US 2026/0299591 A1Published application

System and method for dynamic occupancy mapping

AssigneeTORC Robotics, Inc.

InventorKevin Paul Diomedi

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Abstract

A perception system for providing dynamic occupancy mapping for a vehicle is provided. The system includes a plurality of sensors configured to generate sensor data associated with a surrounding environment of the vehicle. The system includes at least one processor configured to receive the sensor data, and generate, based on the sensor data, a static occupancy grid of the surrounding environment. The static occupancy grid includes a plurality of static grid cells each associated with a different portion of the surrounding environment. One or more static grid cells of the plurality of static grid cells include static information about at least one static object in the surrounding environment represented by the one or more static grid cells. The processor generates, based on the sensor data and the static occupancy grid, a dynamic occupancy grid associated with the surrounding environment.

Claims20

Dependent claims

A perception system for providing dynamic occupancy mapping for a vehicle, the perception system comprising:

a plurality of sensors configured to generate sensor data associated with a surrounding environment of the vehicle;
and
at least one processor configured to:
receive the sensor data;
generate, based on the sensor data, a static occupancy grid of the surrounding environment, wherein the static occupancy grid comprises a plurality of static grid cells each associated with a different portion of the surrounding environment, and wherein one or more static grid cells of the plurality of static grid cells include static information about at least one static object in the surrounding environment represented by the one or more static grid cells;
and
generate, based on the sensor data and the static occupancy grid, a dynamic occupancy grid associated with the surrounding environment, wherein the dynamic occupancy grid comprises a plurality of dynamic grid cells each associated with the different portion of the surrounding environment, and wherein one or more dynamic grid cells of the plurality of dynamic grid cells include (i) dynamic information about at least one dynamic object in the surrounding environment represented by the one or more dynamic grid cells, and (ii) the static information about the at least one static object in the surrounding environment represented by the one or more static grid cells.

4 more elements

A method of providing dynamic occupancy mapping for a vehicle, the method comprising:

receiving sensor data associated with a surrounding environment of the vehicle;
generating, based on the sensor data, a static occupancy grid of the surrounding environment, wherein the static occupancy grid comprises a plurality of static grid cells each associated with a different portion of the surrounding environment, and wherein one or more static grid cells of the plurality of static grid cells include static information about at least one static object in the surrounding environment represented by the one or more static grid cells;
and
generating, based on the sensor data and the static occupancy grid, a dynamic occupancy grid associated with the surrounding environment, wherein the dynamic occupancy grid comprises a plurality of dynamic grid cells each associated with the different portion of the surrounding environment, and wherein one or more dynamic grid cells of the plurality of dynamic grid cells include (i) dynamic information about at least one dynamic object in the surrounding environment represented by the one or more dynamic grid cells, and (ii) the static information about the at least one static object in the surrounding environment represented by the one or more static grid cells.

1 more element

A vehicle, comprising:

at least one sensor configured to generate sensor data associated with a surrounding environment of the vehicle;
at least one processor;
at least one memory configured to store programmed instructions which, when executed by the at least one processor, are configured to cause the at least one processor to:
receive the sensor data;
generate, based on the sensor data, a static occupancy grid of the surrounding environment comprising a plurality of static grid cells that include static information about at least one static object in the surrounding environment represented by one or more of the plurality of static grid cells;
generate, based on the sensor data and the static occupancy grid, a dynamic occupancy grid of the surrounding environment comprising a plurality of dynamic group cells that include (i) dynamic information about at least one dynamic object in the surrounding environment represented by one or more of the plurality of dynamic grid cells, and (ii) the static information about the at least one static object in the surrounding environment represented by the one or more of the plurality of static grid cells;
and
operate the vehicle in the surrounding environment based on the dynamic occupancy grid.

5 more elements

Dependencies are inferred from the claim text.