Patent ID: 9342986
Filing Date: 2016-05-17
CPC Classification: G08G

Claim Text:
1. A computer based method comprising: receiving a plurality of vehicle environment inputs, the inputs comprising a current position for each of a plurality of objects located around a vehicle; determining, based on the inputs, a possible outcome involving the plurality of objects, the possible outcome comprising a predicted position for each of the involved objects; determining a numerical likelihood of occurrence of the possible outcome based on the inputs; determining, for each of the involved objects, a current risk value for the object based on the current position of the object, and a predicted risk value for the object based on the predicted position of the object; determining, for each of the involved objects, a total risk value based on the current risk value and based on the predicted risk value weighted by the numerical likelihood of occurrence; and controlling a driver assistance system of the vehicle based on the total risk values of the involved objects; wherein determining the numerical likelihood of occurrence of the possible outcome comprises: determining a plurality of memberships by the inputs in a plurality of input membership functions; combining the memberships into a plurality of permutations of the input membership functions; mapping the permutations to a plurality of outcome membership functions; aggregating the outcome membership functions; determining the numerical likelihood of occurrence based on the aggregation.