by an implementation of step 200 of the method of Figure 1.

[0093] As shown in Figure 6, the visibility status 60 of other agents that can be calculated in step 200 of Figure 1 may include at least one of the following: a Boolean variable 61 indicating whether the local agent's position is within the estimated visibility area of ​​the other agent; a distance variable 62 indicating the distance of the local agent's position to the visibility area of ​​the other agent; and a random variable 63 indicating whether the other agent is aware of the local agent, which depends on the local agent's position and the visibility area of ​​the other agent.

[0094] Figures 7A and 7B each show examples of implementations of one step of the method according to one embodiment. Thus, Figures 7A and 7B each show examples of implementations of the method of Figure 1, and therefore, examples of implementations of the method of the first embodiment. In detail, Figure 7A shows an example of implementation of step 200 of the method of Figure 1, and Figure 7B shows an example of implementation of step 300 of the method of Figure 1.

[0095] As shown in Figure 7A, step 200, which calculates the visibility status of other agents with respect to the self-agent using the estimated visibility area of ​​other agents, may include at least one of the following: step 201, which combines the calculated visibility status of other agents with an estimate confidence value; and step 202, which uses at least one of the moving average, hysteresis, and outlier correction.

[0096] As shown in Figure 7B, step 300, which estimates the collision risk between the agent and the other agent using the calculated visibility status of the other agent, includes at least one of step 301, which predicts the behavior of the other agent using the calculated visibility status of the other agent, and step 302, which modifies the collision risk by a risk coefficient calculated using the calculated visibility status of the other agent.

[0097] Figures 8 and 9 each show an example of an optional step in an implementation of the method according to one embodiment. Thus, Figures 8 and 9 each show an example of an optional step in an implementation of the method of Figure 1, and therefore an example of an optional step in an implementation of the method according to the first embodiment.

[0098] As shown in Figure 8, the method in Figure 1 is optional and may include, in step 600, calculating a risk coefficient using the calculated visibility status of other agents. The method is optional and may include, in step 700 following step 600, outputting a warning that other agents do not recognize the agent if the estimated collision risk is higher than the collision risk threshold and the calculated risk coefficient is higher than the risk coefficient threshold. The optional step 600 may be performed after step 200 of the method in Figure 1. It may be performed simultaneously with at least one of steps 300-500. The optional step 700 may be performed simultaneously with at least one of steps 300-500.

[0099] As shown in Figure 9, the method in Figure 1 is optional and may include in step 800 determining whether the other agent is aware of the local agent based on the estimated line of sight of the other agent and the local agent's position. The method is optional and may include in step 900 following step 800 notifying the local agent to use visual notification to notify the other agent if the other agent is aware of the local agent, and acoustic notification to notify the other agent otherwise, and controlling the local agent to use visual notification to notify the other agent if the other agent is aware of the local agent, and acoustic notification to notify the other agent otherwise. The optional step 800 may be performed after step 100 of the method in Figure 1. It may be performed simultaneously with at least one of steps 200 to 500. The optional step 900 may be performed simultaneously with at least one of steps 200 to 500.

[0100] Figure 10 shows an example of an implementation of two steps of the method according to one embodiment. Thus, Figure 10 shows an example of an implementation of the method of Figure 1, and therefore an example of an implementation of the method of the first embodiment. In detail, Figure 10 shows an example of an implementation of steps 100 and 400 of the method of Figure 1.

[0101] As shown in Figure 10, step 100, which estimates the visibility area of ​​other agents, may include step 107, which determines the blind spots of other agents using the shape of those agents. Step 400, which plans the behavior by minimizing the total cost of the behavior of the own agent, may include step 401, which uses a cost function that penalizes the position of the own agent in a blind spot.

[0102] The features of arbitrary selection shown in Figures 2 to 10 may be combined with each other and with the steps of the method in Figure 1 in any way.

[0103] Figure 11 shows a support system according to one embodiment. This support system is an example of a support system according to the fourth embodiment. The description of the support system according to the fourth embodiment is valid in correspondence with the support system in Figure 11.

