Patent Document ID: 9463797
Application ID: 14692008
Patent Status: 1

Claim One:
1. Method for the support of driving an ego-vehicle including the following steps: selecting at least one traffic participant and/or infrastructure element involved in a traffic situation, calculating of a hypothetical future trajectory from the ego-vehicle and varying this hypothetical future ego-trajectory to generate a plurality of ego-trajectory alternatives including the calculated hypothetical future ego-trajectory, calculating of at least one hypothetical future trajectory from said at least one traffic participant and/or calculating of a hypothetical future state sequence of the infrastructure element, calculating a plurality of a risk functions over future time or along the calculated hypothetical future ego-trajectory alternatives, wherein one risk function corresponds to one ego-trajectory alternative, wherein each risk function is calculated by estimating, over future time, a critical event risk for each of common points in time of said one ego-trajectory alternative and said at least one hypothetical future trajectory or by estimating, along the respective calculated hypothetical future ego-trajectory alternative, a critical event risk for each of corresponding positions of said one ego-trajectory alternative and said at least one hypothetical future trajectory, combining the plurality of risk functions into a risk map, and analyzing the risk map and generating a control signal for assisting the driving of the ego-vehicle.