Method for providing an object prediction representation
First Claim
1. A method for establishing an object prediction representation, the method comprising:
- establishing a host vehicle in a longitudinal-lateral coordinate system at a starting time, the host vehicle being represented by at least one reference point in the longitudinal-lateral coordinate system;
detecting an object, and establishing the object in the longitudinal-lateral coordinate system at the starting time, the object being represented by a plurality of object reference points along a perimeter of the object, wherein movement of the object is determined;
simulating movement of the host vehicle and the object in the longitudinal-lateral coordinate system based on respective initial positions of the host vehicle and the object at the starting time and a movement of the host vehicle and the movement of the object determined, wherein points in time when the at least one reference point of the host vehicle and an object reference point of the plurality of object reference points have a same longitudinal position are detected, and wherein for each detected point in time an associated lateral position of the object reference point at the detected point in time is detected; and
establishing the object prediction representation in a time-lateral domain based on the detected points in time and the associated lateral positions.
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Accused Products
Abstract
A method is for providing an object prediction representation. In an embodiment, the method includes simulating movement of a host vehicle and an object in a longitudinal-lateral coordinate system based on their initial positions at the starting time and a movement of the host vehicle and determined movement of the object. Points in time when at least one reference point of the host vehicle and an object reference point of a plurality of object reference points have the same longitudinal position are detected. Further, for each detected point in time, an associated lateral position of the object reference point at the detected point in time is detected.
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Citations
19 Claims
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1. A method for establishing an object prediction representation, the method comprising:
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establishing a host vehicle in a longitudinal-lateral coordinate system at a starting time, the host vehicle being represented by at least one reference point in the longitudinal-lateral coordinate system; detecting an object, and establishing the object in the longitudinal-lateral coordinate system at the starting time, the object being represented by a plurality of object reference points along a perimeter of the object, wherein movement of the object is determined; simulating movement of the host vehicle and the object in the longitudinal-lateral coordinate system based on respective initial positions of the host vehicle and the object at the starting time and a movement of the host vehicle and the movement of the object determined, wherein points in time when the at least one reference point of the host vehicle and an object reference point of the plurality of object reference points have a same longitudinal position are detected, and wherein for each detected point in time an associated lateral position of the object reference point at the detected point in time is detected; and establishing the object prediction representation in a time-lateral domain based on the detected points in time and the associated lateral positions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A non-transitory computer readable medium, including code which, when executed by a processor or an electronic control unit, is configured to perform at least the following:
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establishing a host vehicle in a longitudinal-lateral coordinate system at a starting time, the host vehicle being represented by at least one reference point in the longitudinal-lateral coordinate system; detecting an object, and establishing the object in the longitudinal-lateral coordinate system at the starting time, the object being represented by a plurality of object reference points along a perimeter of the object, wherein movement of the object is determined; simulating movement of the host vehicle and the object in the longitudinal-lateral coordinate system based on respective initial positions of the host vehicle and the object at the starting time and a movement of the host vehicle and the movement of the object determined, wherein points in time when the at least one reference point of the host vehicle and an object reference point of the plurality of object reference points have a same longitudinal position are detected, and wherein for each detected point in time an associated lateral position of the object reference point at the detected point in time is detected; and establishing an object prediction representation in a time-lateral domain based on the detected points in time and the associated lateral positions. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A vehicle, comprising:
an electronic control unit configured to establish the vehicle in a longitudinal-lateral coordinate system at a starting time, the vehicle being represented by at least one reference point in the longitudinal-lateral coordinate system; detect an object, and establishing the object in the longitudinal-lateral coordinate system at the starting time, the object being represented by a plurality of object reference points along a perimeter of the object, wherein movement of the object is determined; simulate movement of the vehicle and the object in the longitudinal-lateral coordinate system based on respective initial positions of the vehicle and the object at the starting time and a movement of the vehicle and the movement of the object determined, wherein points in time when the at least one reference point of the vehicle and an object reference point of the plurality of object reference points have the same longitudinal position are detected, and wherein for each detected point in time an associated lateral position of the object reference point at the detected point in time is detected; and establish an object prediction representation in a time-lateral domain based on the detected points in time and the associated lateral positions. - View Dependent Claims (16, 17, 18, 19)
Specification