Patent ID: 11858506
Assignee: ROBERT BOSCH GMBH
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A method for predicting trajectories of extraneous objects in surroundings of an ego vehicle, and for determining a separate future trajectory for the ego vehicle adapted to the predicted trajectories, comprising the following steps:
identifying the extraneous objects from a time series of physical observations of the surroundings and/or from pieces of information received from the extraneous objects themselves and/or from an infrastructure via a wireless interface of the vehicle;
ascertaining toward which respective destination a movement of each of the extraneous objects is headed and according to which basic rules the movement of each of the extraneous objects occurs;
ascertaining toward which destination a movement of the ego vehicle is headed and according to which basic rules the movement of the ego vehicle occurs;
establishing a respective quality function for the ego vehicle and for each of the extraneous objects, which assigns a measure to an overall situation formed from instantaneous states of the ego vehicle and of the extraneous objects and to a respective possible next movement action as to how good the next action in the instantaneous overall situation is for each of the ego vehicle and each of the extraneous objects;
establishing a respective quality measure for the ego vehicle and for each of the extraneous objects which also assigns to the overall situation and to the possible next movement action an expected value of a distribution of probabilities of state changes, with which other road users react to the next movement action;
ascertaining optimal movement strategies of the ego vehicle and of the extraneous objects that maximize the respective quality measures;
ascertaining the predicted trajectories and the future trajectory from the optimal movement strategies;
adapting a trajectory of the ego vehicle adapted to the predicted trajectories of the extraneous objects;
conveying the adapted trajectory to a movement planner of the ego vehicle;
ascertaining an activation program for a drive system of the ego vehicle, and/or a steering system of the ego vehicle, and/or a braking system of the ego vehicle, using the movement planner; and
activating the drive system, and/or the steering system, and/or the braking system, according to the activation program.