US 12,105,192 B2
Radar reference map generation
Aniello Sorrentino, Wuppertal (DE); Mohamed A. Moawad, Westfield, IN (US); Nanhu Chen, Lafayette, IN (US); Michael H. Laur, Mission Viejo, CA (US); Jakub Porebski, Cracow (PL); Amith Somanath, Woodland Hills, CA (US); Aron Sommer, Cologne (DE); Kai Zhang, Carmel, IN (US); Uri Iurgel, Wuppertal (DE); Alexander Ioffe, Bonn (DE); Krzysztof Kogut, Cracow (PL); Ceyhan Karabulut, Oberhausen (DE); and Damjan Karanovic, Kamp-Lintfort (DE)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Jul. 2, 2021, as Appl. No. 17/367,295.
Claims priority of provisional application 63/146,483, filed on Feb. 5, 2021.
Claims priority of provisional application 63/127,049, filed on Dec. 17, 2020.
Prior Publication US 2022/0196828 A1, Jun. 23, 2022
Int. Cl. G01S 13/89 (2006.01); G06N 7/01 (2023.01); H04L 67/10 (2022.01)
CPC G01S 13/89 (2013.01) [G06N 7/01 (2023.01); H04L 67/10 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method comprising:
receiving or generating a high-definition (HD) radar reference map based on data collected from radar sensors of a radar system of a vehicle, wherein the HD radar reference map is generated based on a radar occupancy grid, and wherein the radar occupancy grid is generated based on radar signals transmitted from and received at the vehicle;
determining one or more HD map objects to be within the HD radar reference map, the one or more HD map objects being objects detected using the radar system;
determining attributes of the one or more HD map objects;
based on the attributes, forming a shape for each of the one or more HD map objects, the shape being a geometrical representation of that HD map object;
determining whether the shape of one of the one or more HD map objects is longer than a cell of the radar occupancy grid;
for each of the HD map object, indicating one or more cells of the radar occupancy grid as occupied space based on the shape of the one or more HD map objects occupying the cells;
sampling the shape of one of the one or more HD map objects comprising sampling at a first rate the shape of one of the one or more HD map objects in response to the shape of the one of the one or more HD map objects not being longer than one of the cells, and
oversampling at a second rate the shape of the one of the one or more HD map objects in response to the shape being longer than one of the cells, the second rate being greater than the first rate;
updating the HD radar reference map based on results of the sampling;
and autonomously controlling operation of the vehicle based on the updated HD radar reference map.