A method for calculating a path that allows a vehicle to travel along a track without collisions, a control device, a vehicle, and a 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 travels without colliding with a travel track. The present invention also relates to a control device, a vehicle, and a computer program.

Background Art

[0002] Partially automated driving operations or fully automated driving operations are usually executed along a planned travel track. This travel track is usually calculated before the start of the driving operation and describes the movement path along which the vehicle is or is supposed to be traveling during the execution of the driving operation.

[0003] Various geometric descriptions can be used for the travel track of a vehicle that describes the movement of the vehicle between two points. In this case, the travel track can be composed of, for example, an arc portion having a certain radius and / or a straight portion having no curvature. In order to improve driving comfort, a travel track including a portion having a continuously changing curvature can also be used.

[0004] Calculating a travel track from a clothoid is described in, for example, Patent Document 1. Here, each clothoid has a continuous curvature transition. In order to avoid analytical calculations of the clothoid, the clothoid is determined using a geometric approximation method.

[0005] During the calculation of the travel track, a collision check may be required. By using a collision check, it is possible to determine whether there is a possibility of a collision with an object in the surrounding environment before or even during the movement of the vehicle along the planned travel track. In such a collision check, the planned travel track can be compared with, for example, the objects described in the surrounding environment map and / or the objects captured by the sensors of the vehicle. If it is determined in the collision check that there is a possibility of a collision when the vehicle moves along the travel track, for example, the travel track is at least partially recalculated.

[0006] In addition to determining the likelihood of a collision, it is desirable to calculate how far the vehicle can travel along the planned trajectory without colliding. Furthermore, it is desirable to minimize the computational load on the computing device during such calculations so that the calculations can be performed quickly and, if necessary, repeated at short intervals when moving objects are present in the vehicle's surrounding environment and / or when unknown objects are detected by the vehicle's sensors. [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] German Patent Application Publication No. 102019204651 [Overview of the project] [Problems that the invention aims to solve]

[0008] Therefore, the present invention aims to provide a method for calculating a path along a vehicle's trajectory that avoids collisions, and in particular, an improved method that requires less computation. [Means for solving the problem]

[0009] To achieve this objective, the method for calculating a path that a vehicle will take without colliding with its trajectory is: - A step of supplying a travel trajectory and object information, wherein the object information describes the position of at least one object that collides with the vehicle or a part of the vehicle as the vehicle moves along the travel trajectory. - A step of calculating the position and arrangement of multiple contour information that each describes the contour of a vehicle or vehicle part with respect to different locations of the vehicle or vehicle part along the track, - A step of calculating contour information of an object that will collide with another object, and contour information of an object that will not collide with another object, located closer to the starting point of the travel trajectory. - A step of dividing the region between non-collision contour information and collision contour information into multiple cells, each assigned to a contour portion of the contour information. - A step of calculating the number of cells that overlap with an object, and the percentage of the movement of the contour portion assigned to the overlapping cells that does not result in a collision. - A step of determining the collision location on the travel trajectory based on the percentage of collisions, -The system is configured to include a step of calculating a collision-free movement for the vehicle based on the collision location.

[0010] The travel path can be calculated, for example, by a track planning function performed by a track planning unit or a control unit, and can be supplied, for example, to a method for calculating a collision-free travel path performed by the same control unit or a further control unit. Here, the travel path can describe a specific driving operation, such as a parking operation such as entering or exiting a parking space. In principle, the method according to the present invention can be used for all types of travel paths, or for all driving operations described by a travel path.

[0011] In addition to the travel trajectory, object information is also provided that describes the position of at least one object that collides with the vehicle or a part of the vehicle as it moves along the travel trajectory. Here, the object information can describe the object in particular relative to the travel trajectory and / or with respect to the coordinate system used to describe the travel 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 travel track and a travel zone, the travel zone at least approximately describing the area swept when the vehicle travels along the travel track.

[0013] The object's position and / or geometric extent can be compared to a travel lane or an area swept as the vehicle moves along its trajectory. If the travel lane overlaps with an object described in the map information, then the presence of a colliding object can be estimated. Object information can then be created based on the objects in the map information, and this object information includes objects based on the map information that the vehicle will collide with or will collide with during its movement along the trajectory. Besides using the travel lane to calculate colliding objects, other methods are possible for determining potential collisions between objects and vehicles as they move along the trajectory.

