公开(公告)号：US11508244B2

公开(公告)日：2022-11-22

申请号：US17249561

申请日：2021-03-05

Applicant: SAAB AB

Inventor： Mikaela Lokatt ,  Stefan Blom

IPC: G08G3/02 ,  G05D1/10 ,  B63B79/40 ,  G01C21/20 ,  G05D1/02 ,  G08G5/00 ,  G08G5/04

Abstract: The present disclosure relates to a method for determining an action for collision avoidance in a craft. The method (100) comprises obtaining (110) object data comprising three-dimensional object data points (420); obtaining (120) state data of the craft (260); determining (140) at least one set of manoeuvre paths (410a,b,c) for the craft (260) based on the obtained craft state data; determining (150) a set of distance thresholds (421) for the three-dimensional object data points (420) based on the object data; comparing (160) each set of manoeuvre paths (410a,b,c) with the object data and the set of distance thresholds (421), wherein the set of manoeuvre paths (410a,b,c) is identified as a colliding set of manoeuvre paths (410a,b,c) when each path of the set of manoeuvre paths (410a,b,c) is at least partially within the corresponding distance threshold (421) of at least one three-dimensional object data point (420); and determining (170) an action upon identification of at least one colliding set of manoeuvre paths (410a,b,c).