Aptiv Technologies Ag

Aptiv Technologies Limited

Jakub Porebski

Krzysztof Kogut

Maciej Rózewicz

Michael H Laur

Kai Zhang

Amith Somanath

Nanhu Chen

Aron Sommer

Mohamed A Moawad

Aniello Sorrentino

Alexander Ioffe

Uri Iurgel

Pawel Markiewicz

Dominik Sasin

Ceyhan Karabulut

Damjan Karanovic

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.

System and method for mapping a vehicle environment

A computer-implemented method and device for mapping a vehicle environment of a vehicle are disclosed. The method comprises determining an occupancy grid representing the vehicle environment, including occupancy probability information of a first set of object detections. The occupancy probability information is determined from first positioning information obtained from a first sensor system. Semantic information and second positioning information associated with the semantic information from one or more semantic information sources is obtained. The semantic information comprises object classification information of a second set of object detections and the second positioning system indicates one or more positions of the second set of object detections with respect to the vehicle. The object classification information of the second set of object detections is combined with the occupancy probability information of the occupancy grid to generate a classified occupancy grid.

Mapping a vehicle environment

A computer-implemented method for occupancy state detection in an area for a pre-determined point in time. In aspects, the computer-implemented method includes operations carried out by computer hardware components. The operations include determining a probability distribution over a list of possible occupancy states of the area at a previous point in time, determining measurement data related to the area at the pre-determined point in time, and determining a probability distribution over the list of possible occupancy states of the area at the pre-determined point in time based on the measurement data and the probability distribution over the list of possible occupancy states of the area at the previous point in time.

Methods and systems for occupancy state detection

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

An illustrative example method of mapping a physical environment using an occupancy grid containing a set of cells associated with respective occupancy probabilities includes measuring a potential position of an object, using a sensor and identifying a segment representing a distribution interval of probable values associated with respective probability values relating to the measured potential position. The segment extends according to only one of two dimensions of the coordinate system of the sensor and penetrates a subset of potentially occupied cells. The method includes evaluating a probability of occupancy of each potentially occupied cell by determining the features of a segment portion included in the potentially occupied cell, and determining the probability of occupancy of the potentially occupied cell as a function of the determined segment portion using the probability density function.

Method and system for mapping a physical environment using an occupancy grid

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

A method is provided for arranging a grid with respect to a vehicle position. An initial position and a state of movement of the vehicle are determined. A physical grid specifying a spatial location of grid cells with respect to an earth-fixed coordinate system and a logical grid representing the cells within a memory are defined. An initial arrangement of the physical grid is determined with respect to the initial vehicle position. A mapping is defined between the physical and logical grids, and a torus interconnection is defined between margins of the logical grid. A modification of the vehicle position is determined based on the state of movement of the vehicle. By applying the torus interconnection, a revised logical grid is determined based on the modification of the vehicle position. A current arrangement of the physical grid is determined by mapping the revised logical grid.

Method and device for arranging a grid structure with respect to a vehicle position

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.

Growing community of inventors

Cracow, Poland

Jakub Porebski