US 11,922,701 B2
Method and system for creating a semantic representation of the environment of a vehicle
Stephan Kirstein, Rodgau (DE)
Assigned to Continental Automotive GmbH, (DE)
Filed by Continental Automotive GmbH, Hannover (DE)
Filed on Jan. 13, 2021, as Appl. No. 17/147,951.
Claims priority of application No. 10 2020 203 543.1 (DE), filed on Mar. 19, 2020.
Prior Publication US 2021/0295062 A1, Sep. 23, 2021
Int. Cl. G06V 20/58 (2022.01); B60W 30/095 (2012.01)
CPC G06V 20/58 (2022.01) [B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); G06V 20/586 (2022.01); B60W 2420/42 (2013.01); B60W 2554/4041 (2020.02)] 5 Claims
OG exemplary drawing
 
1. A method for creating a semantic representation of the environment of a vehicle, the method comprising:
acquiring sensor measuring data by at least one first and/or second environment detection sensor of the vehicle,
detecting objects and free spaces in the environment of the vehicle,
creating a grid map having occupied and free grid cells based on the detected objects and free spaces;
determining height information of the detected objects and free spaces by the at least one first and/or second environment detection sensor;
adding the height information of the detected objects and free spaces to each grid cell; and
allocating semantic information to the grid cells based on the height information of the detected objects and free spaces,
wherein the semantic information is selected from negative height, free space, a detected object that can be driven over conditionally, and/or the detected object that can be driven under, and
wherein the grid map is extended by corresponding layers based on the semantic information.