Robert Boschgmbh

Obert Bosch Gmbh

Lutz Buerkle

Tobias Rentschler

Thomas App

Thomas Maurer

Michael Weilkes

Thomas Michalke

Thomas Benjamin Gussner

Claudius Glaeser

Oliver Pink

Michael U Fischer

Michael Scherl

Ruediger Jordan

Christian Braeuchle

Martin Kieren

Thomas Haeussler

Thomas Glaser

Dariu M Gavrila

Thomas Schlender

Michael Fischer

A method is described for avoiding or mitigating a collision of a vehicle with an obstacle in a traffic lane of the vehicle, if the obstacle is at least partially blocking a planned travel envelope of the vehicle, the method including a step of detecting and a step of adapting. In the step of detecting, a position and/or trajectory of the obstacle is detected. In the step of adapting, the travel envelope is adapted with the aid of the position and/or the trajectory, in order to avoid or mitigate the collision.

Method and device for avoiding or mitigating a collision of a vehicle with an obstacle

A method is described for processing sensor data of a stereo sensor system for stereoscopic sensing of an environment of the stereo sensor system. A disparity map is constituted based on the sensor data, wherein a change in disparity between two disparity points of the disparity map that are constituted with a spacing from one another is identified, at least one of the two disparity points being classified to correspond to an object as a function of the change in disparity. Also described is a corresponding apparatus, to a corresponding object recognition system, and to a corresponding computer program.

Method and device for processing stereoscopic data

A method is described for segmenting an occupancy grid for a surroundings model of a driver assistance system for a vehicle. The method encompasses a step of reading in an occupancy grid having a plurality of grid cells, each grid cell of the plurality of grid cells having assigned to it a grid cell information item that encompasses an information item about a degree of occupancy and at least one additional information item about the grid cell; and a step of assigning at least one object and/or a plurality of objects to the plurality of grid cells using the grid cell information item, in order to segment the occupancy grid for a surroundings model.

Method and apparatus for segmenting an occupancy grid for a surroundings model of a driver assistance system for a vehicle background of the invention

A method for providing swerve assistance for a motor vehicle, in which a threatening or imminent collision of the motor vehicle is detected, the driver is notified to steer the vehicle onto a collision-avoiding swerve trajectory, it is detected whether the driver heeds the warning and initiates a swerve maneuver, and if the driver initiates a swerve maneuver, a driver-independent implementation of a steering or braking intervention assisting in the steering onto the swerve trajectory takes place.

Method and device for swerve assistance for a motor vehicle

A method for situation analysis for a driver assistance system on board a motor vehicle includes steps of providing a representation of the surroundings of the motor vehicle, the representation including a system of cells that are reversibly unambiguously associated with predetermined sections of the surroundings, scanning the surroundings of the motor vehicle with the aid of at least one sensor in order to detect an obstacle, and marking cells, based on the scan, in such a way that a cell that is associated with an obstacle-free section of the surroundings carries a first marker, and a cell that is associated with a section of the surroundings in which an obstacle has been detected carries a second marker. A morphological filter is subsequently used on the representation in order to provide cells, which are not accessible by the motor vehicle, with the second marker.

Situation analysis for a driver assistance system

A method for classifying a behavior, of a pedestrian when crossing a roadway of a vehicle, includes reading in a sensor signal to detect the pedestrian and at least one piece of surroundings information regarding surroundings of the pedestrian. The sensor signal represents here a signal of at least one sensor of the vehicle. The method further includes ascertaining at least one physical variable of a correlation between the pedestrian and the at least one piece of surroundings information. Finally, the method includes classifying the behavior of the pedestrian using the at least one physical variable.

Method and device for classifying a behavior of a pedestrian when crossing a roadway of a vehicle as well as passenger protection system of a vehicle

A method is provided for operating a driver assistance system, and a driver assistance system. The method includes the steps: determination of a current position of an object in an environment surrounding the vehicle; determination of a first current state of motion of the object; determination of a second current state of motion of the vehicle; calculation of a sojourn probability distribution of the object, the sojourn probability distribution being a function of time and of space and being based on an object motion model in connection with the determined current position of the object and the determined current state of motion of the object; calculation of a trajectory, based on the calculated sojourn probability distribution of the object and on the second current state of motion of the vehicle, having a minimum collision probability for the vehicle and the object; and operation of the driver assistance system of the vehicle based on the calculated trajectory.

Method for operating a driver assistance system, and driver assistance system

A method for operating a driver-assistance system for a vehicle traveling on a road is described, which includes the steps:

Driver-assistance system and method for operating the driver-assistance system

A method is provided for operating a driver assistance system, and a driver assistance system. The method includes the steps: determination of a current position of a pedestrian in an environment surrounding the vehicle; determination of a first current state of motion of the pedestrian; determination of a second current state of motion of the vehicle; calculation of 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; calculation of a trajectory, based on the calculated sojourn probability distribution of the pedestrian and on the second current state of motion of the vehicle, having a minimum collision probability for the vehicle and the pedestrian; and operation of the driver assistance system of the vehicle based on the calculated trajectory.

A method for determining a cutting trajectory that enables a curve section of a lane to be cut by a vehicle. In the method, information about the curve section is received, and the curve section is divided into at least one curve segment having a segment length and a start curvature, the curve segment being a straight-line segment or a circular arc segment or a curve segment whose curvature is a function of an arc length of the curve segment. This is followed by determination of a cutting trajectory from the at least one curve segment, so that, at a specific point of the curve section, the cutting trajectory has a predetermined offset relative to a center of the lane.

Method and control unit for determining a cutting trajectory of a curve section of a roadway

A device for keeping a vehicle in its lane, including a reference model, which obtains geometric data regarding the position of the vehicle in the lane as well as data relating to the course of the lane from a lane detection system, and from these calculates a setpoint variable for controlling the vehicle position. In order to allow for corners to be cut, the guiding behavior of the control system is modified in such a way when cornering that, in the event of a deviation of the path of motion of the vehicle from the setpoint path of motion in the direction of the inside of the curve, no or only low steering forces are applied to the steering system.

KS lateral guidance system having a modified control characteristics when cornering

A method for determining a transversal controller parameterization for transversal control of a vehicle on a route segment to be instantaneously traveled on by the vehicle, having a step for determining the parameter based on a piece of information about a curvature of the route segment to be instantaneously traveled on.

Method and device for determining a transversal controller parameterization for transversal control of a vehicle

In a method for adjusting a steering system in a vehicle, a setpoint trajectory is produced to which a tolerance corridor is assigned, a basic steering torque for guiding the vehicle within the tolerance corridor being generated. In the event that the vehicle leaves the tolerance corridor, a steering guidance torque which acts upon the vehicle in the direction of the tolerance corridor is superimposed on the basic steering torque.

Method for adjusting a steering system in a vehicle

A method and a device for controlling a driver assistance system using an LKS function of a vehicle, in which the LKS function is activated within predefinable boundary values and is deactivated outside these system boundaries. According to the invention, in response to the deactivation of the LKS function during cornering of the vehicle, the LKS function is transferred from a regulation to a control, in such a way that, during the cornering, the driver continues to be supported by a system torque in the transverse guidance of the vehicle at least over a certain stretch of path.

Method and device for the control of a driver assistance system

A driver assistance device for a vehicle having a plurality of safety functions, such as in particular an LDW function and an LKS function, in which system-related boundary values are provided for the safety functions such that when they are undershot the safety function is activated and when they are exceeded the safety function is deactivated. The boundary values are developed to be variable.

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Stuttgart, Germany

Lutz Buerkle