[0014] To determine how far a vehicle or part of a vehicle can travel along its trajectory before colliding with an object, the positions and arrangements of multiple contour pieces, each describing the contour of the vehicle or part of the vehicle, are determined for various positions along the trajectory. The positions for which each contour piece is determined can be calculated, for example, based on a defined absolute distance interval along the trajectory and / or based on a defined relative distance with respect to the total length of the trajectory.

[0015] Here, the contour information can reflect the actual vehicle geometry, or it can describe a simplified shape and / or a shape that merely approximates the actual shape of the vehicle contour. Furthermore, the contour information can be slightly enlarged relative to the actual vehicle contour to achieve additional safety distances.

[0016] Furthermore, in the case of a vehicle part, the contour information can describe the actual geometric shape or a simplified geometric shape of the vehicle part. According to the present invention, the vehicle part may be a vehicle part that can move relative to the vehicle body, in particular, the vehicle's wheels. For example, a rectangle can be used as the contour information for a wheel. In addition to wheels, by using the method according to the present invention, collisions of further vehicle parts, such as collisions of movable superstructures of the vehicle body, such as crane jibs and bucket arms, can also be considered.

[0017] Next, the contour information that collides with the object is calculated from multiple contour information sources. For example, if the vehicle contour and object contour are mapped onto the same map, the contour information that collides with the object can be calculated based on the overlap between the vehicle contour and the object contour described by the contour information, or it can be calculated by comparing the mathematical descriptions of the vehicle contour or contour information with the object contour in a common coordinate system.

[0018] Furthermore, additional contour information that avoids collisions with objects, and additional contour information located closer to the starting point of the travel trajectory are calculated. Here, the positions assigned to the additional contour information along the travel trajectory correspond, in particular, to positions where the vehicle can approach an object from the starting point of the travel trajectory without colliding with it.

[0019] Next, the region between the non-collision contour information and the collision contour information is divided into multiple cells, each assigned to a contour portion or edge of the contour information. Thus, each cell describes the region extending between the contour portion of the vehicle position assigned to the non-collision contour information and the vehicle position assigned to the collision contour information. Here, the shape of the cell may depend on the geometry of the vehicle contour described by the contour information, in particular the geometry of the contour portion. Each contour portion may be, in particular, a straight edge or a curved edge of the vehicle contour described by the contour information.

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

[0021] Thereafter, the non-colliding portions are used to calculate the collision position on the travel trajectory. In other words, the non-colliding portions represent a measure regarding the non-colliding portions in the vehicle movement from the vehicle position assigned to the non-colliding contour information to the vehicle position assigned to the colliding contour information, and this measure can be diverted to, for example, the travel trajectory.

[0022] Next, based on the collision position, it is possible to calculate the movement of the vehicle along the travel trajectory without collision. Thereafter, based on the calculated non-colliding movement, at least one actuator of the vehicle, for example, a lateral guide actuator and / or a longitudinal guide actuator, can be controlled. In this way, the vehicle can be driven, for example, by a partial automatic driving operation or a full automatic driving operation, particularly by a partial automatic parking operation or a full automatic parking operation.

[0023] In addition to or alternatively to controlling at least one actuator, the display device of the vehicle can also be controlled based on the calculated non-colliding movement, and this display device presents the non-colliding movement and / or information derived from the non-colliding movement to the user of the vehicle.

[0024] This method can be executed particularly by a control device or a computing device. The control device can particularly be the control device of the vehicle. Also, a control device external to the vehicle can be used, and in this case, this external control device is particularly communicably connected to the vehicle for data transmission.

[0025] By taking into account non-collision contour information and collision contour information, and by calculating the non-collision portion in the movement assigned to the contour portion of the vehicle contour described by the contour information, the amount of computation required to calculate a collision-free route can be reduced. In particular, for travel trajectories that use relatively complex mathematical descriptions, the calculation of a collision-free route along the travel trajectory can be divided into multiple geometrically simple substeps, each of which can be calculated at low cost. In this way, advantageously, the amount of computation required in a computer configured to carry out the method according to the present invention is reduced, thereby advantageously allowing the method to be carried out on a computer with relatively low overall computing power.

