Method and apparatus for predicting a movement trajectory
First Claim
1. A method for preventing a collision between a motor vehicle and an ambient object in the surroundings of the motor vehicle, or for diminishing collision consequences, the method comprising:
- operating a driving maneuver detection device for determining movement trajectories of at least one of a motor vehicle and an ambient object based on information received from at least one ambient sensor,utilizing the driving maneuver detection device for determining a movement trajectories s executed by at least one of the motor vehicle and the ambient object, wherein the movement trajectories include longitudinal and lateral movement of at least one of the motor vehicle and the ambient object;
selecting from a set of defined models, a model of the movement of at least one of the motor vehicle and the ambient object as a function of the determined movement trajectories;
calculating the movement trajectory of at least one of the motor vehicle and the ambient object with the aid of the selected model;
evaluating the movement trajectories;
determining a collision location based on the evaluation of the movement trajectories; and
instituting measures including the operation of at least one vehicle system for preventing collisions or for diminishing collision consequences as a function of a distance from the collision location.
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Abstract
In order to be able to undertake a reliable prediction of a movement trajectory of an object moving in road traffic even for relatively long prediction periods, a method is proposed in which there is firstly determined (203) with the aid of an evaluation of a determined movement variable of the object a driving maneuver that is executed by the object. A model (2051; . . . ; 205N) of the movement of the object is then selected as a function of the determined driving maneuver, and the movement trajectory of the object is calculated with the aid of the selected model. There is also proposed an apparatus for predicting the movement trajectory of an object that is suitable for carrying out the method. The object can be both a motor vehicle and an object in the surroundings of the motor vehicle.
57 Citations
37 Claims
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1. A method for preventing a collision between a motor vehicle and an ambient object in the surroundings of the motor vehicle, or for diminishing collision consequences, the method comprising:
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operating a driving maneuver detection device for determining movement trajectories of at least one of a motor vehicle and an ambient object based on information received from at least one ambient sensor, utilizing the driving maneuver detection device for determining a movement trajectories s executed by at least one of the motor vehicle and the ambient object, wherein the movement trajectories include longitudinal and lateral movement of at least one of the motor vehicle and the ambient object; selecting from a set of defined models, a model of the movement of at least one of the motor vehicle and the ambient object as a function of the determined movement trajectories; calculating the movement trajectory of at least one of the motor vehicle and the ambient object with the aid of the selected model; evaluating the movement trajectories; determining a collision location based on the evaluation of the movement trajectories; and
instituting measures including the operation of at least one vehicle system for preventing collisions or for diminishing collision consequences as a function of a distance from the collision location.
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2. A method for predicting a movement trajectory of an object moving in road traffic, the method comprising:
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operating at least one ambient sensor for determining at least one movement variable of an object (101;
104);utilizing a driving maneuver detector for determining a driving maneuver that is executed by the object (101;
104) with an evaluation of the determined at least one movement variable, wherein the driving maneuver includes longitudinal and lateral movement of the object (101;
104);selecting from a set of defined models, a model of the movement of the object (101;
104) as a function of the determined driving maneuver; andcalculating the movement trajectory of the object (101;
104)in a prediction device with the aid of the selected model. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35)
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36. A method for regulating the speed of a motor vehicle, wherein the speed of the motor vehicle is set so that a separation between the motor vehicle and a further vehicle located ahead of the motor vehicle in a driving direction of the motor vehicle does not undershoot a prescribed separation value, the method comprising:
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operating a driving maneuver detection device for determining at least one movement variable of an object (101;
104) based on information received from at least one ambient sensor;determining a driving maneuver that is executed by the object (101;
104) with the aid of an evaluation of the determined movement variable, wherein the driving maneuver includes longitudinal and lateral movement of the object;selecting one model from a set of models that represents the movement of the object (101;
104) as a function of the determined driving maneuver;predicting a separation between the motor vehicle (104) and the further vehicle (101) as a function of the movement trajectory based on the one model; and controlling operation of the motor vehicle for setting the speed of the motor vehicle (101) as a function of the predicted separation.
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37. An apparatus for predicting a movement trajectory of an object moving in road traffic, comprising:
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at least one sensor (102) from whose signals it is possible to determine a movement variable of the object (101;
104);a driving maneuver detection device (203;
704) that can be used to determine a driving maneuver of the object (101;
104) with an evaluation of the movement variable, wherein the driving maneuver includes longitudinal and lateral movement of the object; anda prediction device (2051;
. . . ;
205N;
7061;
. . .;
706N) used to calculate the movement trajectory of the object (101;
104) with the aid of a model, wherein the model is selected from a set of models as a function of the determined driving maneuver.
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Specification