Grid-based road model with multiple layers
AssigneeAptiv Technologies AG
InventorsBin Jia, Sana Sarfraz, David A. Schwartz, Kumar Vishwajeet
Life of this patent
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Abstract
This document describes techniques, apparatuses, and systems for a grid-based road model with multiple layers. An example road-perception system generates a roadway grid representation that includes multiple cells. The road-perception system uses data from multiple information sources to generate a road model that includes multiple layers. Each layer represents a roadway attribute of each cell in the grid and includes one or more layer hypotheses. In this way, the described techniques and systems can provide an accurate and reliable road model and quantify uncertainty therein.
Claims20
A method comprising:
- generating a grid representation of a roadway on which a vehicle is traveling with multiple cells;
- generating, based on data from one or more information sources, a road model for the roadway that includes one or more layers representing different respective roadway attributes of the multiple cells, the one or more layers including, for each cell of the multiple cells in each layer, at least one respective layer hypothesis that indicates a potential attribute state for that cell;
- determining, for each cell in each layer, respective mass values associated with each hypothesis of the at least one respective layer hypothesis;
- determining, using the respective mass values, belief parameters or plausibility parameters associated with each of the at least one respective layer hypothesis for each cell in each layer;
- determining whether the belief parameters or the plausibility parameters associated with each hypothesis of the at least one layer hypothesis is greater than a threshold value;
- and
- responsive to determining that the belief parameters or the plausibility parameters associated with each hypothesis of the at least one layer hypothesis is greater than the threshold value, using the at least one layer hypothesis as an input to an autonomous-driving system or an assisted-driving system that operates the vehicle on the roadway.
A computer-readable storage media comprising computer-executable instructions that, when executed, cause a processor in a vehicle to:
- generate a grid representation of a roadway with multiple cells;
- generate, based on data from one or more information sources, a road model for the roadway that includes one or more layers representing different respective roadway attributes of the multiple cells, the one or more layers including, for each cell of the multiple cells in each layer, at least one respective layer hypothesis that indicates a potential attribute state for that cell;
- determine, for each cell in each layer, respective mass values associated with each hypothesis of the at least one respective layer hypothesis;
- determine, using the respective mass values, belief parameters or plausibility parameters associated with each of the at least one respective layer hypothesis for each cell in each layer;
- determine whether the belief parameters or the plausibility parameters associated with each hypothesis of the at least one layer hypothesis is greater than a threshold value;
- and
- responsive to a determination that the belief parameters or the plausibility parameters associated with each hypothesis of the at least one layer hypothesis is greater than the threshold value, using the at least one layer hypothesis as an input to an autonomous-driving system or an assisted-driving system that operates the vehicle on the roadway.
Dependencies are inferred from the claim text.