# US 12,214,780 B2 · Method 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 12,214,780 B2 - Document ID: US12214780B2 - Status: Granted - Kind: B2 - Application number: 17/504,380 - Filed: 2021-10-18 - Published: 2022-06-09 - Granted: 2025-02-04 - Earliest claimed: 2020-12-09 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Christian Heinzemann; Andreas Heyl; Christoph Gladisch; Jens Oehlerking; Martin Butz; Martin Herrmann; Michael Rittel; Nadja Schalm; Tino Brade - Web page: https://patentgrep.com/patent/US12214780B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 60/00274: {considering possible movement changes} - B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters} - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 40/04: Traffic conditions - B60W 50/0097: {Predicting future conditions} - B60W 60/0015: {specially adapted for safety} - G01C 21/3415: {Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents} - B60W 30/18159: {Traversing an intersection} - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2554/402: Type - B60W 2554/4045: Intention, e.g. lane change or imminent movement - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - B60W 2556/40: High definition maps - 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 - 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) ## Abstract A method for controlling a vehicle. In the method, data of a digital road map are read in, zones are determined for the digital road map, and possible sequences of trips along a road of the digital road map are ascertained as a function of the determined zones. Furthermore, it is ascertained, as a function of sensor data and/or current driving data of the vehicle, whether a current or predicted traffic situation is outside the possible sequences or corresponds to a possible sequence that is determined as being outside an intended operating range. If the current or predicted traffic situation is outside the possible sequences or corresponds to the possible sequence outside the intended operating range, a measure is determined and the vehicle is controlled as a function of the measure that is taken. ## Claims ### Claim 1 A computer-implemented method for controlling a vehicle, comprising the following steps: reading in data of a digital road map; determining zones for the digital road map; ascertaining possible sequences of trips along a road on the digital road map as a function of the determined zones; ascertaining, as a function of sensor data and/or current driving data of the vehicle, whether a current or predicted traffic situation is outside the possible sequences or corresponds to a possible sequence that is determined as being outside an intended operating range, wherein at least one of the determined zones is a dynamic zone having a size that depends on a speed of the vehicle, a position of the vehicle, and a behavior model that takes into account a position or a speed of another vehicle; determining a measure to be taken when the current or predicted traffic situation is outside the possible sequences or corresponds to the possible sequence outside the intended operating range; and controlling the vehicle as a function of the measure to be taken, wherein: at least another of the determined zones is a static zone having a size that is independent of the speed of the vehicle and independent of the speed of the other vehicle, and the dynamic zone is nested within the static zone and represents a still sufficient distance for the vehicle to perform an action within the static zone. ### Claim 2 (depends on 1) The method as recited in claim 1, wherein the ascertainment of whether the current or predicted traffic situation is outside the possible sequences includes an ascertainment of whether a detected object outside the designated zones may be relevant for the current or predicted driving situation due to a determined or assumed movement of the detected object, the detected object being a road user. ### Claim 3 (depends on 1) The method as recited in claim 1, wherein the ascertainment of whether the current or predicted traffic situation is outside the possible sequences includes an ascertainment of whether a detected object is situated within one of the designated zones in which it is not expected, the detected object being a road user. ### Claim 4 (depends on 1) The method as recited in claim 1, wherein the measure that is taken includes an alternative response, or an initiation of a safety maneuver for the vehicle, or a generation of an additional possible sequence, as a function of which the vehicle is controlled, or an output of a piece of information to a behavior planning system or a trajectory planning system of the vehicle. ### Claim 5 (depends on 1) The method as recited in claim 1, wherein the method is carried out in the vehicle during a driving operation. ### Claim 6 (depends on 1) The method as recited in claim 1, wherein, in a simulation or as a function of recorded data, a behavior of the vehicle or of a vehicle system of the vehicle, is predicted for at least one of the possible sequences, and a control of the vehicle corresponding to one of the possible sequences takes place as a function of a comparison of the predicted behavior to at least one predetermined requirement. ### Claim 7 (depends on 6) The method as recited in claim 6, wherein the control of the vehicle includes control commands to a vehicle component for steering or deceleration or acceleration of the vehicle. ### Claim 8 (depends on 6) The method as recited in claim 6, wherein behavior planning or trajectory planning takes place as a function of the comparison, and the control takes place as a function of a result of the behavior planning or trajectory planning. ### Claim 9 (depends on 8) The method as recited in claim 8, wherein the measure includes a check of the behavior planning or trajectory planning, or an intervention into the behavior planning or trajectory planning. ### Claim 10 (depends on 8) The method as recited in claim 8, wherein the behavior planning or trajectory planning takes place as a function of the measure that is taken. ### Claim 11 (depends on 6) The method as recited in claim 6, wherein the predetermined requirement includes a traffic regulation or a safety requirement for a movement behavior of the vehicle or a comfort requirement according to a specification of the vehicle. ### Claim 12 (depends on 2) The method as recited in claim 2, wherein a property of the road user is ascertained from a behavior model for the road user, the behavior model being a physical movement model for the road user. ### Claim 13 (depends on 1) The method as recited in claim 1, wherein the digital map contains information concerning at least one road including lane markings, intersections, traffic lights, and traffic signs. ### Claim 14 (depends on 1) The method as recited in claim 1, wherein the digital map contains information concerning at least one road and/or at least one open space, concerning roadway width, roadway boundaries, positions or extents of a road or open space, curve radii, lane markings, intersections, traffic lights, and traffic signs. ### Claim 15 (depends on 1) The method as recited in claim 1, wherein the ascertainment of the possible sequences is a function of information