# US 11,299,144 B2 · Method for providing vehicle-trajectory information and method for locating a pothole > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,299,144 B2 - Document ID: US11299144B2 - Status: Granted - Kind: B2 - Application number: 16/095,508 - Filed: 2017-03-23 - Published: 2020-11-12 - Granted: 2022-04-12 - Earliest claimed: 2016-05-23 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Jan Rohde; Martin Mueller; Michael Pagel; Philipp Lehner; Volker Hofsaess; Gernot Schroeder - Web page: https://patentgrep.com/patent/US11299144B2 ## CPC - G01C 21/3822: {Road feature data, e.g. slope data} - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - G01C 21/3492: {employing speed data or traffic data, e.g. real-time or historical (traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968)} - G01C 21/3844: {Data obtained from position sensors only, e.g. from inertial navigation} - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - G08G 1/0129: {for creating historical data or processing based on historical data} - G08G 1/0141: {for traffic information dissemination} - G08G 1/165: {for passive traffic, e.g. including static obstacles, trees} - G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)} - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - 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 - 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}) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A method for providing vehicle-trajectory information. The method includes a read-in task, in which at least one item of inertial information is read in that indicates at least one parameter of a movement of a vehicle during travel. In addition, the method includes an acquisition task, in which location information is acquired that indicates the position of the vehicle during the movement. In a last determination task, the vehicle-trajectory information is determined using the inertial information and the location information, the vehicle-trajectory information representing the movement of the vehicle at the position. ## Claims ### Claim 1 A method for locating a pothole, the method comprising: reading in, by a server, a first item of vehicle-trajectory information which represents a first movement of a first vehicle at a position; reading, by the server, in at least one second item of vehicle-trajectory information which represents a second movement of the first vehicle or of a second vehicle at the position; comparing, by the server, the first item of vehicle-trajectory information to at least one item of reference-trajectory information, to determine a first item of pothole information; comparing, by the server, the second item of vehicle-trajectory information to the at least one item of reference-trajectory information, in order to determine a second item of pothole information; and providing, by the server, locating information which indicates a position of a located pothole, if the first pothole information and the second pothole information indicate a pothole. ### Claim 2 (depends on 1) The method of claim 1, wherein the at least one item of reference-trajectory information represents an avoidance trajectory. ### Claim 3 (depends on 1) The method of claim 1, wherein the at least one item of reference-trajectory information represents a pothole drive-through trajectory. ### Claim 4 (depends on 1) The method of claim 1, wherein the first item of vehicle-trajectory information and/or the second item of vehicle-trajectory information represents vehicle-trajectory information, and wherein the vehicle trajectory information is determined by performing the following: reading in at least one item of the inertial information from an inertial sensor of a vehicle that indicates at least one parameter of a movement of the vehicle during travel, the at least one item of inertial information including at least one of: a velocity of the vehicle, or an acceleration of the vehicle; reading in the location information from at least one of: a position sensor of the vehicle, or a navigation system of the vehicle; which indicates the position of the vehicle during the movement; and determining the vehicle-trajectory information using the inertial information and the location information, the vehicle-trajectory information representing the movement of the vehicle at the position. ### Claim 5 (depends on 4) The method of claim 4, wherein the at least one parameter indicates a horizontal movement of the vehicle. ### Claim 6 (depends on 4) The method of claim 4, wherein the at least one parameter indicates a vertical movement of the vehicle. ### Claim 7 (depends on 4) The method of claim 4, wherein the at least one parameter indicates at least one of: a horizontal movement of the vehicle, or a vertical movement of the vehicle. ### Claim 8 (depends on 4) The method of claim 4, wherein the reading in the at least one item of inertial information from the inertial sensor is separate from the reading in the location information from the at least one of the position sensor of the vehicle or the navigation system of the vehicle. ### Claim 9 (depends on 1) The method of claim 1, further comprising receiving, by the server from the first vehicle, the determined vehicle-trajectory information. ### Claim 10 (depends on 1) The method of claim 1, further comprising transmitting, by the server vehicle, locating information which indicates a position of a located pothole. ### Claim 11 (depends on 10) The method of claim 10, further comprising outputting a warning regarding the located pothole, where the warning includes at least one of: an acoustic warning, or a visual warning. ### Claim 12 (depends on 1) The method of claim 1, wherein the reading in, by the server, of the first item of vehicle-trajectory information includes receiving a transmission of the first item of vehicle-trajectory information from the first vehicle, and the reading in, by the server, of the second item of vehicle-trajectory information includes receiving a transmission of the second item of vehicle-trajectory information from the second vehicle. ### Claim 13 (depends on 12) The method of claim 12, wherein the providing, by the server, the locating information which indicates the position of the located pothole includes transmitting the locating information to a third vehicle. ### Claim 14 (depends on 1) The method of claim 1, wherein the at least one item of reference-trajectory information represents at least one of: an avoidance trajectory, or a pothole drive-through trajectory. ### Claim 15 (depends on 14) The method of claim 14, wherein the first item of pothole information indicates the pothole if the first item of vehicle-trajectory information agrees with the reference-trajectory information in the comparison, and the second item of pothole information indicates the pothole if the second item of vehicle-trajectory information agrees with the reference-trajectory information in the comparison. ### Claim 16 An apparatus for providing vehicle-trajectory information, comprising: a device configured to perform the following: reading in a first item of vehicle-trajectory information which represents a first movement of a first vehicle at a position; reading in at least one second item of vehicle-trajectory information which represents a second movement of the first vehicle or of a second vehicle at the position; comparing the first item of vehicle-trajectory information to at least one item of reference-trajectory information, to determine a first item of pothole information; comparing the second item of vehicle-trajectory information to the at least one item of reference-trajectory information, in order to determine a second item of pothole information; and providing locating information which indicates a position of a located pothole, if the first pothole information and the second pothole information indicate a pothole. ### Claim 17 (depends on 16) The apparatus of claim 16, wherein the at least one item of reference-trajectory information represents at least one of: an avoidance trajectory, or a pothole drive-through trajectory. ### Claim 18 (depends on 17) The apparatus of claim 17, wherein the first item of pothole information indicates the pothole if the first item of vehicle-trajectory information agrees with the reference-trajectory information in the comparison, and the second item of pothole information indicates the pothole if the second item of vehicle-trajectory information agrees with the reference-trajectory information in the comparison. ### Claim 19 A non-transitory computer readable medium having a computer program, which is executable by a processor to cause a method for providing vehicle-trajectory information to be performed, the method comprising: reading in a first item of vehicle-trajectory information which represents a first movement of a first vehicle at a position; reading in at least one second item of vehicle-trajectory information which represents a second movement of the first vehicle or of a second vehicle at the position; comparing the first item of vehicle-trajectory information to at least one item of reference-trajectory information, to determine a first item of pothole information; comparing the second item of vehicle-trajectory information to the at least one item of reference-trajectory information, in order to determine a second item of pothole information; and providing locating information which indicates a position of a located pothole, if the first pothole information and the second pothole information indicate a pothole. ### Claim 20 (depends on 19) The non-transitory computer readable medium of claim 19, wherein the at least one item of reference-trajectory information represents at least one of: an avoidance trajectory, or a pothole drive-through trajectory.