US 12,099,127 B2
Method and device for arranging a grid structure with respect to a vehicle position
Maciej Rózewicz, Cracow (PL); Krzysztof Kogut, Cracow (PL); and Jakub Porebski, Cracow (PL)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on May 23, 2022, as Appl. No. 17/664,574.
Claims priority of application No. 21175739 (EP), filed on May 25, 2021.
Prior Publication US 2022/0381923 A1, Dec. 1, 2022
Int. Cl. G01S 19/39 (2010.01); G01S 19/47 (2010.01)
CPC G01S 19/393 (2019.08) [G01S 19/47 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for arranging a grid with respect to a position of a host vehicle, wherein the grid includes a predefined number of cells, the method comprising:
determining an initial position and a state of movement of the host vehicle in an earth-fixed coordinate system;
defining a physical grid which specifies a spatial location of the cells of the grid with respect to the earth-fixed coordinate system;
defining a logical grid which represents the cells of the grid within a memory of a processing unit of the host vehicle;
determining an initial arrangement of the physical grid with respect to the initial position of the host vehicle;
defining a mapping between the physical grid and the logical grid;
defining a torus interconnection between margins of the logical grid;
determining a modification of the position of the host vehicle with respect to the earth-fixed coordinate system and with respect to the physical grid based on the state of movement of the host vehicle;
determining a revised logical grid based on the modification of the position of the host vehicle by applying the torus interconnection between the margins of the logical grid; and
determining a current arrangement of the physical grid with respect to the host vehicle based on the mapping of the revised logical grid.