concerning at least one further road user, or of information concerning an object that interferes with an intended behavior of the vehicle, wherein the at least one further road user is another vehicle or a pedestrian. ### Claim 16 (depends on 1) The method as recited in claim 1, wherein the possible sequences are ascertained as a function of further input variables, the further input variables including: information concerning external influences, or information concerning further road users, or information concerning a current or planned route of the vehicle, or information concerning the vehicle. ### Claim 17 A non-transitory machine-readable memory on which is stored a computer program for controlling a vehicle, the computer program, when executed by a computer, causing the computer to perform the following steps: reading in data of a digital road map; determining zones for the digital road map; ascertaining possible sequences of trips along a road on the digital road map as a function of the determined zones; ascertaining, as a function of sensor data and/or current driving data of the vehicle, whether a current or predicted traffic situation is outside the possible sequences or corresponds to a possible sequence that is determined as being outside an intended operating range, wherein at least one of the determined zones is a dynamic zone having a size that depends on a speed of the vehicle, a position of the vehicle, and a behavior model that takes into account a position or a speed of another vehicle; determining a measure to be taken when the current or predicted traffic situation is outside the possible sequences or corresponds to the possible sequence outside the intended operating range; and controlling the vehicle as a function of the measure to be taken, wherein: at least another of the determined zones is a static zone having a size that is independent of the speed of the vehicle and independent of the speed of the other vehicle, and the dynamic zone is nested within the static zone and represents a still sufficient distance for the vehicle to perform an action within the static zone. ### Claim 18 A vehicle configured to: read in data of a digital road map; determine zones for the digital road map; ascertain possible sequences of trips along a road on the digital road map as a function of the determined zones; ascertain, as a function of sensor data and/or current driving data of the vehicle, whether a current or predicted traffic situation is outside the possible sequences or corresponds to a possible sequence that is determined as being outside an intended operating range, wherein at least one of the determined zones is a dynamic zone having a size that depends on a speed of the vehicle, a position of the vehicle, and a behavior model that takes into account a position or a speed of another vehicle; determine a measure to be taking when the current or predicted traffic situation is outside the possible sequences or corresponds to the possible sequence outside the intended operating range; and control the vehicle as a function of the measure to be taken, wherein: at least another of the determined zones is a static zone having a size that is independent of the speed of the vehicle and independent of the speed of the other vehicle, and the dynamic zone is nested within the static zone and represents a still sufficient distance for the vehicle to perform an action within the static zone. ### Claim 19 (depends on 1) The method as recited in claim 1, wherein the action is a deceleration of the vehicle to a stop. ### Claim 20 A computer-implemented method for controlling a vehicle, comprising the following steps: reading in data of a digital road map; determining zones for the digital road map; ascertaining possible sequences of trips along a road on the digital road map as a function of the determined zones; ascertaining, as a function of sensor data and/or current driving data of the vehicle, whether a current or predicted traffic situation is outside the possible sequences or corresponds to a possible sequence that is determined as being outside an intended operating range, wherein at least one of the determined zones is a dynamic zone having a size that depends on a speed of the vehicle, a position of the vehicle, and a behavior model that takes into account a position or a speed of another vehicle; determining a measure to be taken when the current or predicted traffic situation is outside the possible sequences or corresponds to the possible sequence outside the intended operating range; and controlling the vehicle as a function of the measure to be taken, wherein the size of the dynamic zone further depends on a weather condition. ### Claim 21 (depends on 17) The non-transitory machine-readable memory as recited in claim 17, wherein the action is a deceleration of the vehicle to a stop. ### Claim 22 A non-transitory machine-readable memory on which is stored a computer program for controlling a vehicle, the computer program, when executed by a computer, causing the computer to perform the following steps: reading in data of a digital road map; determining zones for the digital road map; ascertaining possible sequences of trips along a road on the digital road map as a function of the determined zones; ascertaining, as a function of sensor data and/or current driving data of the vehicle, whether a current or predicted traffic situation is outside the possible sequences or corresponds to a possible sequence that is determined as being outside an intended operating range, wherein at least one of the determined zones is a dynamic zone having a size that depends on a speed of the vehicle, a position of the vehicle, and a behavior model that takes into account a position or a speed of another vehicle; determining a measure to be taken when the current or predicted traffic situation is outside the possible sequences or corresponds to the possible sequence outside the intended operating range; and controlling the vehicle as a function of the measure to be taken, wherein the size of the dynamic zone further depends on a weather condition. ### Claim 23 (depends on 18) The vehicle as recited in claim 18, wherein the action is a deceleration of the vehicle to a stop. ### Claim 24 A vehicle configured to: read in data of a digital road map; determine zones for the digital road map; ascertain possible sequences of trips along a road on the digital road map as a function of the determined zones; ascertain, as a function of sensor data and/or current driving data of the vehicle, whether a current or predicted traffic situation is outside the possible sequences or corresponds to a possible sequence that is determined as being outside an intended operating range, wherein at least one of the determined zones is a dynamic zone having a size that depends on a speed of the vehicle, a position of the vehicle, and a behavior model that takes into account a position or a speed of another vehicle; determine a measure to be taking when the current or predicted traffic situation is outside the possible sequences or corresponds to the possible sequence outside the intended operating range; and control the vehicle as a function of the measure to be taken, wherein the size of the dynamic zone further depends on a weather condition.