Method for providing an object prediction representation

• US 10,435,017 B2
• Filed: 05/07/2015
• Issued: 10/08/2019
• Est. Priority Date: 05/08/2014
• Status: Active Grant

• Current Assignee: Volvo Car Corporation (AB Volvo), Volvo Truck Corporation (AB Volvo)
• Original Assignee: Volvo Car Corporation (AB Volvo)
• Inventors: Madas, David, Silvlin, Jonatan, Eidehall, Andreas, Sundstrom, Peter
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Smith-Stewart, Demetra R
• Application Number:
  US15/305,186
• Publication Number:
  US 20170043769A1
• Time in Patent Office: 1,615 Days
• Field of Search: None
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2900/00 Indexing codes relating to the purpose of, or problem solved of road vehicle drive control systems not otherwise provided for in groups B60W30/00
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: G06F 30/20 Design optimisation, verification or simulation optimisation, verification or simulation of circuit designs G06F30/30
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

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.

Claims

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.

2. The method of claim 1, wherein the at least one reference point of the host vehicle comprises a front reference point and a rear reference point along a longitudinal direction of the host vehicle, the front reference point representing the front of the host vehicle and the rear reference point representing the rear of the host vehicle.

3. The method of claim 1, wherein the at least one reference point of the host vehicle comprises a single reference point, and wherein the object prediction representation established is extended based on a length of the host vehicle and the movement of the host vehicle.

4. The method of claim 1, wherein the establishing of the object prediction representation in a time-lateral domain based on the detected points in time and the associated lateral positions includes constructing a convex hull around points, in the time-lateral domain, defined by the detected points in time and the associated lateral positions.

5. The method of claim 1, wherein the plurality of object reference points includes four object reference points, each representing a corner of the object.

6. The method of claim 1, further comprising:

generating an output signal for automatic control of movement of the host vehicle so as to avoid the object prediction representation established.

7. The method of claim 1, wherein the object is a moving object.

8. The method of claim 1, wherein the movement of the object and the initial position of the object at the starting time are determined using at least one sensor on the host vehicle.

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:

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.

10. The non-transitory computer readable medium of claim 9, wherein the at least one reference point of the host vehicle comprises a front reference point and a rear reference point along a longitudinal direction of the host vehicle, the front reference point representing the front of the host vehicle and the rear reference point representing the rear of the host vehicle.

11. The non-transitory computer readable medium of claim 9, wherein the at least one reference point of the host vehicle comprises a single reference point, and wherein the object prediction representation established is extended based on a length of the host vehicle and the movement of the host vehicle.

12. The non-transitory computer readable medium of claim 9, wherein the establishing of the object prediction representation in a time-lateral domain based on the detected points in time and the associated lateral positions includes constructing a convex hull around points, in the time-lateral domain, defined by the detected points in time and the associated lateral positions.

13. The non-transitory computer readable medium of claim 9, wherein the plurality of object reference points includes four object reference points, each representing a corner of the object.

14. The non-transitory computer readable medium of claim 9, including further code which, when executed by a processor or an electronic control unit, is configured to additionally:

generate an output signal for automatic control of movement of the host vehicle so as to avoid the object prediction representation established.

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.

16. The vehicle of claim 15, wherein the at least one reference point of the vehicle comprises a front reference point and a rear reference point along a longitudinal direction of the vehicle, the front reference point representing the front of the vehicle and the rear reference point representing the rear of the vehicle.

17. The vehicle of claim 15, wherein the at least one reference point of the vehicle comprises a single reference point, and wherein the object prediction representation established is extended based on a length of the vehicle and the movement of the vehicle.

18. The vehicle of claim 15, wherein the electronic control unit is further configured to generate an output signal for automatic control of movement of the vehicle so as to avoid the object prediction representation established.

19. The vehicle of claim 15, further comprising:

at least one sensor, wherein the movement of the object and the initial position of the object at the starting time are determined using the at least one sensor.