Ego Trajectory Grid Evaluation for Dynamic Collision Checking
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Solution Overview
Problem
Current methods for assessing the criticality of collisions between ego vehicles and their surroundings lack efficiency and reliability, especially in dynamic scenarios, and fail to validate safety-critical driving maneuvers effectively.
Innovation Solution
A device and method that utilize grid evaluation and information processing to assess static and dynamic travel surroundings by creating ego and surroundings grids, determining temporal occupations of grid cells, and comparing them for potential collisions, allowing for rapid and reliable validation of travel trajectories.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If grid evaluation and information processing are used to assess static and dynamic travel surroundings, then collision detection reliability is improved, but computational complexity increases
Solution Approach 1:
The patent divides the travel surroundings into discrete grid cells, creating an ego grid for the vehicle's probable trajectory and a surroundings grid for detected objects. Each grid cell can be independently evaluated for occupation status, transforming a complex continuous space problem into manageable discrete units that improve computational efficiency while maintaining detection reliability
Solution Approach 2:
The patent introduces temporal occupation intervals as an intermediary representation between raw sensor data and collision detection. By representing vehicle and object positions as time-based occupation intervals within grid cells rather than continuous coordinates, the system enables efficient overlap detection while reducing computational complexity of collision assessment
2Measurement precision
If temporal occupation intervals are determined for each grid cell to assess collision risk, then measurement precision is improved, but processing time increases
Solution Approach 1:
The patent determines temporal occupation intervals for all grid cells in advance, before actual collision assessment is needed. By pre-calculating when the vehicle and objects will occupy each grid cell based on their trajectories and speeds, the system prepares collision detection data ahead of time, reducing processing time during critical assessment moments while maintaining high measurement precision
Solution Approach 2:
The patent focuses computational resources on evaluating only those grid cells where temporal occupation intervals overlap between the vehicle and detected objects. Rather than processing all grid cells equally, the system identifies and concentrates analysis on critical overlap regions, reducing overall processing time while maintaining precise collision assessment where it matters most
3Measurement precision
If the system examines each ego grid cell and associated surroundings grid cell for simultaneous occupation, then collision detection accuracy is improved, but device complexity increases
Solution Approach 1:
The patent segments the collision detection task into independent grid cell evaluations. By dividing both the ego vehicle's trajectory space and the surroundings into discrete grid cells with associated temporal occupation intervals, the system can examine each cell pair independently for simultaneous occupation, improving detection accuracy through systematic coverage while managing complexity through modular processing
Solution Approach 2:
The patent creates simplified representations of the vehicle and objects as temporal occupation intervals within grid cells, rather than working with complex raw sensor data and full trajectory models. This copying approach maintains the essential collision detection information while reducing system complexity by using abstracted interval representations instead of detailed continuous models
4Reliability
If minimum braking time is determined based on instantaneous speed to set the time interval, then safety-critical maneuver validation is improved, but computational load increases
Solution Approach 1:
The patent calculates minimum braking time based on instantaneous speed in advance and uses it to define the temporal scope of the evaluation interval. By determining this critical safety parameter beforehand, the system prepares the time boundary for collision assessment ahead of time, enabling efficient validation of safety-critical maneuvers without repeated computational overhead during the actual evaluation
Solution Approach 2:
The patent uses instantaneous speed as a dynamic parameter to determine the evaluation interval duration through minimum braking time calculation. By adapting the time interval parameter based on current vehicle speed conditions, the system optimizes computational load - using shorter intervals at high speeds where braking distance is longer, and appropriate intervals at lower speeds, thereby balancing safety validation with computational efficiency
Data Source
AI summary
A device for protecting a travel trajectory of an ego vehicle. An information evaluation device creates an ego grid for the travel trajectory of the ego vehicle through the travel surroundings so that for each ego grid cell, a temporal occupation of the particular ego grid cell by the ego vehicle, driving along the travel trajectory, is established, and creates a surroundings grid for the travel surroundings so that a temporal occupation of a surroundings grid cell by at least one object that is possibly present is established for each surroundings grid cell. The device includes a grid evaluation device that examines each ego grid cell and the particular associated surroundings grid cell with regard to a simultaneous occupation of the particular ego grid cell by the ego vehicle, driving along the travel trajectory, and of the particular associated surroundings grid cell by the at least one possibly present object.