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Method for assisting a driver in driving an ego vehicle and corresponding driver assistance system

  • US 9,708,004 B2
  • Filed: 01/08/2016
  • Issued: 07/18/2017
  • Est. Priority Date: 01/23/2015
  • Status: Active Grant
First Claim
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1. Method for assisting a driver in driving an ego-vehicle, comprising the steps of:

  • physically sensing an environment of the ego-vehicle and producing sensor data;

    generating a representation of the environment, the representation comprising a plurality of representation segments each of which corresponds to a limited area of the environment;

    analyzing the sensor data for generating structural characteristic information of the environment for at least a part of the limited areas of the environment;

    assigning the structural characteristic information to the representation segment corresponding to the respective area of the environment;

    determining for which of the limited areas of the environment no structural characteristic information is generated from the sensor data or structural characteristic information is to be supplemented;

    estimating a future or past movement behavior for a traffic object sensed by the physical sensing;

    inferring structural characteristics of the environment for at least one determined limited area of the environment on the basis of the estimated movement behavior;

    assigning at least part of the structural characteristic information inferred on the basis of the estimated movement behavior to the representation segment corresponding the respective area of the environment;

    evaluating the resulting representation comprising the representation segments including all assigned structural characteristics for determining a preferred path for the ego-vehicle; and

    generating and outputting an assistance signal based on the determined path.

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