Aptiv Technologies Ag

Aniello Sorrentino

Michael H Laur

Alexander Ioffe

Krzysztof Kogut

Kai Zhang

Jakub Porebski

Nanhu Chen

Aron Sommer

Mohamed A Moawad

Amith Somanath

Uri Iurgel

Ceyhan Karabulut

Damjan Karanovic

Premnaath Sukumar

This document describes methods and systems for vehicle localization based on radar detections. Radar localization starts with building a radar reference map. The radar reference map may be generated and updated using different techniques as described herein. Once a radar reference map is available, real-time localization may be achieved with inexpensive radar sensors and navigation systems. Using the techniques described in this document, the data from the radar sensors and the navigation systems may be processed to identify stationary localization objects, or landmarks, in the vicinity of the vehicle. Comparing the landmark data originating from the onboard sensors and systems of the vehicle with landmark data detailed in the radar reference map may generate an accurate pose of the vehicle in its environment. By using inexpensive radar systems and lower quality navigation systems, a highly accurate vehicle pose may be obtained in a cost-effective manner.

Vehicle localization based on radar detections

A computer implemented method for determining an occupancy map in the vicinity of a vehicle comprises the following steps: successively acquiring sensor data of a sensor system, determining object detections based on the sensor data, overlaying the object detections in a spatial representation of the vicinity of the vehicle, defining, for an object detection of a first data acquisition process, an expectation area extending around the object detection, adjusting, if an object detection of a second data acquisition process is present within the expectation area, the position of the expectation area based on a difference between the position of the object detection of the first data acquisition process and the position of the object detection of the second data acquisition process, and removing an object detection of the expectation area from the occupancy map if no object detection can be determined in the expectation area for a predetermined number of successive data acquisition processes.

Vehicles, systems and methods for determining an occupancy map of a vicinity of a vehicle

Methods and systems are described that enable radar reference map generation. A high-definition (HD) map is received and one or more HD map objects within the HD map are determined. Attributes of the respective HD map objects are determined, and, for each HD map object, one or more occupancy cells of a radar occupancy grid are indicated as occupied space based on the attributes of the respective HD map object. By doing so, a radar reference map may be generated without a vehicle traversing through an area corresponding to the radar reference map.

Radar reference map generation

Methods and systems are described that enable vehicle routing based on availability of radar-localization objects. A request to navigate to a destination is received, and at least two possible routes to the destination are determined. Availabilities of radar-localization objects for the possible routes are determined, and a route is selected based on the availabilities of the radar-localization objects. Furthermore, while traveling along a route, the vehicle is localized based on radar detections of radar-localization objects. A radar-localization quality of the localizing is monitored, and a determination is made that the radar-localization quality has dropped or will drop. Based on the radar-localization quality dropping, the route is modified and/or an operation of a radar module is adjusted. In this way, availabilities of radar-localization objects may be used to select an optimal route and to adjust a current navigation along a route to minimize driver takeover.

Vehicle routing based on availability of radar-localization objects

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Wuppertal, Germany

Aniello Sorrentino