[0026] Calculating a collision-free path along a travel track has the added advantage of simplifying vehicle operation along the track, for example, in the case of a travel track assigned to a parking operation, such as an entry or exit process. The vehicle's maneuvering or steering is significantly reduced by relying on the calculated collision point, or a collision-free path until reaching the collision point, because replanning of the travel track or section of the travel track is only necessary at least from the collision point onward, based on the already calculated travel track.

[0027] The calculated travel trajectory that results in a collision with an object can be advantageously used to consider collision-free movement, thereby enabling the necessary replanning of the travel trajectory at least from the point of collision onward while the vehicle is moving along a collision-free path. This contributes to faster execution of driving operations, which are performed partially or fully automatically depending on the travel trajectory.

[0028] According to the present invention, a trajectory is used in which the curvature has a constant sign and / or changes at least partially continuously, and / or a clothoid curve or a polynomial is used as the trajectory. In particular, for trajectories in which the curvature has a constant sign and / or changes at least partially continuously, a polynomial or a clothoid curve provides a suitable mathematical description.

[0029] According to the present invention, the track portion of the entire track that describes driving operations, in particular parking operations, can be used as the driving track. Here, the entire track can be divided into individual track portions, each of which has, in particular, a curvature with a constant sign and / or a curvature that changes at least partially continuously. These track portions can then each be used as a driving track in the sense of the present invention, that is, for each individual track portion, a collision-free path can be calculated.

[0030] According to the present invention, when there are multiple contour pieces of information that collide with an object, the contour piece of information that collides with the object located closest to the starting point of the travel trajectory is calculated as the collision contour piece. Here, the closest object may be, in particular, the object located closest with respect to the direction of movement of the vehicle along the travel trajectory, that is, the object that the vehicle first approaches or first collides with as it moves along the travel trajectory.

[0031] In a preferred embodiment of the present invention, the contour information can be configured to use polygons, particularly convex polygons, and / or to use the edges of the contour information as contour portions. Here, a convex polygon is a polygon having only outward-facing angles. By describing each contour information as a polygon, particularly a convex polygon, the collision or overlap of the contour information with the colliding object described in the object information can be easily calculated. One or more contour information can be used, each being a first polygon or a second polygon determined to calculate the running strip.

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

[0033] In a preferred embodiment of the present invention, the system can be configured to calculate collision-free movement from the collision point to an endpoint located a safe distance away. By taking the safe distance into account when calculating collision-free movement, it is possible to prevent collisions with objects during actual vehicle movement caused by inaccuracies in determining the vehicle's position and / or inaccuracies in describing objects in the object information.

[0034] The control device according to the present invention is configured to perform the method according to the present invention.

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

[0036] The computer program according to the present invention includes instructions that cause a control device to execute the method according to the present invention.

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

[0038] Further advantages and details of the present invention will become apparent from the drawings described below. These are schematic diagrams and show the following: [Brief explanation of the drawing]

[0039] [Figure 1] Figure 1 shows an example of an embodiment of a vehicle according to the present invention. [Figure 2] Figure 2 shows a flowchart of an example embodiment of the method for calculating a path that travels along a trajectory without collision according to the present invention. [Figure 3] Figure 3 is a diagram illustrating contour information that collides with an object and contour information that does not collide with an object, illustrating an example of an embodiment of the method according to the present invention. [Figure 4] Figure 4 shows the calculation of the percentage of contour movement in an assigned cell that does not collide, illustrating an example of an embodiment of the method according to the present invention. [Modes for carrying out the invention]

[0040] Figure 1 shows an example of a vehicle 1 embodiment. Vehicle 1 comprises a control device 2, a plurality of environmental sensors 3, and at least one actuator 4. Each of the environmental sensors 3 can 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 vehicle 1. The environmental sensors 3 and the at least one actuator 4 are communicated with the control device 2, but for clarity, the corresponding connections are not shown.

