CPC B60W 60/0011 (2020.02) [B60W 30/18163 (2013.01); B60W 50/14 (2013.01); H04W 4/40 (2018.02); B60W 2552/05 (2020.02); B60W 2552/10 (2020.02); B60W 2554/4041 (2020.02)] | 17 Claims |
1. A method for assisting operation of an ego-vehicle in the traffic situation with shared traffic space, the method comprising:
determining a future path for the ego-vehicle and a future path for another traffic participant;
determining a relevant path corridor that is assigned to the each determined future path, wherein the relevant path corridor indicates a width of the respective traffic participant;
determining a shared traffic space as an overlap of the path corridors;
calculating individual distance measures between the ego-vehicle and the shared traffic space and between the other traffic participant and the shared traffic space;
evaluating the individual distance measures to determine an asymmetry;
determining an intended passing order based on the asymmetry;
determining a future trajectory for the ego-vehicle based on the intended passing order and generating control signals for executing automated or partially automated driving in accordance with the determined future trajectory; and
controlling the ego-vehicle to drive in accordance with the determined future trajectory based on the generated control signals.
|