Method and device for monitoring a setpoint trajectory to be traveled by a vehicle for being collision free

A device of a vehicle, the device comprising:

• a sensor system;
• and
• a processor communicatively coupled to the sensor system;
• wherein the processor is configured to:
• obtain sensor signals from the sensor system;
• based on the obtained sensor signals:
• perform a clearance measurement, wherein the clearance measurement includes identifying, in surroundings of the vehicle, an outline of an area, all locations within which are free of objects;
• and
• perform an object measurement, wherein the object measurement includes identifying, in the surroundings of the vehicle a set of discrete locations occupied by detected objects;
• check a previously determined setpoint trajectory of travel by the vehicle against the outline of the clearance measurement to determine, in a first determination, whether the setpoint trajectory is collision free;
• check the previously determined setpoint trajectory against the set of discrete locations occupied by the detected objects to determine, in a second determination, whether the setpoint trajectory is collision free;
• compare a result of the first determination to a result of the second determination;
• and
• based on the comparison, output a modified version of the setpoint trajectory or control a driving of the vehicle;
• wherein:
• the sensor system includes multiple surroundings sensors that one or both of the following:
• (i) measure a clearance as clearance sensors and provide clearance sensor data for carrying out the clearance measurement;
• and
• (ii) measure objects as object sensors and provide object sensor data for carrying out the object measurement;
• and
• one or both of the following:
• (i) the clearance sensor data is fused so that the identified outline is based on the fused clearance sensor data;
• and
• (ii) the object sensor data is fused so that the identified set of discrete locations occupied by the detected objects is based on the fused object sensor data.

A vehicle that includes a system, the system comprising:

• a surroundings sensor system;
• and
• a processor communicatively coupled to the surroundings sensor system;
• wherein the processor is configured to:
• obtain sensor signals from the surroundings sensor system;
• based on the obtained sensor signals:
• perform a clearance measurement, wherein the clearance measurement includes identifying, in surroundings of the vehicle, an outline of an area, all locations within which are free of objects;
• and
• perform an object measurement, wherein the object measurement includes identifying, in the surroundings of the vehicle a set of discrete locations occupied by detected objects;
• check a previously determined setpoint trajectory of travel by the vehicle against the outline of the clearance measurement to determine, in a first determination, whether the setpoint trajectory is collision free;
• check the previously determined setpoint trajectory against the set of discrete locations occupied by the detected objects to determine, in a second determination, whether the setpoint trajectory is collision free;
• compare a result of the first determination to a result of the second determination;
• and
• based on the comparison, output a modified version of the setpoint trajectory or control a driving of the vehicle;
• wherein:
• the surroundings sensor system includes multiple surroundings sensors that one or both of the following:
• (i) measure a clearance as clearance sensors and provide clearance sensor data for carrying out the clearance measurement;
• and
• (ii) measure objects as object sensors and provide object sensor data for carrying out the object measurement;
• and
• one or both of the following:
• (i) the clearance sensor data is fused so that the identified outline is based on the fused clearance sensor data;
• and
• (ii) the object sensor data is fused so that the identified set of discrete locations occupied by the detected objects is based on the fused object sensor data.

A non-transitory computer readable medium on which are stored instructions that are executable by a processor of a vehicle and that, when executed by the processor, cause the processor to perform a method, the method comprising:

• obtaining sensor signals of a surroundings sensor system of a vehicle;
• based on the obtained sensor signals:
• performing a clearance measurement, wherein the clearance measurement includes identifying, in surroundings of the vehicle, an outline of an area, all locations within which are free of objects;
• and
• performing an object measurement, wherein the object measurement includes identifying, in the surroundings of the vehicle a set of discrete locations occupied by detected objects;
• checking a previously determined setpoint trajectory of travel by the vehicle against the outline of the clearance measurement to determine, in a first determination, whether the setpoint trajectory is collision free;
• checking the previously determined setpoint trajectory against the set of discrete locations occupied by the detected objects to determine, in a second determination, whether the setpoint trajectory is collision free;
• comparing a result of the first determination to a result of the second determination;
• and
• based on the comparison, outputting a modified version of the setpoint trajectory or controlling a driving of the vehicle;
• wherein:
• the surroundings sensor system includes multiple surroundings sensors that one or both of the following:
• (i) measure a clearance as clearance sensors and provide clearance sensor data for carrying out the clearance measurement;
• and
• (ii) measure objects as object sensors and provide object sensor data for carrying out the object measurement;
• and
• one or both of the following:
• (i) the clearance sensor data is fused so that the identified outline is based on the fused clearance sensor data;
• and
• (ii) the object sensor data is fused so that the identified set of discrete locations occupied by the detected objects is based on the fused object sensor data.