METHOD AND SYSTEM FOR PREDICTING MOVEMENT BEHAVIOR OF A TARGET TRAFFIC OBJECT

• US 20150266477A1
• Filed: 01/23/2015
• Published: 09/24/2015
• Est. Priority Date: 03/24/2014
• Status: Active Grant

• Current Assignee: Honda Research Institute Europe GmbH (Honda Motor Company)
• Original Assignee: Honda Research Institute Europe GmbH (Honda Motor Company)
• Inventors: SCHMDDERICH, Jens
• Granted Patent: US 9,969,388 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 2556/20 Data confidence level
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 60/00274 considering possible movement changes

Abstract

A method for computationally predicting future movement behavior of a target object and program includes producing sensor data by at least one sensor physically sensing the environment of a host vehicle, and computing a plurality of movement behavior alternatives of the target object sensed by the sensors. The computing includes predicting movement behaviors of the target object applying context based prediction using at least one indirect indicator and/or indicator combinations derived from senor data. In the context based prediction, a probability that the target object will execute a movement behavior is estimated. A future position of the target object is estimated and a signal representing the estimated future position is outputted. At least one history indicator for a movement behavior alternative is generated for a current point in time using at least one indicator of an indirect indicator at a point in the past.

Claims

1. A method for computationally predicting future movement behavior of a target object, comprising the steps of:

producing sensor data by at least one sensor physically sensing the environment of a host vehicle;

computing a plurality of movement behavior alternatives of the target object sensed by the sensors, by predicting movement behaviors of the target object applying a context based prediction step using at least one indirect indicator and/or indicator combinations derived from senor data,

wherein in said context based prediction step a probability that the target object will execute a movement behavior at a time is estimated;

estimating a future position of the target object;

, and

outputting a signal representing the estimated future position,

wherein in the context based prediction step at least one history indicator for at least one movement behavior alternative is generated for a current point in time using at least one indicator value of an indirect indicator at a point in time in the past.

2. The method according to claim 1, wherein

the history indicator is calculated using a first indicator value which depends on a time difference between a current time and said point of time in the past.

3. The method according to claim 2, wherein

a second indicator value based on said at least one indirect indicator value is used for calculation of the history indicator.

4. The method according to claim 1, wherein

in the context based prediction step probability values are calculated for the movement behavior alternatives on the basis of indirect indicators and the history indicator(s) is/are used as indirect indicator(s).

5. The method according to claim 1, wherein

in the context based prediction step probability values are calculated for the movement behavior alternatives on the basis of indirect indicators and the history indicator(s) is/are applied to the calculated probability values.

6. A driver assistance system, designed for being mounted on a host vehicle and executing the method according to claim 1.

7. The driver assistance system according to claim 6, wherein

the system comprises a memory in which indicators and/or indicator values are stored associated with time.

8. The driver assistance system according to claim 6, wherein

the system comprises a processing unit for computing at least indirect indicators and/or history indicators.

9. The driver assistance system according to claim 6, wherein

the driver assistance system is an Adaptive Cruise Control.

12. A vehicle including a driver assistance system according to claim 7, wherein the driver assistance system influences controls of the vehicle based on the output signal.

13. The driver assistance system according to claim 6, wherein

the driver assistance system is an Collision Warning system.

14. The driver assistance system according to claim 6, wherein

the driver assistance system is an Autonomous Driving System.

15. The driver assistance system according to claim 6, wherein

the driver assistance system is a Collision Mitigation System.

10. A non-transitory program storage medium which stores a computer-readable program that, when running on a computer or loaded onto a computer, causes the computer to perform a data recording and reproducing method, wherein the program comprises the steps of:

producing sensor data by at least one sensor physically sensing the environment of a host vehicle;

computing a plurality of movement behavior alternatives of the target object sensed by the sensors, by predicting movement behaviors of the target object applying a context based prediction step using at least one indirect indicator and/or indicator combinations derived from senor data,

wherein in said context based prediction step a probability that the target object will execute a movement behavior at a time is estimated;

estimating a future position of the target object and

outputting a signal representing the estimated future position,

wherein in the context based prediction step at least one history indicator for at least one movement behavior alternative is generated for a current point in time using at least one indicator value of an indirect indicator at a point in time in the past.

11. A program that, when running on a computer or loaded onto a computer, causes the computer to perform a data recording and reproducing method, wherein the program comprises the steps of:

producing sensor data by at least one sensor physically sensing the environment of a host vehicle

computing a plurality of movement behavior alternatives of the target object sensed by the sensors, by predicting movement behaviors of the target object applying a context based prediction step using at least one indirect indicator and/or indicator combinations derived from senor data,

wherein in said context based prediction step a probability that the target object will execute a movement behavior at a time is estimated;

estimating a future position of the target object; and

outputting a signal representing the estimated future position,

wherein in the context based prediction step at least one history indicator for at least one movement behavior alternative is generated for a current point in time using at least one indicator value of an indirect indicator at a point in time in the pas