[0104] As shown in Figure 11, support system 3 is a support system for assisting agent 1. System 3 comprises a processor 4. Processor 4 is configured to estimate the visibility area of ​​other agents present in the agent's environment. Processor 4 is configured to use the estimated visibility area of ​​other agents to calculate the visibility status of other agents with respect to agent 1. Processor 4 is configured to use the calculated visibility status of other agents to estimate the collision risk between agent 1 and other agents. Processor 4 is configured to plan the agent's behavior by minimizing the total cost of the agent's behavior, the total cost including the estimated collision risk. Processor 4 is configured to notify agent 1 of the estimated collision risk and / or the agent's planned behavior, to output a warning that other agents do not recognize agent 1 depending on the estimated collision risk, and to control agent 1 using the estimated collision risk and / or the agent's planned behavior.

[0105] Figures 12(A) and 12(B) each show examples of use cases using implementations of the method according to one embodiment. Therefore, Figures 12(A) and 12(B) each show examples of implementations of the method of Figure 1, and thus examples of use cases using implementations of the method according to the first embodiment.

[0106] In the examples in Figures 12(A) and 12(B), it is assumed that Agent 1 and Agent 2, which are present in Agent 1's environment, are each cars driven by a person. The following explanation is also valid when Agent 1 and / or Agent 2 are different types of vehicles. Figures 12(A) and 12(B) show the view area 1a of Agent 1 and the view area 2a of Agent 2. Since it is assumed that Agent 1 and Agent 2 are each cars driven by a person, the view areas and viewing states of Agent 1 and Agent 2 are the view areas and viewing states of the respective people driving Agent 1 or Agent 2. According to the examples in Figures 12(A) and 12(B), it is assumed that Agent 1 and Agent 2 are driving in adjacent lanes on the road, and Agent 2 is traveling ahead of Agent 1 in the direction of travel.

[0107] As shown in Figures 12(A) and 12(B), Agent 2 may transmit its own visibility status (i.e., Agent 2's visibility status) to Agent 1 (indicated by dashed arrows). That is, Agent 2 may be configured to estimate its own visibility area 2a (i.e., Agent 2's visibility area 2a) and use its own visibility area to calculate its own visibility status with respect to Agent 1 (i.e., Agent 2's visibility status). For this purpose, one or more cameras facing the face of the person driving Agent 2 may be installed on Agent 2. Agent 1 and Agent 2 may each be equipped with communication devices for communicating with each other.

[0108] In the examples in Figures 12(A) and 12(B), it is assumed that the driver of Agent 1 looks in the direction of Agent 2 and therefore recognizes Agent 2. This is shown by the fact that the field of view area 1a of Agent 1 includes Agent 2. In the example in Figure 12(A), it is assumed that the driver of Agent 2 looks in the direction of Agent 1, for example, because they want to change lanes and therefore look behind them, and therefore recognizes Agent 1. This is shown by the fact that the field of view area 2a of Agent 2 includes Agent 1, as shown in Figure 12(A). In the example in Figure 12(B), it is assumed that the driver of Agent 2 does not look in the direction of Agent 1 and therefore does not recognize Agent 1. This is shown by the fact that the field of view area 2a of Agent 2 does not include Agent 1, as shown in Figure 12(B).

[0109] Agent 1 may use the received visibility status of Agent 2 to perform steps 300 and 400 of the method in Figure 1. Additionally or alternatively, the visibility status of Agent 2 may be transmitted to an autonomous system that can perform steps 300 and 400 of the method in Figure 1. In the example in Figure 12(A), the calculated visibility status indicates that the driver of Agent 2 is aware of Agent 1, so the collision risk between Agent 1 and Agent 2 is smaller than in the example in Figure 12(B), where the calculated visibility status indicates that the driver of Agent 2 is not aware of Agent 1. The estimated collision risk may depend on one or more further criteria. For example, if Agent 1 is driving at a higher speed and Agent 2 is planning to change into Agent 1's lane, the collision risk between Agent 1 and Agent 2 will be higher than if Agent 1 is driving at a lower speed.

[0110] As shown in Figure 12(B), depending on the estimated collision risk, a warning may be issued to the driver of vehicle 1 indicating that agent 2 does not recognize agent 1. In the example in Figure 12(A), the driver of agent 2 recognizes agent 1, so such a warning does not need to be issued.

