Method for determining a drivable area
AssigneeAptiv Technologies AG
InventorsAdam Mats John Lilja, Markus Pär Oscar Carlander
Life of this patent
Estimating the term…
Abstract
In one aspect, the present disclosure is directed at a computer implemented method for determining a drivable area in front of a host vehicle. According to the method, a region of interest is monitored in front of the host vehicle by at least two sensors of a detection system of the host vehicle. The region of interest is divided into a plurality of areas via a computer system of the host vehicle, and each area of the plurality of areas is classified as drivable area, non-drivable area or unknown area via the computer system based on fused data received by the at least two sensors.
Claims20
A method, comprising:
- determining a drivable area in front of a host vehicle by at least:
- monitoring a region of interest in front of the host vehicle;
- dividing the region of interest into a plurality of areas;
- determining whether an object is present in a particular area of the plurality of areas;
- responsive to determining the object is present in the particular area and is a moving object in approximately the same direction as the host vehicle, determining one or more other areas of the plurality of areas between the host vehicle and the moving object as an obstacle free space;
- estimating, based on a current velocity of the moving object and based on a prediction of an emergency braking distance or an emergency steering distance, an extension of the obstacle free space to include one or more additional areas of the plurality of areas;
- and
- classifying each area of the plurality of areas that includes obstacle free space and the extension of the obstacle free space as drivable areas;
- and
- controlling the host vehicle based on the classification of the areas.
A system, comprising:
- a vehicle-based system for determining a drivable area in front of a host vehicle, the vehicle-based system comprising:
- a detection system configured to monitor a region of interest in front of the host vehicle;
- and
- at least one processor configured to:
- divide the region of interest into a plurality of areas;
- determine whether an object is present in a particular area of the plurality of areas;
- responsive to determining the object is present in the particular area and is a moving object in approximately the same direction as the host vehicle, determine one or more other areas of the plurality of areas between the host vehicle and the moving object as an obstacle free space;
- estimate, based on a current velocity of the moving object and based on a prediction of an emergency braking distance or an emergency steering distance, an extension of the obstacle free space to include one or more additional areas of the plurality of areas;
- and
- classify each area of the plurality of areas that includes obstacle free space and the extension of the obstacle free space as drivable areas;
- and
- control the host vehicle based on the classification of the areas.
A non-transitory computer readable medium comprising instructions that, when executed, cause a processor to determine a drivable area in front of a host vehicle by at least:
- monitoring a region of interest in front of the host vehicle;
- dividing the region of interest into a plurality of areas;
- determining whether an object is present in a particular area of the plurality of areas;
- responsive to determining the object is present in the particular area and is a moving object in approximately the same direction as the host vehicle, determining one or more other areas of the plurality of areas between the host vehicle and the moving object as an obstacle free space;
- estimating, based on a current velocity of the moving object and based on a prediction of an emergency braking distance or an emergency steering distance, an extension of the obstacle free space to include one or more additional areas of the plurality of areas;
- and
- classifying each area of the plurality of areas that includes obstacle free space and the extension of the obstacle free space as drivable areas;
- and
- controlling the host vehicle based on the classification of the areas.
Dependencies are inferred from the claim text.