A method of identifying potential hazards in the environment of a vehicle

摘要

A method for identifying potential hazards, the method comprising: detecting multiple objects in a predetermined environment around an ego vehicle; Determining a predetermined measure between each detected object and the ego vehicle; Defining a virtual dynamic security shield around each detected object of a size determined by the measure between the object and the ego vehicle; Defining an action grid that includes an area around the ego vehicle having a predetermined number and size of cells; and evaluating a potential interaction between each detected object and the ego vehicle based on whether and how much the safety shield for that object and the action grid overlap, each of the cells of the action grid being assigned a respective weight, the more negative the weight a particular cell, the higher a cost function is that the ego vehicle is in that cell at that particular time, wherein the weight assigned to each of the cells is composed of a street weight and an action weight, indicating the street weight of a respective cell whether and how much the safety shields overlap with this cell, and wherein the action weight of a respective cell indicates the amount of cost for the ego vehicle to move into that cell, the action weight being independent of the detected objects.