[0111] Agent 1 and Agent 2 may be configured to perform any combination of the features shown in Figures 1 to 10. For further details regarding the optional features, such as possible method steps and implementation features of Agent 1 and Agent 2, please refer to the description of the method according to the first embodiment.

[0112] Figures 13(A) and 13(B) each illustrate use cases using an example implementation of one step of the method according to one embodiment. Thus, Figures 13(A) and 13(B) each illustrate use cases using an example implementation of the method of Figure 1, and therefore an example implementation of the method of the first embodiment.

[0113] In the examples in Figures 13(A) and 13(B), it is assumed that Agent 1 is an autonomous (AD) vehicle, and Agent 2, which is present in Agent 1's environment, is a human-driven vehicle. The following explanation is also valid when Agent 1 and / or Agent 2 are different types of vehicles. Figures 13(A) and 13(B) show the view area 1a of Agent 1 and the view area 2a of Agent 2. Since Agent 1 is assumed to be an AD vehicle, the view area of ​​Agent 1 is the view area provided by one or more sensors of the AD vehicle to provide a visual perception of the AD vehicle's environment to the AD vehicle's control entity. The control entity may comprise one or more control devices mounted on the AD vehicle and / or one or more external control devices, such as an autonomous system. Since Agent 2 is assumed to be a human-driven vehicle, the view area and view state of Agent 2 are the view area and view state of the person driving Agent 2.

[0114] In the example shown in Figures 13(A) and 13(B), it is assumed that Agent 1 and Agent 2 are in adjacent lanes of the road, Agent 2 is ahead of Agent 1 in the direction of movement, and Agent 2 cannot move forward due to a parked vehicle 5.

[0115] Agent 2 may transmit its own visibility status (i.e., Agent 2's visibility status) to Agent 1. That is, Agent 2 may be configured to estimate its own visibility area 2a (i.e., Agent 2's visibility area 2a) and use its own visibility area to calculate its own visibility status (i.e., Agent 2's visibility status) with respect to Agent 1. For this purpose, one or more cameras facing the face of the person driving Agent 2 may be installed on Agent 2. Agent 1 and Agent 2 may each be equipped with communication devices for communicating with each other.

[0116] In the examples of Figures 13(A) and 13(B), it is assumed that one or more sensors in the AD system of Agent 1 perceive Agent 2, and therefore Agent 1's AD system recognizes Agent 2. This is indicated by the fact that the field of view area 1a of Agent 1 at least partially encompasses Agent 2. In the example of Figure 13(A), it is assumed that the driver of Agent 2 does not look in the direction of Agent 1, and therefore does not recognize Agent 1. This is indicated by the field of view area 2a of Agent 2, which does not encompass Agent 1, as shown in Figure 13(A). In the example of Figure 13(B), it is assumed that the driver of Agent 2 looks in the direction of Agent 1, and therefore recognizes Agent 1, because, for example, they want to change lanes and therefore look behind them. This is indicated by the fact that the field of view area 2a of Agent 2 at least partially encompasses Agent 1, as shown in Figure 13(B).

[0117] Agent 1, i.e., its AD system, may use the received visibility status of Agent 2 to perform steps 300 and 400 of the method in Figure 1. In the example in Figure 13(B), the calculated visibility status indicates that the driver of Agent 2 is aware of Agent 1, so the risk of collision between Agent 1 and Agent 2 is smaller than in the example in Figure 13(A), where the calculated visibility status indicates that the driver of Agent 2 is not aware of Agent 1.

[0118] By sharing the visibility status of Agent 2 with Agent 1, the AD function of Agent 1 can be improved. Specifically, Agent 1's AD system can use this information—whether or not Agent 2 is aware of Agent 1—to inform the driver of Agent 2 that Agent 2 may go first and change lanes into Agent 1's lane to avoid a parked vehicle 5. For example, in the example in Figure 13(A), the visibility status of Agent 2 indicates that the driver of Agent 2 is not looking in Agent 1's direction and therefore does not recognize Agent 1. In this case, the AD system may use an audible notification, such as a horn, to inform the driver of Agent 2 that it may go first and change lanes. In the example in Figure 13(B), the visibility status of Agent 2 indicates that the driver of Agent 2 is aware of Agent 1. In this case, the AD system may use a visual signal, such as the car's headlights, to inform the driver of Agent 2 that it may go first and change lanes.

