Method and apparatus for determining impassable regions

A non-transitory computer-readable storage medium storing a computer program directly loadable into internal memory of a digital computer, the program comprising software code sections configured to, when the computer program product runs on the digital computer, carry out a method for determining, dependent on safety levels (ASIL-A—ASIL-D), spatial regions (B, B1-B4) impassable by a vehicle (1), the method comprising:

• capturing (S1) sensor signals (SIG1-SIG7);
• evaluating (S2) the captured sensor signals (SIG1-SIG7) with respect to:
• (a) the spatial position of an obstacle (2, 21, 22) to which the sensor signals (SIG1-SIG7) relate, and (b) the effect of the obstacle (2, 21, 22) on the passability of the area surrounding the obstacle (2, 21, 22);
• providing (S3) at least two grid structures (G, G1-G4) assigned to different safety levels (ASIL-A—ASIL-D), wherein each of the grid structures (G, G1-G4) has spatial regions (B, B1-B4) of substantially constant size, and the size of the spatial regions (B, B1-B4) is dependent on the safety level (ASIL-A—ASIL-D) of the respective grid structure (G, G1 G4);
• entering (S4) the obstacles (2, 21, 22) in the spatial regions (B, B1-B4) of the at least two grid structures (G, G1 G4);
• selecting (S5) a safety level (ASIL-A-ASIL-D) matching the current state of the vehicle (1);
• selecting (S6) the grid structure (G, G1-G4) belonging to the selected safety level (ASIL-A—ASIL-D);
• and
• marking (S7) all spatial regions (B, B1-B4) of the selected grid structure (G, G1-G4) having an entry that exceeds a minimum value as regions (B, B1-B4) that are impassable by the vehicle (1),
• wherein the evaluated sensor signals (SIG1-SIG7) are entered in the spatial regions (B, B1-B4) by a two-dimensional Gaussian weighting function (W), the weighting function having a maximum value at the location of the obstacle, and a value which falls with increasing distance from the obstacle.

An apparatus for determining spatial regions (B, B1-B4) that are impassable by a vehicle (1) in a manner dependent on safety levels (ASIL-A—ASIL-D), comprising:

• a sensor (101-107) configured to detect obstacles (2, 21, 22) in the environment of the vehicle (1);
• an evaluation unit (AE) configured to evaluate the detected obstacles (2, 21, 22) according to a method for determining, dependent on safety levels (ASIL-A—ASIL-D), spatial regions (B, B1-B4) impassable by a vehicle (1), the method comprising:
• capturing (S1) sensor signals (SIG1-SIG7);
• evaluating (S2) the captured sensor signals (SIG1-SIG7) with respect to:
• (a) the spatial position of an obstacle (2, 21, 22) to which the sensor signals (SIG1-SIG7) relate, and (b) the effect of the obstacle (2, 21, 22) on the passability of the area surrounding the obstacle (2, 21, 22);
• providing (S3) at least two grid structures (G, G1-G4) assigned to different safety levels (ASIL-A—ASIL-D), wherein each of the grid structures (G, G1-G4) has spatial regions (B, B1-B4) of substantially constant size, and the size of the spatial regions (B, B1-B4) is dependent on the safety level (ASIL-A—ASIL-D) of the respective grid structure (G, G1 G4);
• entering (S4) the obstacles (2, 21, 22) in the spatial regions (B, B1-B4) of the at least two grid structures (G, G1 G4);
• selecting (S5) a safety level (ASIL-A—ASIL-D) matching the current state of the vehicle (1);
• selecting (S6) the grid structure (G, G1-G4) belonging to the selected safety level (ASIL-A—ASIL-D);
• and
• marking (S7) all spatial regions (B, B1-B4) of the selected grid structure (G, G1-G4) having an entry that exceeds a minimum value as regions (B, B1-B4) that are impassable by the vehicle (1),
• wherein the evaluated sensor signals (SIG1-SIG7) are entered in the spatial regions (B, B1-B4) by a two-dimensional Gaussian weighting function (W), the weighting function having a maximum value at the location of the obstacle, and a value which falls with increasing distance from the obstacle;
• and
• a controller (SE) configured to control the vehicle (1) along a route (F1, F2, F3, F3′, F4, F4′) while avoiding the impassable regions (B, B1-B4).