A method for ascertaining an expected contour of a mobile or stationary device for avoiding collisions, using at least one control unit that is internal external to the device includes: obtaining a movement trajectory of the device, which contains probability densities based on state estimation, at least based on expected values and covariances; obtaining a base polyhedron and an approximate contour of the device having a limited number of corners, a confidence interval within which a collision with the static and dynamic surroundings of the device is to be avoided being defined; transforming the base polyhedron to the at least one probability density of the movement trajectory that describes the state estimation; and, for each corner of the transformed base polyhedron, computing a transformed device contour, and ascertaining the expected contour of the device with inclusion of all transformed device contours.
METHOD AND SYSTEM FOR ASCERTAINING AN EXPECTED DEVICE CONTOUR
2019-11-14
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B25J Manipulatoren , MANIPULATORS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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