FIELD: controlling.
SUBSTANCE: invention relates to a method and system for predicting a future event in a self-driving car (SDC). The SDC is associated with an electronic apparatus, and the method is implemented using an electronic apparatus. The method includes generating a candidate trajectory for the SDC, generating a representation of an SDC segment line, generating a corresponding bounding box around each of the set of candidates for collision, applying a first algorithm in order to determine a set of candidates for collision, wherein the set of candidates for collision constitutes a subset of a plurality of dynamic objects, for said one of the set of candidates for collision, determining the distance between the segment line and the corresponding bounding box in order to determine the separating distance between the SDC and said one of the set of candidates for collision. Determining the distance includes applying a second algorithm in order to determine the subset of the sides of the corresponding bounding box for analysis and determining the distance is based only on the subset of the sides of the corresponding bounding box and the segment line, as a response to the fact that the separating distance between said one of the set of candidates for collision and the SDC is below the predefined threshold, determining that said one of the set of candidates for collision would cause a collision with the SDC if the SDC followed the candidate trajectory, modifying at least the associated said one of the plurality of points of the candidate trajectory in order to visualise the modified candidate trajectory. The candidate trajectory for the SDC has a plurality of trajectory points for said one of the plurality of trajectory points for determining the presence of a plurality of dynamic objects around the SDC in said one of the plurality of trajectory points. The set of candidates for collision potentially causes a collision with the SDC when the SDC is located at said one of the plurality of trajectory points.
EFFECT: increased safety of control of a self-driving vehicle is achieved.
30 cl, 11 dwg
