| 摘要 |
The invention describes a method for determining the probability of a collision of a vehicle with a living being, in which the behaviour in space and time of the living being is modelled by means of a behavioural model and the behaviour in space and time of the vehicle is modelled by means of a kinematic model and, starting from the current positions of the vehicle and the living being, at least one trajectory for each of them is determined. According to the invention, the current positions of the living being and of the vehicle are used to compute trajectories of the vehicle and of the living being as a trajectory pair until said trajectory pair either indicates a collision or indicates no collision, whereupon the number of trajectory pairs indicating a collision is determined, and the probability of a collision is determined as the quotient of the number of trajectory pairs indicating a collision and the total number of trajectory pairs that have been computed.
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