System and Method for Mapping a Vehicle Environment
AssigneeAptiv Technologies AG
InventorsJakub Porebski, Krzysztof Kogut, Maciej Rózewicz
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Abstract
Provided is a computer-implemented method for mapping a vehicle environment, the method comprising: a) defining a first grid in the earth frame of reference having a first coordinate system; b) initializing a position of the vehicle in the first grid and a first set of cell occupancy values of the first grid; c) receiving sensor data of the surroundings of the vehicle from one or more sensors on the vehicle; d) updating the first grid with a second set of occupancy values calculated at least in part from the sensor data; and e) calculating one or more absolute velocities of one or more objects in the earth frame of reference from the change in cell occupancy values of the first grid.
Claims20
A method, the method comprising:
- mapping, with a processor of a vehicle, a vehicle environment by:
- a) defining a first grid in an earth frame of reference having a first coordinate system;
- b) initializing a position of the vehicle in the first grid and a first set of cell occupancy values of the first grid;
- c) receiving sensor data of the surroundings of the vehicle from one or more sensors on the vehicle;
- d) updating the first grid with a second set of occupancy values calculated at least in part from the sensor data;
- and
- e) calculating one or more absolute velocities of one or more objects in the earth frame of reference from the change in cell occupancy values of the first grid;
- and
- responsive to mapping the vehicle environment, outputting, by the processor, the vehicle environment for use in operating the vehicle in the vehicle environment.
A computer-readable storage medium comprising instructions that, when executed, cause a processor for a vehicle to:
- map a vehicle environment by:
- a) defining a first grid in an earth frame of reference having a first coordinate system;
- b) initializing a position of the vehicle in the first grid and a first set of cell occupancy values of the first grid;
- c) receiving sensor data of the surroundings of the vehicle from one or more sensors on the vehicle;
- d) updating the first grid with a second set of occupancy values calculated at least in part from the sensor data;
- and
- e) calculating one or more absolute velocities of one or more objects in the earth frame of reference from the change in cell occupancy values of the first grid;
- and
- responsive to mapping the vehicle environment, output the vehicle environment for use in operating the vehicle in the vehicle environment.
A system comprising:
- an object tracking system for a vehicle, the object tracking system comprising a processor configured to:
- map a vehicle environment by:
- a) defining a first grid in an earth frame of reference having a first coordinate system;
- b) initializing a position of the vehicle in the first grid and a first set of cell occupancy values of the first grid;
- c) receiving sensor data of the surroundings of the vehicle from one or more sensors on the vehicle;
- d) updating the first grid with a second set of occupancy values calculated at least in part from the sensor data;
- and
- e) calculating one or more absolute velocities of one or more objects in the
- earth frame of reference from the change in cell occupancy values of the first grid;
- and
- responsive to mapping the vehicle environment, output the vehicle environment for use in operating the vehicle in the vehicle environment.
Dependencies are inferred from the claim text.