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1. (WO2018099782) METHOD FOR COLLISION TESTING WITH COMPUTING-TIME EFFICIENCY IN PATH PLANNING FOR A VEHICLE

Pub. No.:    WO/2018/099782    International Application No.:    PCT/EP2017/080057
Publication Date: Fri Jun 08 01:59:59 CEST 2018 International Filing Date: Thu Nov 23 00:59:59 CET 2017
IPC: G01C 21/34
B60W 30/08
Applicants: ROBERT BOSCH GMBH
Inventors: SCHERER, Torsten
FERCH, Markus
PARLITZ, Christopher
YUEN-WILLE, Sheung Ying
VON COLLANI, Yorck
LEIBOLD, Stefan
Title: METHOD FOR COLLISION TESTING WITH COMPUTING-TIME EFFICIENCY IN PATH PLANNING FOR A VEHICLE
Abstract:
The invention relates to a method for collision testing with computing-time efficiency in path planning for a vehicle (2), wherein distance values until collision with an obstacle (3) are calculated for each (x,y) pair ((xn,yn)) of a discrete 2-D grid (1) of the environment of the vehicle (2). In the method, the following steps are performed: First, the (x,y) pairs ((xn,yn)) relevant in an expansion step are determined in the vehicle coordinate system, which (x,y) pairs are stored in a first list together with associated curve parameters (rn) of paths (pn) for reaching said (x,y) pairs ((xn,yn)). Then all relevant (x,y) pairs ((xn,yn)) are transformed into an environment model coordinate system. This is followed by a collision test by comparison of the transformed (x,y) pairs ((xn,yn)) with the environment model. Thereafter, a second list having collision-free paths is generated by means of the collision-free curve parameters from the first list and by means of an expansion of the paths (p1, p2, p5), whereupon the second list is sorted according to total-cost-optimized nodes. Finally, it is checked whether a total-cost-optimized node is a sought destination point (4) of the path planning.