US 12,442,928 B2
System and method for mapping a vehicle environment
Jakub Porebski, Cracow (PL); Krzysztof Kogut, Cracow (PL); and Maciej Rózewicz, Cracow (PL)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Dec. 13, 2021, as Appl. No. 17/644,046.
Claims priority of application No. 20213858 (EP), filed on Dec. 14, 2020.
Prior Publication US 2022/0187469 A1, Jun. 16, 2022
Int. Cl. G01S 17/931 (2020.01); G01S 17/86 (2020.01); G01S 17/894 (2020.01); G06V 10/84 (2022.01); G06V 20/58 (2022.01)
CPC G01S 17/931 (2020.01) [G01S 17/86 (2020.01); G01S 17/894 (2020.01); G06V 10/84 (2022.01); G06V 20/58 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A method, the method comprising:
mapping, with a processor of a vehicle, a vehicle environment by:
a) defining a first grid in an earth frame of reference having a first coordinate system;
b) initializing a position of the vehicle in the first grid and a first set of cell occupancy values of the first grid;
c) receiving sensor data of the surroundings of the vehicle from one or more sensors on the vehicle;
d) updating the first grid with a second set of occupancy values calculated at least in part from the sensor data;
e) automatically classifying the one or more objects in the vehicle environment as static objects or dynamic objects based on respective ones of the absolute velocities in the earth frame of reference; and
f) automatically disregarding the one or more objects classified as the static objects from within the vehicle environment while calculating one or more absolute velocities of one or more objects in the earth frame of reference from the change in cell occupancy values of the first grid such that the absolute velocities are directly computed from the first grid without performing a motion detection algorithm within a vehicle frame of reference; and
outputting, by the processor, the vehicle environment for use in operating the vehicle in the vehicle environment.