US 11,971,720 B2
Method for preventing a collision between an autonomous vehicle and a user in a movement range of the autonomous vehicle and system
Arne Bröring, Munich (DE); Thomas Jell, Munich (DE); and Andreas Ziller, Oberhaching (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Appl. No. 17/260,736
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Jul. 1, 2019, PCT No. PCT/EP2019/067611
§ 371(c)(1), (2) Date Jan. 15, 2021,
PCT Pub. No. WO2020/015995, PCT Pub. Date Jan. 23, 2020.
Claims priority of application No. 10 2018 211 796.9 (DE), filed on Jul. 16, 2018.
Prior Publication US 2021/0263520 A1, Aug. 26, 2021
Int. Cl. B60K 35/00 (2006.01); B60K 35/28 (2024.01); G05D 1/00 (2006.01); G08G 1/16 (2006.01)
CPC G05D 1/0214 (2013.01) [B60K 35/00 (2013.01); G08G 1/166 (2013.01); B60K 35/28 (2024.01); B60K 2360/166 (2024.01)] 20 Claims
OG exemplary drawing
 
1. A method for preventing a collision between an autonomous vehicle and a user in a movement range of the autonomous vehicle, the method comprising:
receiving planned paths comprising a time-dependent, planned path of the autonomous vehicle and a time-dependent, planned path of the user;
determining a time-dependent path network by a path network unit, wherein the time-dependent path network describes the planned paths;
determining collision information that describes an overlap of the planned paths in the time-dependent path network,
determining a safe zone for the user based on the collision information, wherein the safe zone describes an area in the movement range that is safe for the user with respect to a collision with the autonomous vehicle;
determining an unsafe zone for the user based on the collision information; wherein the unsafe zone describes an area in which there is a risk of the collision;
determining an increased attention zone between the safe zone and the unsafe zone based on the collision information; and
providing a display for the user on a floor by a display device, wherein the display on the floor depicts the safe zone, the unsafe zone, and the increased attention zone, wherein the safe zone, the unsafe zone, and the increased attention zone are differentiated by the display on the floor using different colors and/or patterns.