Method and apparatus for detecting static object by means of radar sensor of roadside unit
AssigneeRobert Bosch GmbH
InventorShaodong Lin
Life of this patent
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Abstract
A method for detecting a static object using a radar sensor of a roadside unit includes scanning, using the radar sensor of the roadside unit, a surrounding environment to receive a radar reflection signal, and identifying a dynamic object in the surrounding environment based on the received radar reflection signal. The method further includes mapping the radar reflection signal to a preestablished grid map of the surrounding environment, and detecting, according to a change in a mapping state of the radar reflection signal in the preestablished grid map over time, the static object into which the dynamic object has changed.
Claims14
A method for detecting a static object using a radar sensor of a roadside unit, comprising:
- scanning a surrounding environment to receive a radar reflection signal using the radar sensor of the roadside unit;
- identifying a dynamic object in the surrounding environment based on the received radar reflection signal;
- mapping the radar reflection signal to a preestablished grid map of the surrounding environment;
- and
- detecting the static object into which the dynamic object has changed according to a change in a mapping state of the radar reflection signal in the preestablished grid map over time.
An apparatus for detecting a static object using a radar sensor of a roadside unit, comprising:
- an obtainment module configured to scan a surrounding environment to obtain a radar reflection signal using the radar sensor of the roadside unit;
- an identification module configured to identify a dynamic object in the surrounding environment based on the received radar reflection signal;
- a mapping module configured to map the radar reflection signal to a preestablished grid map of the surrounding environment;
- and
- a detection module configured to detect the static object into which the dynamic object has changed according to a change in mapping state of the radar reflection signal in the grid map over time.
A roadside unit comprising:
- a radar sensor configured to scan a surrounding environment and to receive a radar reflection signal from the surrounding environment;
- and
- an apparatus for detecting a static object using the radar sensor, the apparatus comprising:
- an obtainment module configured to scan a surrounding environment to obtain a radar reflection signal using the radar sensor of the roadside unit;
- an identification module configured to identify a dynamic object in the surrounding environment based on the received radar reflection signal;
- a mapping module configured to map the radar reflection signal to a preestablished grid map of the surrounding environment;
- and
- a detection module configured to detect the static object into which the dynamic object has changed according to a change in mapping state of the radar reflection signal in the grid map over time.
Dependencies are inferred from the claim text.