US 12,168,454 B2
Method and device for predicting a future action of an object for a driving assistance system for vehicle drivable in highly automated fashion
Evren Divrikli, Neckarwestheim (DE); and Federico Ignacio Sanchez Pinzon, Kornwestheim (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Jun. 30, 2022, as Appl. No. 17/854,993.
Claims priority of application No. 10 2021 207 234.8 (DE), filed on Jul. 8, 2021.
Prior Publication US 2023/0012378 A1, Jan. 12, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01)
CPC B60W 60/0011 (2020.02) [B60W 40/04 (2013.01); B60W 50/0097 (2013.01); B60W 60/00274 (2020.02); B60W 2050/0052 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2420/54 (2013.01); B60W 2554/4041 (2020.02); B60W 2556/35 (2020.02)] 16 Claims
OG exemplary drawing
 
1. A method for predicting a future action of an object for an autonomous driving assistance system for a highly automated mobile vehicle, the method comprising the following steps:
reading in: (i) at least one sensor signal from at least one vehicle sensor of the vehicle, the sensor signal representing at least one piece of kinematic object information concerning an object that is detected by the vehicle sensor at an instantaneous point in time, and (ii) a planner signal from a planner of the autonomous driving assistance system, the planner signal representing at least one piece of semantic information concerning the object or surroundings of the object at a point in time in the past prior to the instantaneous point in time;
fusing the kinematic object information with the semantic information to obtain a fusion signal that represents a piece of fused information concerning the object, wherein in the reading in step, prior to the fusing, the semantic information of the planner signal is transformed into a piece of kinetic information of the object, and wherein the fusing includes fusing the kinetic object information with the piece of kinetic information of the object; and
determining a prediction signal using the fusion signal, the prediction signal representing the future action of the object.