[0041] The control device 2 is configured to perform a method for calculating a path that the vehicle 1 will take along the travel trajectory without colliding with any objects. Figure 2 shows a flowchart 5 of an example embodiment of such a method. This exemplary embodiment will be described below with reference to Figures 3 and 4.

[0042] In step S1 of this method, a travel trajectory 6 and object information, as illustrated in Figure 3, are provided. The object information describes the positions of objects 7 that the vehicle 1 will collide with as it moves along the travel trajectory 6, relative to the travel trajectory 6, in order to calculate a collision-free path. The travel trajectory 6 may, in particular, have a curvature with a constant sign that changes at least partially continuously. The travel trajectory 6 can be described, for example, by a clothoid curve or a polynomial.

[0043] As the driving track 6, the track portion of the entire driving track that describes the driving operation, in particular the parking operation, can be used. In other words, the entire driving track assigned to the driving operation can be divided into multiple track portions, each representing a driving track 6, and accordingly, a method is performed to calculate a collision-free path for one or more of the track portions or driving tracks 6.

[0044] Object information describing a collision between object 7 and vehicle 1 as vehicle 1 moves along a planned track 6 can be calculated, for example, based on map information describing one or more objects 7 in the surrounding environment of the track 6 and a travel zone. Here, the travel zone can at least approximately describe the area swept by vehicle 1 as it travels along the track 6. If object 7 overlaps with the travel zone, for example, if they are mapped to a common coordinate system or if corresponding geometric calculations are performed, a collision can be detected. Here, collision detection can also be performed using a control device 2 in particular. Alternatively, collision detection can also be performed using a further computing device that transmits object information and / or map information to vehicle 1.

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

[0046] Next, in step S2, the positions and arrangements of multiple contour information pieces 8 and 9 are calculated for different positions 10 and 11 of the vehicle 1 along the travel track 6. Here, contour information 8 is assigned to the first position 10 of the vehicle 1 on the travel track 6, and contour information 9 is assigned to the second position 11 of the vehicle 1 on the travel track 6, with positions 10 and 11 relating, for example, to the rear axle center 12 of the vehicle 1. In this case, the first position is located closer to the starting point 20 of the travel track 6 than the second position 11. The respective positions and arrangements of contour information pieces 8 and 9 correspond to the position and orientation of the vehicle 1 at positions 10 and 11 when traveling along the travel track 6. In this way, each contour information piece represents a "snapshot" of the vehicle 1 at positions 10 and 11 while moving along the travel track 6.

[0047] Each of the contour information 8 and 9 is a convex polygon, and each of them describes the same geometric shape or defines the same region. Each of the contour information 8 and 9 describes the contour 13 of vehicle 1. In this case, each of the contour information 8 and 9 defines a region larger than the actual contour 13 of the vehicle. In this way, safety distances and, if necessary, the space required for the movement of the steering wheels 14 of vehicle 1 during turns can be taken into consideration.

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

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

[0050] A collision between contour information 9 and object 7 can be determined, for example, by the overlap of contour information 9 and object 7, which is similarly described as a polygon. Also, contour information 8 and object 7 do not overlap and therefore do not collide. If multiple contour information items are expected to collide with object 7, the contour information item that is closest to the starting point 20 of the travel trajectory 6, or the contour information item that is expected to collide with object 7 located closest to the starting point 20, can be selected as the collision contour information 9. Here, the contour information item that is closest to the starting point 20, or the object 7 located closest to the starting point 20, can be selected in particular with respect to the movement of the vehicle along the travel trajectory 6.

[0051] Next, in step S4 of this method, as illustrated in Figure 4, the region between the non-collision contour information 8 and the collision contour information 9 is divided into a plurality of cells 16, 17, and 18, each assigned to the contour portion 15 of the contour information 8 and 9. Figure 4 represents a part of the scene shown in Figure 3, where the contour information 8 and 9 are located close to each other for clarity, and in the scene shown in Figure 4, the first position 10 and the second position 11, which are located close to each other on the travel track 6, are used. Here, the straight edges of the contour information 8 and 9 are used as the contour portion 15, and each cell extends between the corresponding edges of the non-collision contour information 8 and the collision contour information 9.

