US 12,339,362 B2
Occupancy clustering according to radar data
Volodimir Slobodyanyuk, San Diego, CA (US); Avdhut Joshi, Carlsbad, CA (US); and Sundar Subramanian, San Diego, CA (US)
Assigned to QUALCOMM Incorporated, San Diego, CA (US)
Filed by QUALCOMM Incorporated, San Diego, CA (US)
Filed on Apr. 1, 2021, as Appl. No. 17/220,394.
Prior Publication US 2022/0317302 A1, Oct. 6, 2022
Int. Cl. G01S 17/89 (2020.01); G01S 17/931 (2020.01); G05D 1/00 (2006.01)
CPC G01S 17/89 (2013.01) [G01S 17/931 (2020.01); G05D 1/0242 (2013.01); G05D 1/0268 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by a device and from a radar scanner or a LIDAR scanner of a vehicle, point data that identifies a first point and a second point;
generating, by the device, a first grid that is associated with mapping a physical environment of the vehicle, wherein the first grid includes:
a first set of cells having a first cell size,
a first grid location corresponding to the first point, and
a second grid location corresponding to the second point;
receiving, by the device, grid information that includes a second set of cells of a second grid that is associated with mapping the physical environment of the vehicle, wherein the grid information is received based at least in part on a change in the first cell size of the first set of cells in the first grid;
generating, by the device, the second grid that is associated with mapping the physical environment of the vehicle, wherein the second grid includes:
the second set of cells having a second cell size based at least in part on the change in the first cell size of the first set of cells in the first grid,
a third grid location corresponding to the first point, and
a fourth grid location corresponding to the second point;
designating, by the device and based on determining that a distance between the first point and the second point satisfies a distance threshold, a subset of cells in the second set of cells as an occupied cluster that is associated with the first point and the second point, wherein the distance threshold is a dynamic threshold that is configured based at least in part on at least one of:
a speed of the vehicle,
a density of points in the point data,
a physical characteristic of the vehicle, or
an operator characteristic of an operator of the vehicle; and
performing, by the device, an action associated with the vehicle based on location information associated with the occupied cluster.