Predicting the course of a road on the basis of radar data
AssigneeElektrobit Automotive GmbH
InventorsAndreas Rottach, Mathias Trumpp, Stefan Frings, Dietmar Kling, Wilhelm Nagel
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Abstract
A method, a computer program with instructions, and a device for predicting a course of a road based on radar data of a motor vehicle. The radar data to be processed is received and then accumulated in a measuring grid. Subsequently, clusters are formed for objects in the measuring grid. Cluster descriptions are generated for the clusters. The resulting clusters are processed to determine polynomials for describing the road edges. The polynomials are finally output for further use.
Claims8
A method for predicting a course of a road based at least in part on radar data of a radar sensor of a motor vehicle, comprising:
- receiving the radar data;
- accumulating the radar data in a measuring grid;
- forming clusters for objects in the measuring grid;
- generating cluster descriptions for the clusters;
- transforming the clusters into a feature space by a receptive field configured as one or more of a regular grid, a hexagonal arrangement, a circular arrangement, and a circularly hexagonal arrangement;
- processing the clusters to determine polynomials for describing road edges;
- and
- outputting the polynomials that predict the course of the road and describe the road edges,
- wherein a respective polynomial is generated for each frame of the a motor vehicle's movement.
A computer program stored on a nontransitory computer-readable storage medium with instructions which, when executed by a computer, cause the computer to:
- receive radar data;
- accumulate the radar data in a measuring grid;
- form clusters for objects in the measuring grid;
- generate cluster descriptions for the clusters;
- transform the clusters into a feature space by a receptive field configured as one or more of a regular grid, a hexagonal arrangement, a circular arrangement, and a circularly hexagonal arrangement;
- process the clusters to determine polynomials for describing road edges;
- output the polynomials;
- and
- predict a course of a road based on the radar data of a radar sensor of a motor vehicle,
- wherein a respective polynomial is generated for each frame of the a motor vehicle's movement.
A device for predicting the course of a road based on radar data of a radar sensor of a motor vehicle, wherein the device is designed to:
- receive the radar data;
- accumulate the radar data in a measuring grid;
- form clusters for objects in the measuring grid;
- generate cluster descriptions for the clusters;
- transform the clusters into a feature space by a receptive field configured as one or more of a regular grid, a hexagonal arrangement, a circular arrangement, and a circularly hexagonal arrangement;
- process the clusters to determine polynomials for describing road edges;
- output the polynomials;
- and
- predict a course of a road based on the radar data of a radar sensor of a motor vehicle,
- wherein a respective polynomial is generated for each frame of the a motor vehicle's movement.
Dependencies are inferred from the claim text.