US 11,718,323 B2
Method and system for mapping a physical environment using an occupancy grid
Pawel Markiewicz, Cracow (PL); Jakub Porebski, Cracow (PL); and Dominik Sasin, Cracow (PL)
Assigned to APTIV TECHNOLOGIES LIMITED, St. Michael (BB)
Filed by APTIV TECHNOLOGIES LIMITED, St. Michael (BB)
Filed on Jun. 18, 2020, as Appl. No. 16/904,923.
Claims priority of application No. 1907103 (FR), filed on Jun. 28, 2019.
Prior Publication US 2020/0406929 A1, Dec. 31, 2020
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01); G05D 1/02 (2020.01); G06F 17/18 (2006.01); G01S 13/89 (2006.01); G01S 17/89 (2020.01)
CPC B60W 60/0025 (2020.02) [B60W 30/0956 (2013.01); G01S 13/89 (2013.01); G01S 17/89 (2013.01); G05D 1/024 (2013.01); G05D 1/0257 (2013.01); B60W 2420/52 (2013.01); G05D 2201/0213 (2013.01); G06F 17/18 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A system for mapping a physical environment using an occupancy grid containing a set of cells associated with respective occupancy probabilities, the system comprising:
a measuring device including at least one distance estimation sensor arranged to measure a potential position of an object in the physical environment and to provide, for the measured potential position, a first coordinate according to a first dimension and a second coordinate according to a second dimension in a coordinate system of the sensor having at least two dimensions;
a segment identification module configured to identify a segment representing a distribution interval of probable values relating to the measured potential position and extending according to only one of the two dimensions of the coordinate system of the sensor, the probable values relating to the measured potential position associated with probability values given by a probability density function that can be represented by a curve having an apex which corresponds to the measured potential position; and
a module configured to evaluate a probability of occupancy of each of a plurality of potentially occupied cells of the occupancy grid, penetrated by the segment, the module including
a unit for determining the features of a segment portion included in the potentially occupied cell, and
a unit for determining a probability of occupancy of the potentially occupied cell as a function of the segment portion and using the probability density function.