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

Claim 7:
8. A method for predicting the 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 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 feature function for the ego vehicle and for each of the extraneous objects in such a way that an application of respective feature functions to a set of parameters still free provides a quality function, the quality function assigning a measure to an overall situation formed from instantaneous states of the ego vehicle and the extraneous objects and to a possible next movement action as to how good the next action in the instantaneous overall situation is for the for each of the ego vehicle and each of the extraneous objects;
ascertaining movement strategies of the ego vehicle and of the extraneous objects as those strategies which result in a maximal causal entropy of the movement actions of the ego vehicle and of the extraneous objects in the overall situation;
ascertaining the predicted trajectories and the future trajectory from the 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.