US 12,304,462 B2
Method for detecting an obstacle on a route
Andreas Heyl, Weil der Stadt (DE); Christian Heinzemann, Ludwigsburg (DE); Martin Butz, Steinheim an der Murr (DE); Martin Herrmann, Korntal (DE); Michael Rittel, Markgroeningen (DE); Nadja Schalm, Renningen (DE); and Jens Oehlerking, Stuttgart (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Jun. 21, 2022, as Appl. No. 17/844,818.
Claims priority of application No. 10 2021 206 875.8 (DE), filed on Jun. 30, 2021.
Prior Publication US 2023/0001917 A1, Jan. 5, 2023
Int. Cl. B60W 30/08 (2012.01); B60Q 5/00 (2006.01); B60W 30/18 (2012.01); G01S 13/931 (2020.01)
CPC B60W 30/08 (2013.01) [B60Q 5/005 (2013.01); B60W 30/18 (2013.01); G01S 13/931 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A computer-implemented method for detecting an obstacle on a route ahead of a first vehicle, the method comprising the following steps: recording, by at least one sensor of the first vehicle, information about a change over time in a second vehicle driving ahead on a route of the first vehicle; detecting, by a computer in the first vehicle and depending on the change over time, at least one predefined movement by the second vehicle, the at least one movement including at least one of an evasive maneuver, a pitching motion, and a yaw motion, which the computer of the first vehicle determines corresponds to an avoidance maneuver that has been performed by the second vehicle due to an obstacle or that the second vehicle has driven over the obstacle; determining, by the computer of the first vehicle, presence of the obstacle on the route based on the detected avoidance maneuver performed by the second vehicle or the detection that the second vehicle has driven over the obstacle; and the computer of the first vehicle initiating the first vehicle to perform a measure for protecting the first vehicle and/or the obstacle, depending on the detected obstacle.