# US 2023/0067751 A1 · Methods and Systems 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 2023/0067751 A1 - Document ID: US20230067751A1 - Status: Published application - Kind: A1 - Application number: 17/820,830 - Filed: 2022-08-18 - Published: 2023-03-02 - Earliest claimed: 2021-08-26 - Assignees: Aptiv Technologies AG - Applicants: Aptiv Technologies Limited - Inventors: Sebastian Yousef; Christian Prediger; Thorsten Rosenthal; Mirko Meuter - Web page: https://patentgrep.com/patent/US20230067751A1 ## CPC - B60W 30/095: Predicting travel path or likelihood of collision - B60W 30/18109: {Braking} - B60W 50/023: Avoiding failures by using redundant parts - G01S 7/4808: {Evaluating distance, position or velocity data} - G01S 13/87: Combinations of radar systems, e.g. primary radar and secondary radar - G01S 17/931: of land vehicles - B60W 2420/40: Photo, light or radio wave sensitive means, e.g. infrared sensors - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2420/54: Audio sensitive means, e.g. ultrasound - B60W 2420/60: Doppler effect - B60W 2510/18: Braking system - B60W 2510/20: Steering systems - G01S 13/931: of land vehicles - G01S 2013/93185: {Controlling the brakes} - G01S 2013/9323: {Alternative operation using light waves} - 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 - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract The present disclosure describes a computer-implemented method for controlling a vehicle. In aspects, the computer-implemented method includes acquiring sensor data from a sensor, determining first processed data related to a first area around the vehicle based on the sensor data using a machine-learning method, and determining second processed data related to a second area around the vehicle based on the sensor data using a conventional method. The second area may include a subarea of the first area. In addition, the computer-implemented method includes controlling the vehicle based on the first processed data and the second processed data. ## Claims ### Claim 1 A computer-implemented method for controlling a vehicle, the computer-implemented method comprising: acquiring sensor data from a sensor; determining first processed data related to a first area around the vehicle based on the sensor data using a machine-learning method; determining second processed data related to a second area around the vehicle based on the sensor data using a conventional method, wherein the second area comprises a subarea of the first area; and controlling the vehicle based on the first processed data and the second processed data. ### Claim 2 (depends on 1) The computer-implemented method of claim 1, wherein the conventional method double-checks the first processed data. ### Claim 3 (depends on 2) The computer-implemented method of claim 2, wherein the conventional method double-checks the first processed data along a target trajectory of the vehicle. ### Claim 4 (depends on 2) The computer-implemented method of claim 2, wherein double-checking comprises determining an energy in radar data related to a position of an object determined based on the first processed data. ### Claim 5 (depends on 1) The computer-implemented method of claim 1, wherein the first processed data and the second processed data are determined in parallel. ### Claim 6 (depends on 1) The computer-implemented method of claim 1, wherein controlling the vehicle comprises controlling braking of the vehicle. ### Claim 7 (depends on 1) The computer-implemented method of claim 1, wherein if an object detected based on first processed data is confirmed based on second processed data, controlling the vehicle comprises comfort braking of the vehicle. ### Claim 8 (depends on 1) The computer-implemented method of claim 1, wherein if an object detected based on first processed data is not confirmed based on second processed data, controlling the vehicle comprises not initiating braking of the vehicle. ### Claim 9 (depends on 1) The computer-implemented method of claim 1, wherein if an object undetected based on first processed data is detected based on second processed data, controlling the vehicle comprises emergency braking of the vehicle. ### Claim 10 (depends on 1) The computer-implemented method of claim 1, wherein at least one of the first area or the second area are determined based on a velocity of the vehicle. ### Claim 11 (depends on 1) The computer-implemented method of claim 1, wherein at least one of the first area or the second area are determined based on a steering angle of the vehicle. ### Claim 12 (depends on 1) The computer-implemented method of claim 1, wherein the sensor comprises at least one of a radar sensor, a light detection and ranging (LIDAR) sensor, an infrared sensor, or a camera.