Robert Boschgmbh

Tobias Berling

Oliver F Schwindt

Stephan Reuter

Christos Zalidis

Systems and methods for controlling an autonomous vehicle. One system includes an electronic processor and a memory configured to store a multi-layer grid and a multi-instanceable sensor plugin. The multi-layer grid includes information associated with positions in the environment. A plurality of sensors are configured to output sensor information. The electronic processor is configured to, for each of the plurality of sensors, determine a modality of the sensor and generate an instance of the sensor plugin based on the modality. The electronic processor receives, processes, and determines a plausibility of the sensor information. In response to determining that the sensor information is plausible, the electronic processor integrates the sensor information to the multi-layer grid. The electronic processor controls vehicle movement based on the multi-layer grid.

Sensor plugin architecture for grid map

Systems and methods for controlling an autonomous vehicle. One system includes an electronic processor and a sensor configured to detect a dynamic object in an environment. The electronic processor is configured to generate a dynamic object list including dynamic object information associated with the detected dynamic object. The electronic processor is also configured to receive a static occupancy grid including a plurality of cells storing occupancy information and occupancy probabilities associated with a static object in the environment. The electronic processor is further configured to superimpose the dynamic object information on the static occupancy grid, determine an overlap of the detected dynamic object and the static object, determine a dynamic object existence probability associated with the detected dynamic object based on the overlap, and classify the detected dynamic object as a ghost object based on the dynamic object existence probability.

Using static grid map to cross-check dynamic objects

A system and method for estimating an orientation of a traffic participant. In one example, the system includes a sensor configured to detect a traffic participant and an electronic controller configured to receive a signal from the sensor, compare a location of the vehicle to a map of expected orientation of traffic participants to estimate an orientation of the traffic participant, perform a calculation based upon the signal from the sensor to estimate an orientation of the traffic participant if an expected orientation is not determined by the comparison of the location of the vehicle to the map of expected orientation of traffic participants, and generate a notification based upon the estimated orientation of the traffic participant.

Growing community of inventors

Sunnyvale, CA, United States of America

Tobias Berling