| CPC B60W 50/029 (2013.01) [B60W 50/0097 (2013.01); B60W 2050/0292 (2013.01)] | 19 Claims |
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13. A vehicle computer for determining a trajectory for controlling a vehicle, the vehicle computer being configured to:
receive sensor data generated by a sensor system of the vehicle;
input the sensor data into a safety algorithm configured to detect safety-relevant objects based on the sensor data;
input the sensor data into a comfort algorithm configured to detect comfort-relevant objects based on the sensor data, the comfort algorithm different from the safety algorithm, and the safety-relevant objects different from the comfort-relevant objects;
estimate future states of the detected safety-relevant objects using an environment model representing an environment of the vehicle;
estimate future states of the detected comfort-relevant objects using the environment model;
store and track the detected safety-relevant objects and the comfort-relevant objects over time in the environment model;
apply safety rules to the environment model to calculate a safety trajectory based on the estimated future states of the detected safety-relevant objects;
apply comfort rules to the environment model to calculate a comfort trajectory based on the estimated future states of the detected comfort-relevant objects, the comfort rules different from the safety rules, and the comfort trajectory different from the safety trajectory;
check whether the calculated comfort trajectory satisfies the safety rules;
use the calculated comfort trajectory to control the vehicle in response to the calculated comfort trajectory satisfying the safety rules; and
use the calculated safety trajectory to control the vehicle in response to the calculated comfort trajectory not satisfying the safety rules.
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