[0119] The notification behavior described above can be achieved by controlling the behavior using a cost function and minimizing the cost function, where the visibility status of other agent 2 indicates that the driver of other agent 2 is aware of agent 1, and the behavior cost of using the headlight signal is small (cost headlight→0) If the visibility status of Agent 2 indicates that the driver of Agent 2 does not recognize Agent 1, the behavioral cost of using the horn signal is small (cost honk →0).

[0120] Agent 1 and Agent 2 may be configured to perform any combination of the features shown in Figures 1 to 10. For further details regarding the optional features, such as possible method steps and implementation features of Agent 1 and Agent 2, please refer to the description of the method according to the first embodiment.

[0121] Figures 14(A), 14(B), and 14(C) each show use cases using an example implementation of the method according to one embodiment. Therefore, Figures 14(A), 14(B), and 14(C) each show use cases using an example implementation of the method of Figure 1, and thus an example implementation of the method of the first embodiment. Agent 1 and Agent 2 may correspond to Agent 1 and Agent 2 in Figures 12(A) and 12(B). Therefore, the explanation of Figures 12(A) and 12(B) may be valid for Agent 1 and Agent 2 in Figures 14(A), 14(B), and 14(C), and the following will mainly explain the features of optional selection.

[0122] Agent 1 may estimate the blind spot area of ​​Agent 2 by using the shape of Agent 2 to determine Agent 2's blind spot area 6. Agent 1 may plan its own behavior (i.e., its own behavior) by performing step 400 of the method in Figure 1. To perform step 400 in Figure 1, Agent 1 may use a cost function that penalizes Agent 1's position within Agent 2's blind spot area 6. For example, Agent 1 may use an additional zone risk in the cost function of its behavior planner that penalizes Agent 1's position within Agent 2's blind spot area 6. Thus, the behavior planner for Vehicle 1 may be configured to plan the behavior of Vehicle 1 so that its position within Agent 2's blind spot area 6 is avoided. For example, the cost R of a particular trajectory along which Vehicle 1 moves. zone (trajectory) is the position of the vehicle 1 moving along the aforementioned trajectory pos ego (trajectory) may be 1 when it is within blind spot area 6, and zero otherwise. This can be formulated as follows:

[0123]

number

[0124] In the use cases shown in Figures 14(A), 14(B), and 14(C), the visibility status of Agent 2 is not necessarily sent from Agent 2. The visibility status of Agent 2 may be derived by Agent 1 based on the shape of Agent 2.

[0125] Therefore, in the example of Figure 14(A), since Agent 1 is in the blind spot area 6 of Agent 2, the driver of Agent 1 may be notified of this and asked to accelerate in order to move Agent 1 out of the blind spot area 6 of Agent 2, or Agent 1 may be controlled to autonomously accelerate in order to move out of the blind spot area 6 of Agent 2. In the example of Figure 14(B), since Agent 1 is outside the blind spot area 6 of Agent 2, the driver of Agent 1 may be notified of this and asked to drive Agent 1 at a constant speed in order to remain outside the blind spot area 6 of Agent 2, or Agent 1 may be controlled to autonomously move at a constant speed in order to remain outside the blind spot area 6 of Agent 2. In the example in Figure 14(C), since Agent 1 plans to travel through Agent 2's blind spot area 6 (indicated by the arrow), the driver of Agent 1 may be notified of this and asked to quickly overtake Agent 2 so as to minimize the time spent in Agent 2's blind spot area 6, or Agent 1 may be controlled to quickly overtake Agent 2 so as to minimize the time spent in Agent 2's blind spot area 6.

[0126] Agent 1 and Agent 2 may be configured to perform any combination of the features shown in Figures 1 to 10. For further details regarding the optional features, such as possible method steps and implementation features of Agent 1 and Agent 2, please refer to the description of the method according to the first embodiment.

[0127] For further details regarding the support system shown in Figure 11 and how it is used in any of the use cases shown in Figures 12(A), 12(B), 13(A), 13(B), 14(A), 14(B), and 14(C), please refer to the description of the method relating to the first embodiment and the description of the previous figures.

