Method for Determining a Collision Free Space

A system, comprising:

• a computer system for a host vehicle, the computer system configured to determine a collision free space in front of the host vehicle by at least:
• detecting, via a detection system of the host vehicle, a plurality of limiting points, wherein each limiting point is located at a respective obstacle free distance with respect to the vehicle;
• forming, via the detection system, a dynamic grid in front of the host vehicle, the dynamic grid being based on the course of a lane determined to be in front of the host vehicle, the dynamic grid comprising a plurality of cells;
• and
• determining an obstacle free subset of the cells based on the plurality of limiting points, the obstacle free subset of the cells defining the collision free space in front of the host vehicle.

A non-transitory computer readable medium comprising instructions that, when executed by at least one processor, configure the at least one processor to determine a collision free space in front of a host vehicle by at least:

• detecting, via a detection system of the host vehicle, a plurality of limiting points, wherein each limiting point is located at a respective obstacle free distance with respect to the vehicle;
• forming, via the detection system, a dynamic grid in front of the host vehicle, the dynamic grid being based on the course of a lane determined to be in front of the host vehicle, the dynamic grid comprising a plurality of cells;
• and
• determining an obstacle free subset of the cells based on the plurality of limiting points, the obstacle free subset of the cells defining the collision free space in front of the host vehicle.