Method for vehicle environment mapping, corresponding system, vehicle and computer program product

Abstract

A method for vehicle (V) environment mapping, comprising the operations of: receiving a set of input values from a plurality of sensors, applying temporal fusion processing to the set of input values, resulting in a respective set of occupancy grid maps, applying data fusion processing to the set of occupancy grid maps, resulting in at least one fused occupancy grid map, detecting discrepancies by comparing occupancy grid maps in the set of maps, resulting in a set of detected discrepancies, processing the at least one fused occupancy grid map and outputting a fused occupancy grid map of drivable spaces. The processing operation includes the step of performing an arbitration of conflict in the at least one fused occupancy grid map. The compound fused occupancy grid map of drivable spaces is supplied (IA) to a user circuit, such as a drive assistance interface.