# US 12,005,893 B2 · Method for guiding a motor vehicle in an at least partly automated manner > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,893 B2 - Document ID: US12005893B2 - Status: Granted - Kind: B2 - Application number: 17/262,966 - Filed: 2019-07-25 - Published: 2021-08-26 - Granted: 2024-06-11 - Earliest claimed: 2018-08-02 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH; Daimler AG - Inventors: Christoph Gustav Keller; Holger Mielenz - Web page: https://patentgrep.com/patent/US12005893B2 ## CPC - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 40/04: Traffic conditions - B60W 2552/00: Input parameters relating to infrastructure - B60W 2554/00: Input parameters relating to objects - B60W 2554/40: Dynamic objects, e.g. animals, windblown objects - B60W 2554/4041: Position - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - 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 ## Abstract A method for at least partly automated driving of a motor vehicle includes receiving environment signals that represent an environment of the motor vehicle, processing the environment signals to detect a dynamic object in the environment, and predicting a movement of the detected dynamic object based on infrastructure data that represent an infrastructure of the environment. The method further includes generating control signals for at least partly automated control of the lateral and longitudinal guidance of the motor vehicle based on the predicted movement, and outputting the generated control signals to drive the motor vehicle at least partly automatically based on the predicted movement. ## Claims ### Claim 1 A method for at least partly automated driving of a motor vehicle, comprising: receiving environment signals that represent an environment of the motor vehicle; processing the environment signals to detect a dynamic object in the environment; predicting a movement of the detected dynamic object based on infrastructure data that represent an infrastructure of the environment; generating control signals for at least partly automated control of the lateral and longitudinal guidance of the motor vehicle based on the predicted movement; and outputting the generated control signals to drive the motor vehicle at least partly automatically based on the predicted movement, wherein predicting the movement comprises: determining a traffic route ahead of the dynamic object based on the infrastructure data, wherein the movement of the dynamic object is predicted based on the determined traffic route; determining a current position of the dynamic object based on the environment signals; and comparing the determined current position with the determined traffic route ahead in order to determine a matched current position of the dynamic object, which is plausible in relation to the determined traffic route ahead. ### Claim 2 (depends on 1) The method as claimed in claim 1, wherein the traffic route is determined to be a rail route ahead of a rail vehicle when the dynamic object is the rail vehicle. ### Claim 3 (depends on 1) The method as claimed in claim 1, further comprising: classifying the dynamic object, wherein the movement of the dynamic object is predicted based on the classification. ### Claim 4 (depends on 1) The method as claimed in claim 1, further comprising: at least one of determining the infrastructure data based on the environment signals, and providing the infrastructure data in the form of map data of a digital map. ### Claim 5 (depends on 1) The method as claimed in claim 1, further comprising: determining based on the predicted movement when the motor vehicle will cross the dynamic object; determining a trajectory to at least one of drive the motor vehicle at least partly automatically at least at a predetermined safety distance from the dynamic object, and stop the motor vehicle at the predetermined safety distance from the dynamic object at least partly automatically, wherein the control signals are generated based on the determined trajectory. ### Claim 6 A device for use in at least partly automated driving of a motor vehicle comprising: a computer program, including commands; and a computer operably connected to the computer program and configured to execute the commands to receive environment signals that represent an environment of the motor vehicle, process the environment signals to detect a dynamic object in the environment, predict a movement of the detected dynamic object based on infrastructure data that represent an infrastructure of the environment, generate control signals for at least partly automated control of the lateral and longitudinal guidance of the motor vehicle based on the predicted movement, and output the generated control signals to drive the motor vehicle at least partly automatically based on the predicted movement, wherein predicting the movement comprises: determining a traffic route ahead of the dynamic object based on the infrastructure data, wherein the movement of the dynamic object is predicted based on the determined traffic route; determining a current position of the dynamic object based on the environment signals; and comparing the determined current position with the determined traffic route ahead in order to determine a matched current position of the dynamic object, which is plausible in relation to the determined traffic route ahead. ### Claim 7 A motor vehicle, comprising: a device including a computer program, including commands and a computer operably connected to the computer program and configured to execute the commands to receive environment signals that represent an environment of the motor vehicle, process the environment signals to detect a dynamic object in the environment, predict a movement of the detected dynamic object based on infrastructure data that represent an infrastructure of the environment, generate control signals for at least partly automated control of the lateral and longitudinal guidance of the motor vehicle based on the predicted movement, and output the generated control signals to drive the motor vehicle at least partly automatically based on the predicted movement, wherein predicting the movement comprises: determining a traffic route ahead of the dynamic object based on the infrastructure data, wherein the movement of the dynamic object is predicted based on the determined traffic route; determining a current position of the dynamic object based on the environment signals; and comparing the determined current position with the determined traffic route ahead in order to determine a matched current position of the dynamic object, which is plausible in relation to the determined traffic route ahead. ### Claim 8 (depends on 7) The device of claim 7, wherein the computer program is permanently stored in a machine-readable memory medium.