US 12,409,851 B2
Sensor plugin architecture for grid map
Oliver F. Schwindt, Sunnyvale, CA (US); Stephan Reuter, Bavaria (DE); Christos Zalidis, Mountain View, CA (US); and Tobias Berling, Sunnyvale, CA (US)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Dec. 9, 2022, as Appl. No. 18/064,071.
Prior Publication US 2024/0190461 A1, Jun. 13, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 40/02 (2006.01); G01S 7/40 (2006.01); G01S 7/497 (2006.01); G01S 13/89 (2006.01); G01S 13/931 (2020.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01)
CPC B60W 60/001 (2020.02) [B60W 40/02 (2013.01); G01S 7/40 (2013.01); G01S 7/497 (2013.01); G01S 13/89 (2013.01); G01S 13/931 (2013.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01); B60W 2420/408 (2024.01); B60W 2556/40 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system for an autonomous vehicle comprising:
a memory configured to store a multi-layer grid and a multi-instanceable sensor plugin, wherein the multi-layer grid includes a dynamic layer and a static layer storing information associated with positions in an environment;
a plurality of sensors each configured to output sensor information;
an electronic processor configured to, for each sensor included in the plurality of sensors:
determine a modality of the sensor,
generate an instance of the sensor plugin based on the modality,
receive the sensor information,
process the sensor information with the instance of the sensor plugin,
determine a plausibility of the sensor information, and
in response to determining that the sensor information is plausible, integrate the sensor information to a selected layer of the multi-layer grid,
wherein the electronic processor is further configured to control vehicle movement based on the multi-layer grid.