Abstract: A computer-implemented method and system for controlling a mobile robot, which accompanies at least one user, are proposed. The method comprises acquiring information on the at least one user, and predicts a motion intention of the at least one user based on the acquired information. The method acquires information on the physiological condition on the at least one user, determines a user state of the at least one user based on the acquired information on the physiological condition and determines at least one external factor affecting the determined user state. The method proceeds with planning a behavior of the mobile robot that maximizes a user comfort measure determined based on the determined user state and the determined at least on external factor, generates a control signal for controlling the mobile robot that implements the planned behavior, and controls the mobile robot based on the generated control signal.

Abstract: A computer-implemented method for detecting black-swan events for assisting operation of an ego-agent comprises sensing an environment of the ego-agent that includes at least one other agent and predicting behaviors of the at least one other agent based on the sensed environment. The method includes detecting at least one potential black-swan event in the environment of the ego-agent by determining at least one predicted possible behavior of the at least one other agent for which a computed situation probability is smaller than a first threshold, a computed collision probability exceeds a second threshold, and a determined collision severity exceeds a third threshold.

Abstract: A computer-implemented method comprises sensing an environment of the ego-agent that includes at least one other agent. The method predicts possible behaviors of the at least one other agent based on the sensed environment, and plans trajectories of the ego-agent for each possible behavior of the at least one other agent to generate a set of planned trajectories. The method proceeds with determining an actual trajectory of the ego-agent, and comparing the determined actual trajectory of the ego-agent with each of the planned trajectories of the ego-agent and determining a planned trajectory with a largest similarity to the actual trajectory of the ego-agent. Subsequently, a perceived situation as perceived by the ego-agent based on a particular predicted possible behavior of the predicted possible behaviors corresponding to the planned trajectory with the largest similarity is determined. The method executes an action in an assistance system based on the determined perceived situation.

Abstract: A computer-implemented method comprises sensing an environment of the ego-agent that includes at least one other agent. The method predicts possible behaviors of the at least one other agent based on the sensed environment, and plans trajectories of the ego-agent for each possible behavior of the at least one other agent to generate a set of planned trajectories. The method proceeds with determining an actual trajectory of the ego-agent, and comparing the determined actual trajectory of the ego-agent with each of the planned trajectories of the ego-agent and determining a planned trajectory with a largest similarity to the actual trajectory of the ego-agent. Subsequently, a perceived situation as perceived by the ego-agent based on a particular predicted possible behavior of the predicted possible behaviors corresponding to the planned trajectory with the largest similarity is determined. The method executes an action in an assistance system based on the determined perceived situation.

Abstract: A computer-implemented method for detecting black-swan events for assisting operation of an ego-agent comprises sensing an environment of the ego-agent that includes at least one other agent and predicting behaviors of the at least one other agent based on the sensed environment. The method includes detecting at least one potential black-swan event in the environment of the ego-agent by determining at least one predicted possible behavior of the at least one other agent for which a computed situation probability is smaller than a first threshold, a computed collision probability exceeds a second threshold, and a determined collision severity exceeds a third threshold.

Abstract: A method and system for assisting operation of an ego-vehicle in the traffic situation with shared traffic space is provided, in which a future path for the ego-vehicle and a future path for another traffic participant and a relevant path corridor for each determine future path is determined. Based thereon, an overlap of the path corridors to define a shared traffic space is determined and individual distance measures between the ego-vehicle and the shared traffic space and between the other traffic participant and the shared traffic space are calculated to determine an asymmetry. Based on the asymmetry an order is determined and (partially) automated in accordance with trajectory determined based on the order, or information on the intended passing order is provided to the ego-vehicle driver.

Abstract: The present invention relates to a method for assisting a driver of an ego-vehicle in a traffic situation, wherein an ego-trajectory of the ego-vehicle and a trajectory of a traffic participant are calculated, an ego-trajectory alternative is generated by applying a lateral shift to the calculated ego-trajectory, an uncertainty area at least with respect to a lateral direction is determined for each trajectory, a spatio-temporal closeness of the uncertainty area of the ego-trajectory and the uncertainty area of the trajectory of the traffic participant is estimated for each of the plurality of ego-trajectories and an ego-trajectory is selected from the plurality of ego-trajectories based on the evaluated spatio-temporal closeness.

Abstract: A method and system for assisting operation of an ego-vehicle in the traffic situation with shared traffic space is provided, in which a future path for the ego-vehicle and a future path for another traffic participant and a relevant path corridor for each determine future path is determined. Based thereon, an overlap of the path corridors to define a shared traffic space is determined and individual distance measures between the ego-vehicle and the shared traffic space and between the other traffic participant and the shared traffic space are calculated to determine an asymmetry. Based on the asymmetry an order is determined and (partially) automated in accordance with trajectory determined based on the order, or information on the intended passing order is provided to the ego-vehicle driver.

Abstract: In a method for ascertaining the coefficient of friction between a vehicle wheel and the roadway, at least one active vehicle unit influencing the longitudinal dynamics of the vehicle is controlled during the trip in such a manner, that the longitudinal wheel force acting upon at least one vehicle wheel is increased, and/or the contact patch force of the wheel is decreased, while the characteristic of the sum of all of the longitudinal forces acting upon the vehicle remains unchanged.

Abstract: In a method for ascertaining the coefficient of friction between a vehicle wheel and the roadway, at least one active vehicle unit influencing the longitudinal dynamics of the vehicle is controlled during the trip in such a manner, that the longitudinal wheel force acting upon at least one vehicle wheel is increased, and/or the contact patch force of the wheel is decreased, while the characteristic of the sum of all of the longitudinal forces acting upon the vehicle remains unchanged.