Method and device for determining a collision probability of a vehicle with an object in a three-dimensional space

An apparatus for determining a collision probability of a vehicle with an object in a three-dimensional airspace and enabling collision avoidance, comprising:

• at least one sensor unit for detecting a three-dimensional position and orientation of the vehicle and of the object via an interface-(15), the position comprising x, y, and z coordinates;
• a control unit, operatively coupled to the at least one sensor unit, wherein the control unit is configured to
• approximate the vehicle by at least one first geometric body, wherein the at least one first geometry body includes a portion of the vehicle;
• approximate the object by at least one second geometric body, wherein the at least one second geometric body includes a portion of the object;
• determine a first indeterminacy of the at least one first geometric body;
• determine a second indeterminacy of the at least one second geometric body;
• taking a Minkowski difference for each combination of the at least one first geometric body with the at least one second geometric body;
• determine a respective third indeterminacy for each Minkowski difference as a function of the respective first indeterminacy of the at least one first geometric body and the respective second indeterminacy of the at least one second geometric body, the third indeterminacy based on a covariance matrix;
• standardize the respective third indeterminacy using a respective transformation;
• apply the respective transformation to the respective taken Minkowski difference to determine respective computing bodies from the respective Minkowski difference;
• determine the collision probability of the vehicle with the object based on a set union of the computing bodies;
• and
• use the determined collision probability to control the vehicle to avoid a collision with the object by at least one of maneuvering the vehicle along a trajectory or outputting an information signal to an operator of the vehicle.

A computer-readable medium including program instructions on a storage medium, configured for determining a collision probability of a vehicle with an object in a three-dimensional airspace and enabling collision avoidance, comprising:

• instructions for receiving a three-dimensional position and orientation of the vehicle and of the object, the position comprising x, y, and z coordinates;
• instructions for approximating the vehicle by at least one first geometric body, wherein the at least one first geometry body includes a portion of the vehicle;
• instructions for approximating the object by at least one second geometric body, wherein the at least one second geometric body includes a portion of the object;
• instructions for determining a first indeterminacy of the at least one first geometric body;
• instructions for determining a second indeterminacy of the at least one second geometric body;
• instructions for taking a Minkowski difference for each combination of the at least one first geometric body with the at least one second geometric body;
• instructions for determining a respective third indeterminacy for each Minkowski difference as a function of the respective first indeterminacy of the at least one first geometric body and the respective second indeterminacy of the at least one second geometric body, the third indeterminacy based on a covariance matrix;
• instructions for standardizing the respective third indeterminacy using a respective transformation;
• instructions for applying the respective transformation to the respective taken Minkowski difference to determine respective computing bodies from the respective Minkowski difference;
• instructions for determining the collision probability of the vehicle with the object based on a set union of the computing bodies;
• and
• instructions for using the determined collision probability to control the vehicle to avoid a collision with the object by at least one of maneuvering the vehicle along a trajectory or outputting an information signal to an operator of the vehicle.