公开(公告)号：US20240208539A1

公开(公告)日：2024-06-27

申请号：US18530546

申请日：2023-12-06

Applicant: Robert Bosch GmbH

Inventor： Johannes Christian Mueller ,  Anne Von Vietinghoff ,  Christian Heinzemann ,  Heiko Freienstein ,  Jens Oehlerking ,  Martin Butz ,  Martin Herrmann ,  Michael Rittel ,  Ralf Kohlhaas ,  Stefan Ruppin ,  Steffen Knoop

IPC: B60W60/00

CPC classification number: B60W60/0015 ,  B60W60/0013 ,  B60W2554/4046

Abstract: A computer-implemented method for the behavior planning of an at least partially automated EGO vehicle. The method uses a database of pre-defined partial situations and an evaluation model for each partial situation, as well as a pre-defined rule set for evaluating possible behaviors of the EGO vehicle in a given situation. The EGO vehicle performs: aggregating situation-specific information; generating an environment model of the given situation based on the situation-specific information; analyzing the environment model to identify at least one partial situation in the database; generating at least one instance for each identified partial situation; analyzing all generated instances by using the evaluation model of the respectively underlying partial situation to determine boundary conditions for the possible behaviors of the EGO vehicle in the given situation; prioritizing the possible behaviors of the EGO vehicle based on the boundary conditions determined in this way in conjunction with the rule set.

公开(公告)号：US10829110B2

公开(公告)日：2020-11-10

申请号：US16157958

申请日：2018-10-11

Applicant: Robert Bosch GmbH

Inventor： Dennis Nienhueser ,  Heiko Freienstein ,  Holger Andreas Banzhaf ,  Joachim Boerger ,  Johannes Foltin ,  Markus Koehler ,  Markus Schuetz ,  Markus Mazzola ,  Miriam Schreiber ,  Nandor Nagy ,  Steffen Knoop ,  Steffen Waeldele ,  Thomas Schamm ,  Thomas Kiess ,  Hans-Christian Swoboda

IPC: B60W30/00 ,  G05D1/00 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20

Abstract: A method for adapting a driving behavior of a semi, highly or fully automated vehicle and includes the following steps: receiving passenger compartment data; ascertaining a safety state of at least one vehicle occupant which in particular represents an injury probability of the vehicle occupant in the event of an accident, based on the passenger compartment data; and adapting the driving behavior of the vehicle based on the safety state of the at least one vehicle occupant.

公开(公告)号：US20230373533A1

公开(公告)日：2023-11-23

申请号：US18311745

申请日：2023-05-03

Applicant: Robert Bosch GmbH

Inventor： Andreas Schmidt ,  Koba Natroshvili ,  Maxim Dolgov ,  Steffen Knoop

IPC: B60W60/00 ,  B60W30/18 ,  B60W40/04

CPC classification number: B60W60/0027 ,  B60W60/0015 ,  B60W30/18163 ,  B60W40/04 ,  B60W2554/4046 ,  B60W2554/80

Abstract: A method for classifying a driving behavior of a road user in the environment of an ego vehicle. The method includes: receiving trajectory data of a driving trajectory of a road user arranged in the environment of an ego vehicle; ascertaining a latent-space representation of the driving trajectory of the road user in a latent space; ascertaining a distance of the latent-space representation of the driving trajectory of the road user to a latent-space representation of at least one normal trajectory in the latent space; and classifying a driving behavior of the road user as a normal driving behavior if the distance in the latent space falls below a predetermined limit value; or classifying the driving behavior of the road user as an abnormal driving behavior if the distance in the latent space exceeds the predetermined limit value.

公开(公告)号：US20190126911A1

公开(公告)日：2019-05-02

申请号：US16157958

申请日：2018-10-11

Applicant: Robert Bosch GmbH

Inventor： Dennis Nienhueser ,  Heiko Freienstein ,  Holger Andreas Banzhaf ,  Joachim Boerger ,  Johannes Foltin ,  Markus Koehler ,  Markus Schuetz ,  Markus Mazzola ,  Miriam Schreiber ,  Nandor Nagy ,  Steffen Knoop ,  Steffen Waeldele ,  Thomas Schamm ,  Thomas Kiess ,  Hans-Christian Swoboda

IPC: B60W30/00 ,  G05D1/00

Abstract: A method for adapting a driving behavior of a semi, highly or fully automated vehicle and includes the following steps: receiving passenger compartment data; ascertaining a safety state of at least one vehicle occupant which in particular represents an injury probability of the vehicle occupant in the event of an accident, based on the passenger compartment data; and adapting the driving behavior of the vehicle based on the safety state of the at least one vehicle occupant.

公开(公告)号：US20240208540A1

公开(公告)日：2024-06-27

申请号：US18529267

申请日：2023-12-05

Applicant: Robert Bosch GmbH

Inventor： Arno Schaumann ,  Heiko Freienstein ,  Joram Berger ,  Markus Schuetz ,  Steffen Knoop

IPC: B60W60/00

CPC classification number: B60W60/0016 ,  B60W2554/80 ,  B60W2556/40 ,  B60W2720/10

Abstract: A method for controlling an ego vehicle. The method includes: receiving map data of a map representation of a surrounding environment of an ego vehicle; determining a safe driving corridor of the ego vehicle based on the map data of the map representation; determining a safety region of the ego vehicle based on a state of motion of the ego vehicle; checking whether the safety region is located completely within the safe driving corridor during travel of the ego vehicle along a travel trajectory; and outputting a control signal for executing a safety maneuver if the safety region is located at least partially outside the safe driving corridor.