[0128] All steps performed by the various entities described in this disclosure and functions described as being performed by the various entities are intended to mean that each entity is adapted or configured to perform its respective step and function. In the claims and detailed description, the word "~ comprising" does not preclude the presence of other elements or steps.

[0129] The indefinite article "a" or "an" does not exclude the plural. A single element or other unit may perform the functions of several entities or articles described in the claim. The mere fact that different dependent claims describe specific means and features of a computer implementation method for assisting its agent does not preclude that combinations of those means and features cannot be combined as a favorable implementation.

Claims

1. A computer implementation method for supporting its own agent, To estimate the field of view of other agents present within the environment of the aforementioned agent, Using the estimated viewing area of ​​the other agent, the viewing status of the other agent with respect to the self agent is calculated. Estimating the collision risk between the self-agent and the other agent using the calculated visibility status of the other agent, wherein estimating the collision risk between the self-agent and the other agent using the calculated visibility status of the other agent includes at least one of predicting the behavior of the other agent using the calculated visibility status of the other agent, and modifying the collision risk by a risk coefficient calculated using the calculated visibility status of the other agent, Planning the behavior by minimizing the total cost of the aforementioned agent's behavior, wherein the total cost includes the estimated collision risk. To notify the agent of the estimated collision risk and / or the planned behavior of the agent, In accordance with the estimated collision risk, the system outputs a warning that the other agent does not recognize the agent, and Controlling the agent using the estimated collision risk and / or the planned behavior of the agent. A method that includes doing at least one of the following.

2. Estimating the viewing area of ​​the other agent is To estimate the direction of the visual perception of the other agent, Tracking the history of the direction of the other agent's visual perception, The method according to claim 1, comprising generating the viewing area using the tracked history of the direction of visual perception of the other agent.

3. Estimating the viewing area of ​​the other agent is When the other agent is operated by an operator present on the other agent, one or more cameras of the other agent facing the face of the operator, When the other agent is operated by an operator present on the other agent, one or more sensors on the other agent sense whether the operator of the other agent is aware of or has received a warning about the agent itself. One or more sensors of the aforementioned other agent that sense the environment of the other agent, One or more cameras installed within the environment of the aforementioned other agent, and When the other agent is operated by an operator present on the other agent, one or more cameras of the agent facing the face of the operator of the other agent The method according to claim 1, comprising using at least one of the data.

4. Estimating the viewing area of ​​the other agent is Applying ray projection from the position of the other agent, The method according to claim 1, comprising reducing the visibility area of ​​the other agent in accordance with the area obstructed by an object in the environment of the other agent.

5. Estimating the viewing area of ​​the other agent is The method according to claim 1, comprising setting the viewing area to zero square meters when the other agent is operated by a person or is a person and that person is looking at a portable device or speaking to at least one other person.

6. The method described above is To estimate the visibility area of ​​the aforementioned agent, Using the estimated viewing area of ​​the agent itself, the agent's viewing status with respect to the other agent is calculated. The method according to claim 1, comprising estimating the collision risk between the self-agent and the other agent using the calculated visibility status of the other agent and the calculated visibility status of the self-agent.

7. The aforementioned viewing status of the other agent is A Boolean variable indicating whether the position of the self-agent is within the estimated viewing area of ​​the other agent, A distance variable indicating the distance of the self-agent's position to the other agent's viewing area, and A random variable indicating whether the other agent recognizes the self-agent, which depends on the position of the self-agent and the visibility area of ​​the other agent. The method according to claim 1, which may include at least one of the following.

8. Using the estimated viewing area of ​​the other agent, the viewing status of the other agent with respect to the self agent is calculated. Combining the calculated viewing status of the other agent with the confidence value of the estimate, Use at least one of the following: moving average, hysteresis, and outlier correction. The method according to claim 1, comprising at least one of the following.

9. The method described above is The risk coefficient is calculated using the calculated visibility status of the other agent, The method according to claim 1, further comprising: outputting a warning that the other agent does not recognize the self-agent if the estimated collision risk is higher than the collision risk threshold and the calculated risk coefficient is higher than the risk coefficient threshold.

10. The method described above is Based on the estimated viewing area of ​​the other agent and the position of the self-agent, it is determined whether the other agent recognizes the self-agent, Notify the agent to use visual notification to inform the other agent if the other agent recognizes the agent, and to use acoustic notification to inform the other agent otherwise, and Control the local agent to use visual notification to inform the other agent if the other agent recognizes it, and to use acoustic notification to inform the other agent otherwise. The method according to claim 1, comprising performing at least one of the following.

