{
  "$type": "site.standard.document",
  "coverImage": {
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  "description": "The present disclosure relates to a method and arrangement for determining safe vehicle trajectories for a vehicle (1) equipped with sensors (2) for monitoring the surrounding environment, taking into account sensing limitations, as well as a vehicle (1) comprising such an arrangement. The method…",
  "path": "/patents/935026",
  "publishedAt": "2016-11-09T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/025",
    "VOLVO CAR CORP [SE]"
  ],
  "textContent": "The present disclosure relates to a method and arrangement for determining safe vehicle trajectories for a vehicle (1) equipped with sensors (2) for monitoring the surrounding environment, taking into account sensing limitations, as well as a vehicle (1) comprising such an arrangement. The method comprises the steps of: detecting observable obstacles (3); detecting unobservable areas (4); adding virtual obstacles (5) in unobservable areas (4); associating each observable obstacle (3) and each virtual obstacle (5) with one or more hypothetical events and assigning an occurrence probability to each combination of obstacle (3, 5) and events; and determining safe vehicle (1) trajectories based on both observable obstacles (3) and virtual obstacles (5) and the occurrence probability of each combination of obstacle (3, 5) and events.",
  "title": "METHOD AND ARRANGEMENT FOR DETERMINING SAFE VEHICLE TRAJECTORIES"
}