Method and device for avoiding or mitigating a collision of a vehicle with an obstacle
AssigneeRobert Bosch GmbH
InventorsThomas Gussner, Thomas Schlender, Lutz Buerkle
Life of this patent
Estimating the term…
Abstract
A method is described for avoiding or mitigating a collision of a vehicle with an obstacle in a traffic lane of the vehicle, if the obstacle is at least partially blocking a planned travel envelope of the vehicle, the method including a step of detecting and a step of adapting. In the step of detecting, a position and/or trajectory of the obstacle is detected. In the step of adapting, the travel envelope is adapted with the aid of the position and/or the trajectory, in order to avoid or mitigate the collision.
Claims13
A method for one of avoiding and mitigating a collision of a vehicle with an obstacle in a traffic lane of the vehicle, the method comprising:
- generating, by a computing device, a planned travel envelope that represents a predetermined corridor within which the vehicle is to travel, the predetermined corridor having a first side and a second side;
- after generating the travel envelope:
- detecting at least one of a position and a trajectory of the obstacle, and
- adapting the travel envelope by shifting at least one of the sides of the predetermined corridor of the travel envelope with the aid of the at least one of the position and the trajectory in order to one of avoid and mitigate the collision, wherein the step of adapting includes adapting the travel envelope within a traffic space, the traffic space including a traffic lane and an area that is detected as drivable in the step of detecting, and which goes beyond a boundary of the traffic lane that is facing away from the obstacle;
- and
- automatically controlling the vehicle in accordance with the adapted travel envelope.
A method for one of avoiding and mitigating a collision of a vehicle with an obstacle in a traffic lane of the vehicle, the method comprising:
- generating, by a computing device, a planned travel envelope that represents a predetermined corridor within which the vehicle is to travel, the predetermined corridor having a first side and a second side;
- and
- after generating the travel envelope:
- detecting at least one of a position and a trajectory of the obstacle, and
- adapting the travel envelope by shifting at least one of the sides of the predetermined corridor of the travel envelope with the aid of the at least one of the position and the trajectory in order to one of avoid and mitigate the collision, wherein the step of adapting includes reducing a width of the travel envelope to a width of the vehicle;
- and
- automatically controlling the vehicle in accordance with the adapted travel envelope.
A device for one of avoiding and mitigating a collision of a vehicle with an obstacle in a traffic lane of the vehicle comprising:
- an arrangement including a computing device for generating a planned travel envelope that represents a predetermined corridor within which the vehicle is to travel, the predetermined corridor having a first side and a second side;
- and
- an arrangement for detecting, after the travel envelope is generated, at least one of a position and a trajectory of the obstacle;
- and
- an arrangement for adapting, after the travel envelope is generated, the travel envelope by shifting at least one of the sides of the predetermined corridor of the travel envelope with the aid of the at least one of the position and the trajectory in order to one of avoid and mitigate the collision, wherein the adapting includes adapting the travel envelope within a traffic space, the traffic space including a traffic lane and an area that is detected as drivable in the step of detecting, and which goes beyond a boundary of the traffic lane that is facing away from the obstacle;
- and
- an arrangement for automatically controlling the vehicle in accordance with the adapted travel envelope.
A non-transitory storage medium storing a computer program product having program code that when executed on a device implements a method for one of avoiding and mitigating a collision of a vehicle with an obstacle in a traffic lane of the vehicle, the method comprising:
- generating, by a computing device, a planned travel envelope that represents a predetermined corridor within which the vehicle is to travel, the predetermined corridor having a first side and a second side;
- and
- after generating the travel envelope:
- detecting at least one of a position and a trajectory of the obstacle, and
- adapting the travel envelope by shifting at least one of the sides of the predetermined corridor of the travel envelope with the aid of the at least one of the position and the trajectory in order to one of avoid and mitigate the collision, wherein the step of adapting includes adapting the travel envelope within a traffic space, the traffic space including a traffic lane and an area that is detected as drivable in the step of detecting, and which goes beyond a boundary of the traffic lane that is facing away from the obstacle;
- and
- automatically controlling the vehicle in accordance with the adapted travel envelope.
Dependencies are inferred from the claim text.