US 11,679,782 B2
Method, system and vehicle for assisting an operator of the vehicle in assessing a traffic situation with shared traffic space
Raphael Wenzel, Offenbach (DE); Malte Probst, Offenbach (DE); Tim Puphal, Offenbach (DE); and Thomas Weisswange, Offenbach (DE)
Assigned to Honda Research Institute Europe GmbH, Offenbach/Main (DE)
Filed by Honda Research Institute Europe GmbH, Offenbach/Main (DE)
Filed on Jan. 26, 2021, as Appl. No. 17/159,126.
Prior Publication US 2022/0234613 A1, Jul. 28, 2022
Int. Cl. B60W 60/00 (2020.01); H04W 4/40 (2018.01); B60W 30/18 (2012.01); B60W 50/14 (2020.01)
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
OG exemplary drawing
 
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.