公开(公告)号：US20240017721A1

公开(公告)日：2024-01-18

申请号：US18336581

申请日：2023-06-16

Applicant: Robert Bosch GmbH

Inventor： Markus Schuetz ,  Steffen Knoop ,  Thomas Schamm

IPC: B60W30/09

CPC classification number: B60W30/09 ,  B60W2556/40 ,  B60W2720/10 ,  B60W2710/20 ,  B60W2554/20 ,  B60W2555/60 ,  B60W2554/4044 ,  B60W2520/10 ,  B60W2520/06 ,  B60W2554/80 ,  B60W2554/4041 ,  B60W2554/4046 ,  B60W30/0956

Abstract: A method for controlling an ego vehicle. The method includes: receiving map data of a map display of an environment of an ego vehicle; ascertaining a safe travel corridor for the ego vehicle based on the map data of the map display; ascertaining a safety zone of the ego vehicle based on a state of movement of the ego vehicle; checking whether, when the ego vehicle is traveling along a travel trajectory, the safety zone is located entirely within the safe travel corridor; and outputting a control signal to execute a safety maneuver if the safety zone is located at least partly outside the safe travel corridor.

公开(公告)号：US11820351B2

公开(公告)日：2023-11-21

申请号：US17446907

申请日：2021-09-03

Applicant: Robert Bosch GmbH

Inventor： Andreas Schmidt ,  Markus Schuetz ,  Thomas Schamm ,  Steffen Knoop

IPC: B60T7/12

CPC classification number: B60T7/12 ,  B60T2201/03 ,  B60T2210/32

Abstract: A device for protecting a travel trajectory of an ego vehicle. An information evaluation device creates an ego grid for the travel trajectory of the ego vehicle through the travel surroundings so that for each ego grid cell, a temporal occupation of the particular ego grid cell by the ego vehicle, driving along the travel trajectory, is established, and creates a surroundings grid for the travel surroundings so that a temporal occupation of a surroundings grid cell by at least one object that is possibly present is established for each surroundings grid cell. The device includes a grid evaluation device that examines each ego grid cell and the particular associated surroundings grid cell with regard to a simultaneous occupation of the particular ego grid cell by the ego vehicle, driving along the travel trajectory, and of the particular associated surroundings grid cell by the at least one possibly present object.

公开(公告)号：US20250022365A1

公开(公告)日：2025-01-16

申请号：US18757629

申请日：2024-06-28

Applicant: Robert Bosch GmbH

Inventor： Heiko Freienstein ,  Johannes Christian Mueller ,  Ralf Kohlhaas ,  Stefan Ruppin ,  Steffen Knoop

IPC: G08G1/005

Abstract: A method for increasing safety at a crossing system including crosswalk. The method includes: receiving environmental signals representing an environment, including a crossing system, of a motor vehicle approaching the crossing system and wanting to cross the crossing system; specifying a boundary condition and/or an instruction for action for a crossing system maneuver to be planned for the motor vehicle on the basis of the environmental signals; planning a crossing system maneuver for the motor vehicle based on the environmental signals including ascertaining a target trajectory, fulfilling the specification, for the motor vehicle based on the specification, wherein, if no target trajectory fulfilling the specification can be ascertained for the motor vehicle, the planning includes using a relaxed, at least one boundary condition and/or a relaxed, at least one instruction for action to ascertain a fallback target trajectory fulfilling the relaxed specification; outputting the correspondingly ascertained target trajectory.

公开(公告)号：US20240300530A1

公开(公告)日：2024-09-12

申请号：US18443078

申请日：2024-02-15

Applicant: Robert Bosch GmbH

Inventor： Johannes Christian Mueller ,  Anne Von Vietinghoff ,  Christian Heinzemann ,  Heiko Freienstein ,  Jens Oehlerking ,  Martin Butz ,  Martin Herrmann ,  Michael Rittel ,  Ralf Kohlhaas ,  Stefan Ruppin ,  Steffen Knoop

IPC: B60W60/00

CPC classification number: B60W60/0011 ,  B60W60/0015

Abstract: A computer-implemented method and a corresponding system for planning the behavior of a vehicle using a predefined set of rules with prioritized rules for assessing possible behaviors of the vehicle in a given situation. For this purpose, situation-specific information is aggregated, and an environmental model of the given situation is generated based on the aggregated situation-specific information. The set of rules includes a decision-making process structure, which represents the prioritization of the individual rules of the set of rules. On the basis of the environmental mode, boundary conditions for the possible behaviors of the vehicle are determined. The latter are then prioritized by applying the decision-making process structure to the respective boundary conditions.

公开(公告)号：US20230399027A1

公开(公告)日：2023-12-14

申请号：US18313843

申请日：2023-05-08

Applicant: Robert Bosch GmbH

Inventor： Andreas Schmidt ,  Koba Natroshvili ,  Maxim Dolgov ,  Steffen Knoop

IPC: B60W60/00 ,  G06V20/58 ,  G06V10/764

CPC classification number: B60W60/0027 ,  B60W60/0015 ,  G06V20/58 ,  B60W2554/80 ,  B60W2554/4046 ,  B60W2554/4041 ,  G06V10/764

Abstract: A method for classifying a driving behavior of a road user in the environment of an ego vehicle. The method includes: receiving trajectory data of a driving trajectory of a road user arranged in the environment of an ego vehicle; ascertaining a latent-space representation of the driving trajectory of the road user in a latent space; ascertaining a distance of the latent-space representation of the driving trajectory of the road user to a latent-space representation of at least one normal trajectory in the latent space and classifying a driving behavior of the road user as a normal driving behavior if the distance in the latent space falls below a predetermined limit value; or classifying the driving behavior of the road user as an abnormal driving behavior if the distance in the latent space exceeds the predetermined limit value.