Patent Document ID: 9283987
Application ID: 14605162
Patent Status: 1

Claim One:
1. A method of a driver assistance system of a vehicle, the driver assistance system including a sensor arrangement, a computing device, and a steering device, the method comprising: determining, by the driver assistance system and using the sensor arrangement thereof, a current position of a pedestrian in an environment surrounding the vehicle; determining, by the driver assistance system and using the sensor arrangement thereof, a first current state of motion of the pedestrian; determining, by the driver assistance system and using the sensor arrangement thereof, a second current state of motion of the vehicle; calculating, by the computing device of the driver assistance system, a sojourn probability distribution of the pedestrian, the sojourn probability distribution being a function of time and of space and being based on a pedestrian motion model in connection with the determined current position of the pedestrian and the determined current state of motion of the pedestrian; calculating, by the computing device of the driver assistance system and based on the calculated sojourn probability distribution of the pedestrian and on the second current state of motion of the vehicle, a trajectory of the vehicle with a minimum collision probability for the vehicle into the pedestrian; and operating, by the driver assistance system, the steering device to steer the vehicle along based the calculated trajectory of the vehicle.