Method for the calculation of a collision-preventing trajectory for a driving maneuver of a vehicle
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Abstract
A method for calculating a collision-avoiding trajectory for a driving maneuver of a vehicle, in particular a motor vehicle, in order to evade at least one obstacle approaching the motor vehicle during driving operation. The lateral speed of the motor vehicle is taken into account in the calculation independently of the longitudinal speed of the motor vehicle.
42 Citations
26 Claims
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1-13. -13. (canceled)
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14. A method for evading at least one obstacle approaching a motor vehicle by maneuvering the motor vehicle, the method comprising:
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determining a collision-avoiding trajectory for the driving maneuver of the motor vehicle, so as to evade the at least one obstacle approaching the motor vehicle during a driving operation; wherein the lateral speed of the motor vehicle is taken into account, in the determining, independently of a longitudinal speed of the motor vehicle. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22)
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23. A method for providing collision avoidance for a motor vehicle, the method comprising:
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determining a collision-avoiding trajectory for the driving maneuver of the motor vehicle, so as to evade the at least one obstacle approaching the motor vehicle during a driving operation, wherein the lateral speed of the motor vehicle is taken into account, in the determining, independently of a longitudinal speed of the motor vehicle; and in the context of the obstacle approaching during driving operation, proposing or performing a driving maneuver of the motor vehicle for evasion autonomously or semiautonomously, wherein the driving maneuver being based on the determined collision-avoiding trajectory.
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24. A computer readable medium having a computer program, which is executable by a processor, comprising:
a program code arrangement having program code for evading at least one obstacle approaching a motor vehicle by maneuvering the motor vehicle, by performing the following; determining a collision-avoiding trajectory for the driving maneuver of the motor vehicle, so as to evade the at least one obstacle approaching the motor vehicle during a driving operation; wherein the lateral speed of the motor vehicle is taken into account, in the determining, independently of a longitudinal speed of the motor vehicle.
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25. A control device of a driver assistance system, comprising:
a computer readable medium having a computer program, which is executable by a processor, including; a program code arrangement having program code for evading at least one obstacle approaching a motor vehicle by maneuvering the motor vehicle, by determining a collision-avoiding trajectory for the driving maneuver of the motor vehicle, so as to evade the at least one obstacle approaching the motor vehicle during a driving operation, wherein the lateral speed of the motor vehicle is taken into account, in the determining, independently of a longitudinal speed of the motor vehicle.
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26. A driver assistance system of a motor vehicle, comprising:
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at least one sensing arrangement for detecting obstacles in an area surrounding the motor vehicle; and a control device, which is connected to the at least one sensing arrangement, including a computer readable medium having a computer program, which is executable by a processor, including; a program code arrangement having program code for evading at least one obstacle approaching a motor vehicle by maneuvering the motor vehicle, by determining a collision-avoiding trajectory for the driving maneuver of the motor vehicle, so as to evade the at least one obstacle approaching the motor vehicle during a driving operation, wherein the lateral speed of the motor vehicle is taken into account, in the determining, independently of a longitudinal speed of the motor vehicle.
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Specification