Method and system for ascertaining an expected device contour

• Main Authors: Banzhaf, Holger Andreas, Dolgov, Maxim
• Format: Patent
• Language: English
• Published: 17.08.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; CONTROLLING; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TRANSPORTING; VEHICLES IN GENERAL

A method for ascertaining an expected contour of a mobile or stationary device for avoiding collisions, using at least one control unit that is internal external to the device includes: obtaining a movement trajectory of the device, which contains probability densities based on state estimation, at least based on expected values and covariances; obtaining a base polyhedron and an approximate contour of the device having a limited number of corners, a confidence interval within which a collision with the static and dynamic surroundings of the device is to be avoided being defined; transforming the base polyhedron to the at least one probability density of the movement trajectory that describes the state estimation; and, for each corner of the transformed base polyhedron, computing a transformed device contour, and ascertaining the expected contour of the device with inclusion of all transformed device contours.