US 11,891,069 B2
Grid-based road model with multiple layers
Bin Jia, Columbia, MD (US); Sana Sarfraz, Woodland Hills, CA (US); David A. Schwartz, Moorpark, CA (US); and Kumar Vishwajeet, Pasadena, CA (US)
Assigned to Aptiv Technologies Limited, St. Michael (BB)
Filed by Aptiv Technologies Limited, St. Michael (BB)
Filed on Feb. 23, 2023, as Appl. No. 18/173,721.
Application 18/173,721 is a continuation of application No. 17/183,254, filed on Feb. 23, 2021, granted, now 11,618,453.
Prior Publication US 2023/0192094 A1, Jun. 22, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 40/072 (2012.01); B60W 60/00 (2020.01); G06V 10/44 (2022.01); G06V 20/56 (2022.01); B60W 30/12 (2020.01); B60W 30/14 (2006.01); G06T 11/00 (2006.01); G06F 18/25 (2023.01)
CPC B60W 40/072 (2013.01) [B60W 30/12 (2013.01); B60W 30/14 (2013.01); B60W 60/001 (2020.02); G06F 18/25 (2023.01); G06T 11/00 (2013.01); G06V 10/44 (2022.01); G06V 20/588 (2022.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2510/20 (2013.01); B60W 2520/14 (2013.01); B60W 2552/53 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
generating a grid representation of a roadway on which a vehicle is traveling with multiple cells;
generating, based on data from one or more information sources, a road model for the roadway that includes one or more layers representing different respective roadway attributes of the multiple cells, the one or more layers including, for each cell of the multiple cells in each layer, at least one respective layer hypothesis that indicates a potential attribute state for that cell;
determining, for each cell in each layer, respective mass values associated with each hypothesis of the at least one respective layer hypothesis;
determining, using the respective mass values, belief parameters or plausibility parameters associated with each of the at least one respective layer hypothesis for each cell in each layer;
determining whether the belief parameters or the plausibility parameters associated with each hypothesis of the at least one layer hypothesis is greater than a threshold value; and
responsive to determining that the belief parameters or the plausibility parameters associated with each hypothesis of the at least one layer hypothesis is greater than the threshold value, using the at least one layer hypothesis as an input to an autonomous-driving system or an assisted-driving system that operates the vehicle on the roadway.