METHOD FOR COLLISION TESTING WITH COMPUTING-TIME EFFICIENCY IN PATH PLANNING FOR A VEHICLE
The invention relates to a method for collision testing with computing-time efficiency in path planning for a vehicle (2), wherein distance values until collision with an obstacle (3) are calculated for each (x,y) pair ((xn,yn)) of a discrete 2-D grid (1) of the environment of the vehicle (2). In the method, the following steps are performed: First, the (x,y) pairs ((xn,yn)) relevant in an expansion step are determined in the vehicle coordinate system, which (x,y) pairs are stored in a first list together with associated curve parameters (rn) of paths (pn) for reaching said (x,y) pairs ((xn,yn)). Then all relevant (x,y) pairs ((xn,yn)) are transformed into an environment model coordinate system. This is followed by a collision test by comparison of the transformed (x,y) pairs ((xn,yn)) with the environment model. Thereafter, a second list having collision-free paths is generated by means of the collision-free curve parameters from the first list and by means of an expansion of the paths (p1, p2, p5), whereupon the second list is sorted according to total-cost-optimized nodes. Finally, it is checked whether a total-cost-optimized node is a sought destination point (4) of the path planning.