Trajectory of a vehicle, a vehicle comprising the apparatus
AssigneeDr. Ing. h.c. F. Porsche Aktiengesellschaft
InventorEhsan Sharafian Ardakani
Life of this patent
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Abstract
An apparatus (106) and a method for checking the safety of a predetermined trajectory (104) of a vehicle (102), wherein an object, (108), in particular an object or a road user, from objects (108, 110) detected in the vicinity of the vehicle (102) is selected. The trajectory (104) and information about a position and/or a movement of the object (108) is converted to a Frenet coordinate system. The Frenet coordinate system is checked to see whether an area of the trajectory (104) exists in which the object (108) and the vehicle (102) are commonly located on the trajectory (104), and wherein a collision is detected (404) if the area exists.
Claims15
A method for checking the safety of a predetermined trajectory of the vehicle, comprising:
- selecting at least one object or at least one road user from objects detected in the vicinity of the vehicle;
- converting the trajectory and information about a position and/or a movement of the at least one object to a Frenet coordinate system;
- checking the Frenet coordinate system to see whether an area of the trajectory exists in which the at least one object and the vehicle are commonly located on the trajectory;
- and
- performing a safety check to determine whether the area of the trajectory in which the at least one object and the vehicle are commonly located exists,
- wherein the object is selected when it is established that the object is on the trajectory and will remain on the trajectory for a first predetermined time, and
- wherein the safety check includes actuating a driver assistance system of the vehicle to avoid having the vehicle and the at least one object be commonly located on the trajectory.
Dependencies are inferred from the claim text.