11. Estimating the field of view of the other agent includes determining the blind spot area of ​​the other agent using the shape of the other agent. The method according to claim 1, wherein planning the behavior by minimizing the total cost of the behavior of the self-agent includes using a cost function that penalizes the position of the self-agent in the blind spot area.

12. The method according to claim 1, wherein the notification to the agent and / or the output of the warning are performed using a human-machine interface (HMI).

13. The method according to claim 1, wherein notification to the agent and / or outputting the warning may be performed in at least one of visual, acoustic, and tactile ways.

14. The method according to claim 1, wherein the warning may be made such that the modality of the warning and / or the intensity of the warning notification depend on the estimated collision risk.

15. A program comprising program code means for performing a method for assisting its agent when executed on a computer or digital signal processor, wherein the method is To estimate the field of view of other agents present within the environment of the aforementioned agent, Using the estimated viewing area of ​​the other agent, the viewing status of the other agent with respect to the self agent is calculated. Estimating the collision risk between the self-agent and the other agent using the calculated visibility status of the other agent, wherein estimating the collision risk between the self-agent and the other agent using the calculated visibility status of the other agent includes at least one of predicting the behavior of the other agent using the calculated visibility status of the other agent, and modifying the collision risk by a risk coefficient calculated using the calculated visibility status of the other agent, Planning the behavior by minimizing the total cost of the aforementioned agent's behavior, wherein the total cost includes the estimated collision risk. To notify the agent of the estimated collision risk and / or the planned behavior of the agent, In accordance with the estimated collision risk, the system outputs a warning that the other agent does not recognize the agent, and Controlling the agent using the estimated collision risk and / or the planned behavior of the agent. A program that includes performing at least one of the following:

16. A non-temporary computer-readable storage medium that embodies a program of machine-readable instructions executable by a digital processing device, wherein the instructions are transmitted to the digital processing device. To estimate the line of sight area of ​​other agents within the environment of one's own agent, Using the estimated viewing area of ​​the other agent, the viewing status of the other agent with respect to the self agent is calculated. Estimating the collision risk between the self-agent and the other agent using the calculated visibility status of the other agent, wherein estimating the collision risk between the self-agent and the other agent using the calculated visibility status of the other agent includes at least one of predicting the behavior of the other agent using the calculated visibility status of the other agent, and modifying the collision risk by a risk coefficient calculated using the calculated visibility status of the other agent, Planning the behavior by minimizing the total cost of the aforementioned agent's behavior, wherein the total cost includes the estimated collision risk. To notify the agent of the estimated collision risk and / or the planned behavior of the agent, In accordance with the estimated collision risk, the system outputs a warning that the other agent does not recognize the agent, and Controlling the agent using the estimated collision risk and / or the planned behavior of the agent. Do at least one of the following, A non-temporary computer-readable storage medium that enables the following.

17. A support system for assisting its own agent, wherein the system is To estimate the field of view of other agents present within the environment of the aforementioned agent, Using the estimated viewing area of ​​the other agent, the viewing status of the other agent with respect to the self agent is calculated. Estimating the collision risk between the self-agent and the other agent using the calculated visibility status of the other agent, wherein estimating the collision risk between the self-agent and the other agent using the calculated visibility status of the other agent includes at least one of predicting the behavior of the other agent using the calculated visibility status of the other agent, and modifying the collision risk by a risk coefficient calculated using the calculated visibility status of the other agent, Planning the behavior by minimizing the total cost of the aforementioned agent's behavior, wherein the total cost includes the estimated collision risk. To notify the agent of the estimated collision risk and / or the planned behavior of the agent, In accordance with the estimated collision risk, the system outputs a warning that the other agent does not recognize the agent, and Controlling the agent using the estimated collision risk and / or the planned behavior of the agent. Do at least one of the following, A support system equipped with a processor configured to perform the following tasks.

18. The support system according to claim 17, wherein the support system is configured to support the operator of the agent when the agent is a vehicle operated by the operator.

19. A vehicle comprising the support system described in claim 17.

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