# US 10,369,993 B2 · Method and device for monitoring a setpoint trajectory to be traveled by a vehicle for being collision free > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,369,993 B2 - Document ID: US10369993B2 - Status: Granted - Kind: B2 - Application number: 15/554,246 - Filed: 2016-01-25 - Published: 2018-02-22 - Granted: 2019-08-06 - Earliest claimed: 2015-03-20 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Christoph Schroeder; Oliver Pink; Stefan Nordbruch - Web page: https://patentgrep.com/patent/US10369993B2 ## CPC - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - G01S 13/89: for mapping or imaging - G01S 13/931: of land vehicles - G01S 17/931: of land vehicles - G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) - G08G 1/165: {for passive traffic, e.g. including static obstacles, trees} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 2554/00: Input parameters relating to objects - B60W 2554/4041: Position - G01S 13/865: {Combination of radar systems with lidar systems} - G01S 13/867: {Combination of radar systems with cameras} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A method for monitoring a setpoint trajectory to be traveled by a vehicle for being collision free, including carrying out a clearance measurement of vehicle surroundings with the aid of a surroundings sensor system to determine a clearance in the vehicle surroundings, carrying out an object measurement of the vehicle surroundings with the aid of the surroundings sensor system to determine objects in the vehicle surroundings, checking the setpoint trajectory for being collision free based on the determined clearance and the determined objects, and comparing particular results of the checks for being collision free to one another, an item of collision information being provided based on the comparison. ## Claims ### Claim 1 A method comprising: obtaining sensor signals of a surroundings sensor system of a vehicle; based on the obtained sensor signals: performing, by a processor, 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, by the processor, 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, by the processor, 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, by the processor, 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, by the processor, a result of the first determination to a result of the second determination; and based on the comparison, the processor 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. ### Claim 2 (depends on 1) The method as recited in claim 1, wherein, for the clearance determination measurement, the set of discrete locations occupied by objects identified in the object measurement is used as an exclusion criterion for whether an object is or is not at a location in the vehicle surroundings, so that the location is accordingly characterized as free or not free for determining the outline. ### Claim 3 (depends on 1) The method as recited in claim 1, wherein, for the object measurement, the outline of the clearance measurement is used as an exclusion criterion for whether a location in the vehicle surroundings is free or not, so that the location is accordingly associated with an object or not for determining the set of discrete locations. ### Claim 4 (depends on 1) The method as recited in claim 1, wherein the object measurement includes determining at least one of object positions and object contours. ### Claim 5 (depends on 1) The method as recited in claim 1, wherein a result of the clearance measurement is represented in grid-based or particle-based form, so that the outline outlines a grid-based clearance or a particle-based clearance. ### Claim 6 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. ### Claim 7 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. ### Claim 8 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.