[0052] Subsequently, in step S5, cells 16 to 18 that overlap with object 7 are calculated. In the example shown in Figure 4, cell 17 overlaps with object 7, so cell 17 is calculated as an overlapping cell. Also, the percentage R of the movement of the contour portion 15 assigned to the overlapping cell 17 that does not collide is determined. Here, the percentage of non-collision paths represents, for example, the percentage of paths that the contour portion 15 can take from the non-collision contour information 8 to the collision contour information 9 without coming into contact with object 7. Here, the non-collision percentage R can be calculated, for example, using the following formula. R = a / (a+b) (1) Here, a represents the length of the non-collision path portion, and b represents the length of the path portion that collides with object 7, since it is already located inside object 7.

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

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

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

[0056] Next, in step S7 of this 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 to an endpoint that is displaced by a safe distance in the direction of the starting point 20 of the travel trajectory 6 from the collision position 19. In this way, if the vehicle 1 moves to this endpoint, a collision between the vehicle 1 and the object 7 can be avoided. The collision-free movement can be performed, for example, by controlling at least one actuator 4 of the vehicle 1 with the control device 2.

[0057] This method for calculating a collision-free path can be performed before vehicle 1 moves along the travel track 6. Furthermore, if additional objects 7 are detected in the environment surrounding vehicle 1 while it is moving along the travel track 6, and these objects are evaluated as potential collision objects based, for example, on comparison with the travel zone, this method can be performed again. This may occur, for example, when moving objects are present in the environment surrounding vehicle 1, and / or when objects could not be detected from the starting point 20 of the travel track 6, for example, due to the presence of shadows and / or other objects.

[0058] Instead of using contour information 8 and 9 to describe the vehicle contour, contour information 8 and 9 describing each vehicle part 21 of vehicle 1 can be used. In this way, collisions with vehicle parts that are movable relative to the body of vehicle 1, such as vehicle part 21 which may be one of the wheels 14 of vehicle 1, can be determined.

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

[0060] Based on the proportion R of vehicle parts 21 movement that does not result in collisions, obtained using this method, the collision location or vehicle position along the travel trajectory 6 where no collision occurs can be estimated, taking into account the relative arrangement of vehicle parts 21 on vehicle 1. While this application relates to the invention described in the claims, it also includes the following other aspects. 1. In a method for calculating a path that a vehicle (1) takes along a track (6) without colliding, - A step of supplying the travel trajectory (6) and object information, wherein the object information describes the position of at least one object (7) that collides with the vehicle (1) or a vehicle part (21) of the vehicle (1) as the vehicle (1) moves along the travel trajectory (6), - A step of calculating the position and arrangement of a plurality of contour information (8,9) that describe the contour of the vehicle (1) or the vehicle part (21) with respect to different positions (10,11) of the vehicle (1) or the vehicle part (21) along the running track (6), - A step of 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), - A step of dividing the region between the non-colliding contour information (8) and the colliding contour information (9) into a plurality of cells (16, 17, 18) each assigned to the contour portion (15) of the contour information (8, 9), - A step of calculating the number of cells (17) that overlap with the object (7), and the percentage (R) of the movement of the contour portion (15) assigned to the overlapping cell (17) that does not collide with the object (7). - A step of determining the collision position (19) on the travel trajectory (6) based on the non-collision ratio (R), and - A method comprising the step of calculating the non-collision movement of the vehicle (1) based on the collision position (19). 2. The method according to claim 1, characterized in that a trajectory (6) having a constant sign of curvature and changing at least partially continuously is used, and / or a clothoid curve or a polynomial is used as the trajectory (6). 3. The method according to 1 or 2 above, characterized in that the track portion of the entire track that describes driving operations, in particular parking operations, is used as the driving track (6). 4. The method according to any one of 1 to 3 above, characterized in that the object information can be calculated based on map information describing one or more objects in the surrounding environment of the travel track (6) and a travel zone, and the travel zone at least approximately describes the area swept when the vehicle (1) travels along the travel track (6). 5. The method according to any one of 1 to 4 above, characterized in that, when there are multiple contour pieces of information (8,9) that collide with an object (7), the contour piece of information (8,9) that collides with the object (7) located closest to the starting point (20) of the travel trajectory (6) is calculated as the collision contour piece (9). 6. The method according to any one of 1 to 5 above, characterized in that a polygon, particularly a convex polygon, is used as contour information (8,9), and / or the edges of the contour information (8,9) are used as contour portions. 7. The method according to any one of 1 to 6 above, characterized in that, if there are multiple objects overlapping with cells (16, 17, 18), at least one additional contour information is calculated, and the at least one additional contour information is located between the initial positions (10, 11) on the travel trajectory (6). 8. The method according to any one of 1 to 7 above, characterized by calculating a movement that does not result in a collision from the collision position (19) to an endpoint that is a safe distance away. 9. The method according to any one of 1 to 8 above, 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 perform any one of the methods described in 1 to 9 above. 11. A vehicle equipped with the control device (2) described in item 10 above. 12. A computer program that includes an instruction to cause the control device (2) to execute one of the methods described in 1 to 9 above.

