Method for Determining the Probability of a Collision of a Vehicle With a Living Being
First Claim
1. A method for determining the probability of a collision of a vehicle (1) with a living being (2), in which the behaviour in space and time of the living being (2) is modelled by means of a behavioural model and the behaviour in space and time of the vehicle (1) is modelled by means of a kinematic model and, starting from the current positions of the vehicle (1) and the living being (2), at least one trajectory (4) for each of them is determined, characterized in thatb) the current positions of the living being (2) and of the vehicle (1) are used to compute trajectories (3, 4) of the vehicle (1), based on the kinematic model, and of the living being (2), based on the behavioural model, as a trajectory pair until said trajectory pair either indicates a collision or indicates no collision,c) the number of trajectory pairs indicating a collision is determined, andd) the probability of a collision is determined as the quotient of the number of trajectory pairs indicating a collision and the total number of trajectory pairs that have been computed.
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Abstract
The invention describes a method for determining the probability of a collision of a vehicle with a living being, in which the behaviour in space and time of the living being is modelled by means of a behavioural model and the behaviour in space and time of the vehicle is modelled by means of a kinematic model and, starting from the current positions of the vehicle and the living being, at least one trajectory for each of them is determined. According to the invention, the current positions of the living being and of the vehicle are used to compute trajectories of the vehicle and of the living being as a trajectory pair until said trajectory pair either indicates a collision or indicates no collision, whereupon the number of trajectory pairs indicating a collision is determined, and the probability of a collision is determined as the quotient of the number of trajectory pairs indicating a collision and the total number of trajectory pairs that have been computed.
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Citations
58 Claims
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1. A method for determining the probability of a collision of a vehicle (1) with a living being (2), in which the behaviour in space and time of the living being (2) is modelled by means of a behavioural model and the behaviour in space and time of the vehicle (1) is modelled by means of a kinematic model and, starting from the current positions of the vehicle (1) and the living being (2), at least one trajectory (4) for each of them is determined, characterized in that
b) the current positions of the living being (2) and of the vehicle (1) are used to compute trajectories (3, 4) of the vehicle (1), based on the kinematic model, and of the living being (2), based on the behavioural model, as a trajectory pair until said trajectory pair either indicates a collision or indicates no collision, c) the number of trajectory pairs indicating a collision is determined, and d) the probability of a collision is determined as the quotient of the number of trajectory pairs indicating a collision and the total number of trajectory pairs that have been computed.
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3-30. -30. (canceled)
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58. A vehicle comprising a protection system for living beings (2) outside said vehicle (1), in particular pedestrian protection devices
comprising at least one sensing system to obtain surroundings information, comprising a computing unit which evaluates said surroundings information in order to identify a living being, in particular a pedestrian (2), determines a movement trajectory for each of the living being (2) and the vehicle (1) as a trajectory pair, and uses said trajectory pair to deduce the probability of a collision and hence the necessity to activate a protection system, wherein the sensing system is designed to detect parameters of living beings (2) and of their physiological movement ability, and the computing unit is designed to determine the potential future position at a given moment in time, based on a location of the movement trajectory and on the state of motion and taking into account a physiological movement ability of the living being (2) for one or several future moments in time.
Specification