# US 10,870,428 B2 · Method and device for controlling a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,870,428 B2 - Document ID: US10870428B2 - Status: Granted - Kind: B2 - Application number: 16/310,525 - Filed: 2017-06-20 - Published: 2019-11-07 - Granted: 2020-12-22 - Earliest claimed: 2016-06-28 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Johannes Ludwig Foltin - Web page: https://patentgrep.com/patent/US10870428B2 ## CPC - B60W 30/08: {Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences} - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/095: Predicting travel path or likelihood of collision - B60W 40/09: Driving style or behaviour - B62D 15/0265: {Automatic obstacle avoidance by steering} - 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) - B60W 2540/30: Driving style - 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 - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - 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 controlling a vehicle includes reading in a collision signal that represents an imminent collision of the vehicle with at least one collision object, selecting, based on the collision signal, an emergency trajectory that represents a human driving behavior associated with a human driver, and outputting a corresponding control signal to guide the vehicle along the emergency trajectory. ## Claims ### Claim 1 A method for controlling a vehicle, the method comprising: obtaining a collision signal representing an imminent collision of the vehicle with at least one collision object; based on the collision signal, selecting an emergency trajectory representing a human driving behavior associated with a human driver; outputting a control signal to guide the vehicle along the selected emergency trajectory, wherein the selection of the emergency trajectory is from a plurality of reference trajectories that each represents a respective human driving behavior of a respective reference driver; and cycling through the reference trajectories one after another, wherein the selection of the emergency trajectory is performed by stopping the cycling upon obtaining the collision signal, with the one of the reference trajectories at which the cycling is stopped being selected as the selected emergency trajectory. ### Claim 2 (depends on 1) The method of claim 1, wherein the selection of the emergency trajectory is performed randomly from the plurality of reference trajectories. ### Claim 3 (depends on 1) The method of claim 1, wherein the collision signal is an indication of a starting moment at which at least one of the vehicle and at least one component of the vehicle is activated. ### Claim 4 (depends on 1) The method of claim 1, wherein a trajectory that represents a human driving behavior associated with a commercial driver is selected as the emergency trajectory. ### Claim 5 (depends on 1) The method of claim 1, further comprising evaluating the collision signal to determine whether the collision is unavoidable, wherein the emergency trajectory is selected responsive to the determination being that the collision is unavoidable. ### Claim 6 (depends on 1) The method of claim 1, further comprising: obtaining driving-environment information representing a driving environment of the vehicle; analyzing the obtained driving-environment information to detect a change of one or both of a location of the collision object relative to the vehicle and a speed of the collision object relative to the vehicle; and outputting a further control signal to, based on the detected change, guide the vehicle onto a trajectory deviating from the emergency trajectory. ### Claim 7 (depends on 6) The method of claim 6, wherein the output of the further control signal is performed responsive to a determination that the collision between the vehicle and the collision object is avoidable due to the change. ### Claim 8 A method for controlling a vehicle, the method comprising: obtaining a collision signal representing an imminent collision of the vehicle with at least one collision object; based on the collision signal, selecting an emergency trajectory representing a human driving behavior associated with a human driver; outputting a control signal to guide the vehicle along the selected emergency trajectory; and obtaining, via an interface to at least one of (a) one or more further vehicles and (b) an external data-processing device, a reference trajectory representing a human driving behavior associated with a further reference driver, the reference trajectory being selected as the emergency trajectory based on the collision signal. ### Claim 9 A method for controlling a vehicle, the method comprising: obtaining a collision signal representing an imminent collision of the vehicle with at least one collision object; based on the collision signal, selecting an emergency trajectory representing a human driving behavior associated with a human driver; outputting a control signal to guide the vehicle along the selected emergency trajectory; and evaluating the collision signal to determine whether the collision object is a person, wherein the emergency trajectory is selected responsive to the determination being that the collision object is a person. ### Claim 10 A device for controlling a vehicle, the device comprising: at least one interface; and a processor, wherein the processor is configured to: obtain, via the at least one interface, a collision signal representing an imminent collision of the vehicle with at least one collision object; based on the collision signal, select an emergency trajectory representing a human driving behavior associated with a human driver; output, via the at least one interface, a control signal to guide the vehicle along the selected emergency trajectory, wherein the selection of the emergency trajectory is from a plurality of reference trajectories that each represents a respective human driving behavior of a respective reference driver; and cycle through the reference trajectories one after another, wherein the selection of the emergency trajectory is performed by stopping the cycling upon obtaining the collision signal, with the one of the reference trajectories at which the cycling is stopped being selected as the selected emergency trajectory. ### Claim 11 A non-transitory computer-readable medium on which are stored instructions that are executable by a processor and that, when executed by the processor, cause the processor to perform a method for controlling a vehicle, the method comprising: obtaining a collision signal representing an imminent collision of the vehicle with at least one collision object; based on the collision signal, selecting an emergency trajectory representing a human driving behavior associated with a human driver; outputting a control signal to guide the vehicle along the selected emergency trajectory, wherein the selection of the emergency trajectory is from a plurality of reference trajectories that each represents a respective human driving behavior of a respective reference driver; and cycling through the reference trajectories one after another, wherein the selection of the emergency trajectory is performed by stopping the cycling upon obtaining the collision signal, with the one of the reference trajectories at which the cycling is stopped being selected as the selected emergency trajectory.