US 12,444,206 B2
Method for recognising objects which are relevant to the safety of a vehicle
Stefan Studer, Stuttgart (DE)
Assigned to MERCEDES-BENZ GROUP AG, Stuttgart (DE)
Appl. No. 18/567,390
Filed by MERCEDES-BENZ GROUP AG, Stuttgart (DE)
PCT Filed Apr. 20, 2022, PCT No. PCT/EP2022/060418
§ 371(c)(1), (2) Date Dec. 6, 2023,
PCT Pub. No. WO2022/258250, PCT Pub. Date Dec. 15, 2022.
Claims priority of application No. 10 2021 002 918.6 (DE), filed on Jun. 7, 2021.
Prior Publication US 2025/0104442 A1, Mar. 27, 2025
Int. Cl. G06V 20/58 (2022.01); G01C 21/00 (2006.01); G06V 20/59 (2022.01)
CPC G06V 20/58 (2022.01) [G01C 21/3811 (2020.08); G06V 20/59 (2022.01)] 14 Claims
OG exemplary drawing
 
1. A method comprising:
detecting, using an environmental sensor of a vehicle, an environment and objects located in the environment;
classifying a respective object, which has been recognized by an object recognition device of the vehicle and initially classified as not relevant to the vehicle, as potentially relevant if it is recognized by a gaze recording device in the vehicle that a gaze of at least one vehicle occupant of the vehicle lingers on the respective object for longer than a predetermined minimum gaze duration, wherein the respective object includes a respective moving object;
determining, using a recorded gaze direction of the at least one vehicle occupant, that the respective moving object classified as potentially relevant is tracked by the at least one vehicle occupant for at least a predetermined duration;
identifying a trajectory of the respective recorded and moving object classified as potentially relevant to the vehicle as being relevant to the safety of the vehicle after the predetermined duration has elapsed if it is necessary for the vehicle to react to the respective object;
storing the respective trajectory of a moving object identified as relevant to safety as traffic routing relevant to safety in a digital map of the vehicle; and
autonomously operating the vehicle along a trajectory based on the respective trajectory of a moving object identified as relevant to safety as traffic routing relevant to safety stored in the digital map of the vehicle.