Aptiv Technologies Limited

Aptiv Technologies Ag

Dariusz Cieslar

Mateusz Stachnik

Krzysztof Kogut

Alexander Ioffe

Uri Iurgel

Mateusz Orlowski

Mohamed Farag

Krysztof Kogut

Disclosed herein are methods of determining a layout for a parking area. In an aspect, a method includes determining environmental information about a surrounding environment of a vehicle moving in a parking area from sensing data provided by a sensing system of the vehicle; extracting parameters associated with parking slots identified from the environmental information; determining layout models for the parking area based at least on the extracted parameters, each layout model including an underlaying parking slot template; assigning to each of the determined layout models a confidence score; and selecting the layout model of the parking area having the highest confidence score as a current layout model used to determine the layout, the selected layout model is updated over time based on the confidence scores assigned to the layout models generated from sensing data collected while the vehicle is moving.

Method of determining parking area layout

Provided is method for determining free space surrounding a device, the method comprising: acquiring radar data regarding each of one or more radar antennas, the acquired radar data comprising range data and range rate data; extracting, from the acquired radar data, a specific set of radar data having values equal to or below a noise-based threshold; and determining a free space around the device based on the extracted specific set of radar data.

Directly determining free spaces around devices

A method of determining an uncertainty estimate of an estimated velocity of an object includes, determining the uncertainty with respect to a first estimated coefficient and a second estimated coefficient of the velocity profile equation of the object. The first estimated coefficient being assigned to a first spatial dimension of the estimated velocity and the second estimated coefficient being assigned to a second spatial dimension of the estimated velocity. The velocity profile equation represents the estimated velocity in dependence of the first estimated coefficient and the second estimated coefficient. The method also includes determining the uncertainty with respect to an angular velocity of the object, a first coordinate of the object in the second spatial dimension, and a second coordinate of the object in the first spatial dimension.

Method of determining an uncertainty estimate of an estimated velocity

This disclosure describes a radar system configured to estimate a yaw-rate and an over-the-ground (OTG) velocity of extended targets in real-time based on raw radar detections. This disclosure further describes techniques for determining instantaneous values of lateral velocity, longitudinal velocity, and yaw rate of points of a rigid body in a radar field-of-view (FOV) of the radar system.

Method of determining the yaw rate of a target vehicle

A computer-implemented method for determining awareness data includes determining occlusion information related to a surrounding of a vehicle, determining a viewing direction of an occupant of the vehicle, and determining awareness data representing the occupant's awareness of the surrounding based on the occlusion information and the viewing direction.

Method and system for determining awareness data

The present invention relates to a method of estimating a velocity magnitude of a moving target in a horizontal plane using radar signals received by a radar detection system, the radar detection system being configured to resolve multiple dominant points of reflection, i.e. to receive a plurality of radar signals from the moving target in a single measurement instance of a single, wherein each of the resolved points of reflection is described by data relating to a range, an azimuth angle and a raw range rate of the points of reflection in said single radar measurement instance. The invention further relates to a radar detection system.

Method of estimating a velocity magnitude of a moving target in a horizontal plane and radar detection system

A method to determine the heading or orientation of a target vehicle by a host vehicle, said host vehicle equipped with a lidar or radar system, said system including a sensor unit adapted to receive signals emitted from said host vehicle and reflected by said target vehicle, comprising: a) determining at least one reference angle being an initial estimate of target heading or orientation (&#x3b2;); b) emitting a signal from said system and determining a plurality of point radar or lidar detections belonging to said a target vehicle, said point detections having co-ordinates in the horizontal plane; c) formulating an initial rectangular boundary box from said point detections, where the bounding box is formulated such that such that two edges of the boundary box are drawn parallel to the reference angle and two sides are perpendicular to the reference angle and such that all the detections are either on the bounding box sides or lay within the bounding box and each edge has at least one detection point on it; d) for each point on lying on an edge of the boundary box, rotating a line coincident with the respective edge clockwise and anticlockwise until said line intersects another point detection or until a maximum angle of rotation is performed; and each time when said line intersects said another point detection, determining a correction angle &#x394;i, where the correction angle is such that applied to the reference angle it gives an orientation candidate angle &#x3b3;i; e) in respect of each orientation candidate angle &#x3b3;i/correction angle &#x394;i, determining a cost function; and f) selecting that orientation candidate angle having the lowest cost function.

Method to determine the orientation of a target vehicle

A method of determining the de-aliased range rate of a target in a horizontal plane by a host vehicle equipped with a radar system, said radar system including a radar sensor unit adapted to receive signals emitted from said host vehicle and reflected by said target, comprising: emitting a radar signal at a single time-point instance and determining from a plurality (m) of point radar detections measurements therefrom captured from said radar sensor unit, the values for each point detection of, azimuth and range rate; [&#x3b8;, {dot over (r)}]; for each point detection determining a range rate compensated value ({dot over (r)}); c) determining a plurality (j) of velocity profile hypotheses; for each (j-th) hypothesis determining modified compensated hypothesis range rates ({dot over (r)}) in respect of each point detection on the target, based on the values of range rate compensated ({dot over (r)}); for each j-th hypothesis, determining values of the longitudinal and lateral components of the range rate equation of the target {tilde over (c)}and +{tilde over (s)}; for each j-th hypothesis and for each point detection determining a velocity profile estimator range rate ({dot over ({circumflex over (r)})}); for each hypothesis, for one or more point detections, determining a measure of the dispersion of, or variation between the velocity profile estimator range rates ({dot over ({circumflex over (r)})}) for each velocity profile hypothesis and their respective modified range rates ({dot over ({circumflex over (r)})}) from step d), or the dispersion of, or variation between, one or both of the velocity profile components {tilde over (c)}and {tilde over (s)}for each velocity profile hypothesis, and selecting the velocity profile where said measure of dispersion or variation is the lowest; setting the de-aliased range rate as the velocity of the velocity hypothesis selected.

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Cracow, Poland

Dariusz Cieslar