US 11,719,799 B2
Method for determining a collision free space
Adam Mats John Lilja, Gothenburg (SE); and Markus Pär Oscar Carlander, Hisings-Kärra Gothenburg (SE)
Assigned to Aptiv Technologies Limited, St. Michael (BB)
Filed by Aptiv Technologies Limited, St. Michael (BB)
Filed on Mar. 11, 2021, as Appl. No. 17/199,358.
Claims priority of application No. 20171489 (EP), filed on Apr. 27, 2020.
Prior Publication US 2021/0333380 A1, Oct. 28, 2021
Int. Cl. G01S 13/04 (2006.01); G01S 13/931 (2020.01)
CPC G01S 13/04 (2013.01) [G01S 13/931 (2013.01); G01S 2013/93271 (2020.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
determining, by a computer system of a host vehicle, a collision free space in front of the host vehicle, the collision free space being relative a vehicle coordinate system, and determined by at least:
detecting, via a detection system of the host vehicle, a plurality of limiting points each located at a respective obstacle free distance with respect to the vehicle, and each having a different predefined angle with respect to the vehicle coordinate system and each other of the limiting points;
defining a plurality of line segments for each of the limiting points that starts from an origin of the vehicle coordinate system and ends between two neighboring limiting points to that limiting point;
determining, via the detection system, a course of a lane determined to be in front of the host vehicle;
forming a dynamic grid comprising a plurality of cells defined to be in front of the host vehicle based on the course of the lane; and
determining, based on the line segments defined for the limiting points, an obstacle free subset of the cells to define the collision free space in front of the host vehicle; and
controlling, by the computing system, the host vehicle to drive in the lane by proceeding forward within the collision free space on the course of the lane.