Claims

1. A method for calculating a path along which a vehicle (1) travels without colliding with a travel track (6), wherein the method is performed by a control device mounted on the vehicle (1) or an external control device that is communicatively connected to the vehicle (1), The aforementioned method, - A step of supplying the travel trajectory (6) and object information, wherein the object information describes the position of at least one object (7) that collides with the vehicle (1) or a vehicle portion (21) of the vehicle (1) as the vehicle (1) moves along the travel trajectory (6), - A step of calculating the position and arrangement of a plurality of contour information (8, 9) that describe the contour of the vehicle (1) or the vehicle part (21) with respect to different positions (10, 11) of the vehicle (1) or the vehicle part (21) along the running track (6), - A step of 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), - A step of dividing the region between the non-colliding contour information (8) and the colliding contour information (9) into a plurality of cells (16, 17, 18) each assigned to a contour portion (15) of the contour information (8, 9), wherein the contour portion (15) is each a straight edge of the contour information (8) and contour information (9), - A step of calculating the number of cells (17) that overlap with the object (7), and the percentage (R) of the movement of the contour portion (15) assigned to the overlapping cell (17) that does not collide with the object (7). - A step of determining the collision position (19) on the travel trajectory (6) based on the non-collision rate (R), and - A step of calculating the non-collision movement of the vehicle (1) based on the collision position (19), A method that includes [a certain feature].

2. The method according to claim 1, characterized in that a trajectory (6) having a constant sign of curvature and changing at least partially continuously is used, and / or a clothoid curve or a polynomial is used as the trajectory (6).

3. The method according to claim 1, characterized in that the entire track portion of the driving track that describes driving operations or parking operations is used as the driving track (6).

4. The method according to claim 1, characterized in that the object information can be calculated based on map information describing one or more objects in the surrounding environment of the travel track (6) and a travel zone, and the travel zone at least approximately describes the area swept when the vehicle (1) travels along the travel track (6).

5. The method according to claim 1, characterized in that, when multiple contour pieces are found to collide with an object (7), the contour piece that collides with the object (7) located closest to the starting point (20) of the travel trajectory (6) is selected as the collision contour piece (9).

6. The method according to claim 1, characterized in that a polygon or a convex polygon is used as contour information (8,9).

7. The method according to claim 1, characterized in that when the contour information (9) collides with two or more objects (7), at least one further contour information is calculated, and the at least one further contour information is determined at a further position on the travel trajectory (6) located between the initial positions (10, 11) of the initially used colliding contour information (9) and non-colliding contour information (8).

8. The method according to claim 1, characterized in that a collision-free movement is calculated from the collision position (19) to the endpoint which is displaced by a safe distance in the direction of the starting point (20) of the travel trajectory (6).

9. The method according to claim 1, characterized in that the vehicle portion (21) is a vehicle portion that can move relative to the body of the vehicle (1), in particular a wheel (14) of the vehicle (1).

10. A computer program that includes an instruction causing a control device (2) to execute the method according to any one of claims 1 to 9.

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