US 12,112,554 B2
Method for determining a drivable area
Adam Mats John Lilja, Gothenburg (SE); and Markus Pär Oscar Carlander, Hisings-Kärra Gothenburg (SE)
Assigned to APTIV TECHNOLOGIES AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Aug. 7, 2023, as Appl. No. 18/366,529.
Application 18/366,529 is a continuation of application No. 17/198,121, filed on Mar. 10, 2021, granted, now 11,763,576.
Claims priority of application No. 20171491 (EP), filed on Apr. 27, 2020.
Prior Publication US 2023/0386225 A1, Nov. 30, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06V 20/56 (2022.01); B60W 30/095 (2012.01); B60W 40/06 (2012.01); B60W 50/00 (2006.01); G01C 21/00 (2006.01); G06V 10/80 (2022.01); G06V 20/58 (2022.01)
CPC G06V 20/588 (2022.01) [B60W 30/0956 (2013.01); B60W 40/06 (2013.01); B60W 50/0097 (2013.01); G01C 21/3815 (2020.08); G06V 10/80 (2022.01); G06V 20/58 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
determining a drivable area in front of a host vehicle by at least:
monitoring a region of interest in front of the host vehicle;
dividing the region of interest into a plurality of areas;
determining whether an object is present in a particular area of the plurality of areas;
responsive to determining the object is present in the particular area and is a moving object in approximately the same direction as the host vehicle, determining one or more other areas of the plurality of areas between the host vehicle and the moving object as an obstacle free space;
estimating, based on a current velocity of the moving object and based on a prediction of an emergency braking distance or an emergency steering distance, an extension of the obstacle free space to include one or more additional areas of the plurality of areas; and
classifying each area of the plurality of areas that includes obstacle free space and the extension of the obstacle free space as drivable areas; and
controlling the host vehicle based on the classification of the areas.