US 11,900,685 B2
Quick identification of hazardous or at-risk objects in the surroundings of a vehicle
Michael Pfeiffer, Schoenaich (DE); Jochen Marx, Emmerke (DE); and Oliver Lange, Hemmingen (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Appl. No. 16/972,590
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Jun. 6, 2019, PCT No. PCT/EP2019/064875
§ 371(c)(1), (2) Date Dec. 6, 2020,
PCT Pub. No. WO2020/007567, PCT Pub. Date Jan. 9, 2020.
Claims priority of application No. 102018211042.5 (DE), filed on Jul. 4, 2018.
Prior Publication US 2021/0241000 A1, Aug. 5, 2021
Int. Cl. G06K 9/00 (2022.01); B60W 30/08 (2012.01); G06V 20/56 (2022.01); G06V 20/64 (2022.01)
CPC G06V 20/56 (2022.01) [B60W 30/08 (2013.01); G06V 20/64 (2022.01); B60W 2420/403 (2013.01); B60W 2552/05 (2020.02)] 13 Claims
OG exemplary drawing
 
1. A method for identifying potentially hazardous or at-risk objects in surroundings of a vehicle, comprising the following steps:
detecting an area of the surroundings using at least one event-based sensor, the event-based sensor including light-sensitive pixels, for respective ones of which the sensor is configured to output respective events assigned, respectively, to the respective pixels in response to respective relative changes of light intensity incident upon the respective pixels by at least a predefined percentage;
assigning the respective events output by the sensor to objects in the detected area; and
for each of at least one object of the objects to which one or more of the events are assigned:
analyzing the one or more of the events assigned to the at least one object, thereby determining a present in-place movement of the respective object in which a place of the respective object subsequent to the movement and prior to the movement is at least partially the same; and
ascertaining, from the present movement, an impending movement of the respective object into another place that conflicts with a present or planned trajectory of the vehicle and/or an impending change of state of the respective object causing a presence in the other place that conflicts with the present or planned trajectory of the vehicle.