Patent Document ID: 9669830
Application ID: 14720101
Patent Status: 1

Claim One:
1. A method for assisting a driver in driving a host vehicle, comprising the steps of: performing at least one of producing sensor data by at least one sensor physically sensing the environment of the host vehicle and obtaining data conveying information about the environment of the host vehicle; generating, based on at least one of the sensor data and the information about the environment of the host vehicle, for each of different points in time, including present and future, a representation segment to provide timewise and spatially adjacent representation segments, each of the representation segments being a portion of a grid of an entire area of representation of the environment of the host vehicle at a particular point in time, wherein a relative position of the portion of at least one of the representation segments with respect to a current position of the host vehicle corresponds to a possible position of the host vehicle at the particular point in time and the grid comprises units forming surface of the environment, wherein information relevant for driving the host vehicle is assigned to at least a plurality of the units and the representation segments are generated by prediction of semantic labels of the plurality of units of the representation segment for the particular point in time, or by cutting out at least one of the representation segments from an entire area representation having the predicted semantic labels of the plurality of units; connecting the timewise and spatially adjacent representation segments to form a single two-dimensional spatio-temporal representation of the environment of the host vehicle that comprises a plurality of timewise and spatially consecutive segments representing relevant spatial portions of the environment at their respective relevant time; performing an evaluation process on behavior of at least one of the host vehicle and other traffic participants based on the spatio-temporal representation; and outputting an assistance signal on the basis of an evaluation result to control an actuator or a warning signal of the host vehicle.