US 12,333,820 B2
Mapping a vehicle environment
Krzysztof Kogut, Cracow (PL); Jakub Porebski, Cracow (PL); and Maciej Rózewicz, Cracow (PL)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Mar. 29, 2022, as Appl. No. 17/657,040.
Claims priority of application No. 2104760 (GB), filed on Apr. 1, 2021.
Prior Publication US 2022/0319188 A1, Oct. 6, 2022
Int. Cl. G06V 20/00 (2022.01); B60W 30/095 (2012.01); G06F 18/24 (2023.01); G06V 20/58 (2022.01)
CPC G06V 20/58 (2022.01) [B60W 30/095 (2013.01); G06F 18/24 (2023.01); B60W 2420/403 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4049 (2020.02)] 17 Claims
OG exemplary drawing
 
1. A method comprising:
determining an occupancy grid representing a vehicle environment, the occupancy grid comprising occupancy probability information of a first set of object detections, the occupancy probability information determined from first positioning information obtained from a first sensor system, the first positioning information indicating one or more positions of the first set of object detections with respect to a vehicle;
obtaining semantic information and second positioning information associated with the semantic information from one or more semantic information sources, the semantic information comprising object classification information of a second set of object detections, the second positioning system indicating one or more positions of the second set of object detections with respect to the vehicle;
determining a semantic grid representing a vehicle environment using the semantic information and the second positioning information, the semantic grid comprising a grid of evidence values for one or more object classification types; and
combining the object classification information of the semantic grid with the occupancy probability information of the occupancy grid to generate a classified occupancy grid.