US 12,243,417 B2
Control system and control method for path assignment of traffic objects
Richard Altendorfer, Koblenz (DE); Benedikt Joebgen, Bad Bodendorf (DE); and Andreas Stahl, Koblenz (DE)
Assigned to ZF Active Safety GmbH, Koblenz (DE)
Filed by ZF Active Safety GmbH, Koblenz (DE)
Filed on Mar. 20, 2020, as Appl. No. 16/824,939.
Claims priority of application No. 10 2019 107 411.8 (DE), filed on Mar. 22, 2019.
Prior Publication US 2020/0302783 A1, Sep. 24, 2020
Int. Cl. G08G 1/01 (2006.01); B60W 30/10 (2006.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01); G08G 1/16 (2006.01)
CPC G08G 1/0133 (2013.01) [B60W 30/10 (2013.01); B60W 40/04 (2013.01); B60W 50/00 (2013.01); G08G 1/012 (2013.01); G08G 1/166 (2013.01); B60W 2050/0016 (2013.01); B60W 2050/0037 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A control system that is set up for use in one's own motor vehicle, based on surroundings data obtained from at least one surroundings sensor assigned to the one's own motor vehicle, which detects lanes, roadway boundaries, roadway markings and/or other motor vehicles in a surroundings area in front of, to the side of and/or behind the one's own motor vehicle, wherein the at least one surroundings sensor is set up to provide the surroundings data to an electronic control unit of the control system, the surroundings data representing the surroundings area in front of, to the side of and/or behind the one's own motor vehicle, and wherein the control system is at least set up to:
determine at least one path property for a future movement path of the one's own motor vehicle based on the surroundings data provided;
determine state vectors based on the surroundings data provided for each of the other motor vehicles in the surroundings area of the one's own motor vehicle and corresponding with at least two reference points for each of the respective other motor vehicles that define at least one of a length and a width of the corresponding other motor vehicle, the at least two reference points corresponding to corners for each of the respective other motor vehicles, the state vectors defining lateral and longitudinal position distributions for the at least two reference points for each of the respective other motor vehicles;
transform the respectively determined state vectors for each of the other respective motor vehicles into path coordinates based on the lateral and longitudinal position distributions defined in the state vectors and at least one path property for the one's own motor vehicle;
determine at least two probability distributions of a position of each of the other motor vehicles, corresponding to each of the at least two reference points of each of the respective other motor vehicles, based on the respectively transformed state vectors and at least one of the length and the width of the corresponding other motor vehicle; and
control a driver assistance system of the one's own motor vehicle to perform a driving maneuver based on the future movement path of the one's own motor vehicle and the determined positions of each of the other motor vehicles.