Method and device for establishing a trajectory for a vehicle
First Claim
1. A device for establishing a trajectory for a vehicle, comprising:
- a vehicle sensor configured to sense objects external to the vehicle;
a vehicle computer, andan interface between the vehicle computer and at least one driver assistance system,wherein the computer has a stored computer program configured to;
register coordinates of objects using object information received from the sensor;
calculate an occupancy map or cost map on the basis of the registered coordinates, wherein the occupancy map or cost map is subdivided into cells and a cell value is assigned to each cell, which cell value describes a presence and/or a vicinity of an object;
calculate a cost space, which comprises a plurality of layers, wherein each layer is subdivided into cells and a cost value is assigned to each cell, wherein the cost values in the respective layers are calculated in each case for a specific orientation of the vehicle on the basis of the cell values; and
determine a trajectory for the vehicle that maximizes cost-effectiveness, and,provide to the interface the determined trajectory with the lowest possible risk of collision for forwarding to the at least one vehicle driver assistance system for execution.
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Abstract
A method and a device for establishing a trajectory for a vehicle is provided. The method includes the following steps: registering coordinates of objects using a sensor; calculating a cost map on the basis of the registered coordinates, wherein the cost map is subdivided into cells and a cost value is assigned to each cell, which cost value describes the presence and/or the vicinity of an object, calculating a cost space, which has a plurality of layers, wherein each layer is subdivided into cells and a cost value is assigned to each cell, wherein the cost values in the respective layers are calculated in each case for a specific orientation of the vehicle, and determining a trajectory that is as cost-effective as possible.
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Citations
20 Claims
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1. A device for establishing a trajectory for a vehicle, comprising:
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a vehicle sensor configured to sense objects external to the vehicle; a vehicle computer, and an interface between the vehicle computer and at least one driver assistance system, wherein the computer has a stored computer program configured to; register coordinates of objects using object information received from the sensor; calculate an occupancy map or cost map on the basis of the registered coordinates, wherein the occupancy map or cost map is subdivided into cells and a cell value is assigned to each cell, which cell value describes a presence and/or a vicinity of an object; calculate a cost space, which comprises a plurality of layers, wherein each layer is subdivided into cells and a cost value is assigned to each cell, wherein the cost values in the respective layers are calculated in each case for a specific orientation of the vehicle on the basis of the cell values; and determine a trajectory for the vehicle that maximizes cost-effectiveness, and, provide to the interface the determined trajectory with the lowest possible risk of collision for forwarding to the at least one vehicle driver assistance system for execution.
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2. A method for establishing a trajectory for a vehicle, the method comprising the acts of:
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registering coordinates of objects obtained using a vehicle sensor at a vehicle computer configured to determine the vehicle trajectory; calculating onboard the vehicle using the vehicle computer an occupancy map or cost map on the basis of the registered coordinates, wherein the occupancy map or cost map is subdivided into cells and a cell value is assigned to each cell, which cell value describes a presence and/or a vicinity of an object; calculating onboard the vehicle using the vehicle computer a cost space, which comprises a plurality of layers, wherein each layer is subdivided into cells and a cost value is assigned to each cell, wherein the cost values in the respective layers are calculated in each case for a specific orientation of the vehicle on the basis of the cell values; determining a trajectory for the vehicle that maximizes cost-effectiveness; and controlling the vehicle to move along the determined vehicle trajectory by forwarding the determined trajectory for execution by at least one vehicle driver assistance system. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification