US 12,252,119 B2
Driver assistance system and vehicle including the driver assistance system based on determining a perceived situation from multiple possible situations
Tim Puphal, Offenbach (DE); Malte Probst, Offenbach (DE); and Raphael Wenzel, Offenbach (DE)
Assigned to Honda Research Institute Europe GmbH, Offenbach/Main (DE)
Filed by Honda Research Institute Europe GmbH, Offenbach/Main (DE)
Filed on Mar. 27, 2023, as Appl. No. 18/190,932.
Prior Publication US 2024/0326793 A1, Oct. 3, 2024
Int. Cl. B60W 30/095 (2012.01); B60W 30/09 (2012.01); B60W 50/14 (2020.01)
CPC B60W 30/0956 (2013.01) [B60W 30/09 (2013.01); B60W 50/14 (2013.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2554/4046 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A computer-implemented method in an assistance system for determining a perceived situation perceived by an ego-agent, comprising:
sensing an environment of the ego-agent that includes at least one other agent;
predicting possible behaviors of the at least one other agent based on the sensed environment;
planning trajectories of the ego-agent for each possible behavior of the at least one other agent to generate a set of planned trajectories;
determining an actual trajectory of the ego-agent;
comparing the determined actual trajectory of the ego-agent with a plurality of the planned trajectories of the ego-agent, and determining a planned trajectory with a largest similarity to the actual trajectory of the ego-agent;
determining a perceived situation as perceived by the ego-agent based on a particular predicted possible behavior of the predicted possible behaviors corresponding to the planned trajectory with the largest similarity; and
executing an action in the assistance system based on the determined perceived situation.