EP 4175866 A1 20230510 - METHOD FOR ASCERTAINING A REPLACEMENT TRAJECTORY, COMPUTER PROGRAM PRODUCT, PARKING ASSISTANCE SYSTEM AND VEHICLE
Title (en)
METHOD FOR ASCERTAINING A REPLACEMENT TRAJECTORY, COMPUTER PROGRAM PRODUCT, PARKING ASSISTANCE SYSTEM AND VEHICLE
Title (de)
VERFAHREN ZUM ERMITTELN EINER ERSATZTRAJEKTORIE, COMPUTERPROGRAMMPRODUKT, PARKASSISTENZSYSTEM UND FAHRZEUG
Title (fr)
PROCÉDÉ DE CONFIRMATION D'UNE TRAJECTOIRE DE REMPLACEMENT, PRODUIT DE PROGRAMME INFORMATIQUE, SYSTÈME D'AIDE AU STATIONNEMENT ET VÉHICULE
Publication
Application
Priority
- DE 102020117773 A 20200706
- EP 2021067802 W 20210629
Abstract (en)
[origin: WO2022008293A1] A method for ascertaining a replacement trajectory (ET) for a vehicle (100) that is able to be operated in an autonomous driving mode by way of a parking assistance system (110), involving: receiving (S1) a predefined trajectory (VT) that comprises at least a first section (A1) and a second section (A2) that are linked to one another at a direction of travel waypoint (WP), wherein a direction of travel (DIR) of the first section (A1) is different from a direction of travel (DIR) of the second section (A2), receiving (S2) a sensor signal (SIG) indicative of surroundings (200) of the vehicle (100), detecting (S3) an obstacle (210) in the surroundings (200) on the basis of the received sensor signal (SIG), calculating (S4) at least one collision point (KP), which is a point on the predefined trajectory (VT), at which a collision occurs between the vehicle (100) and the obstacle (210), on the basis of the predefined trajectory (VT), the detected obstacle (210) and a vehicle geometry of the vehicle (100), and ascertaining (S5) the replacement trajectory (ET) based on the at least one calculated collision point (KP), wherein the replacement trajectory (ET) links a starting point (ET1) on the predefined trajectory (VT) that is located before the collision point (KP) to an end point (ET2) on the predefined trajectory (VT) that is located after the collision point (KP), while avoiding the collision.
IPC 8 full level
B62D 15/02 (2006.01)
CPC (source: EP KR US)
B60W 30/06 (2013.01 - KR US); B60W 40/02 (2013.01 - KR US); B60W 60/0011 (2020.02 - KR US); B62D 15/0285 (2013.01 - EP); B60W 2554/20 (2020.02 - KR US); B60W 2554/40 (2020.02 - KR US); B60W 2554/80 (2020.02 - US)
Citation (search report)
See references of WO 2022008293A1
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
Designated validation state (EPC)
KH MA MD TN
DOCDB simple family (publication)
DE 102020117773 A1 20220113; CN 115768679 A 20230307; EP 4175866 A1 20230510; JP 2023533005 A 20230801; KR 20230021730 A 20230214; US 2023249675 A1 20230810; WO 2022008293 A1 20220113
DOCDB simple family (application)
DE 102020117773 A 20200706; CN 202180048045 A 20210629; EP 2021067802 W 20210629; EP 21737430 A 20210629; JP 2023500436 A 20210629; KR 20237000707 A 20210629; US 202118014564 A 20210629