讨论了用于基于雷达传感器数据生成空间网格的技术。空间网格可以包括可以被标注为被占据、被堵塞和/或不受限空间的单元。如果雷达传感器数据与关联于该单元的环境的区域相关联,则该单元可以被标注为被占据。如果相对于雷达传感器,与该单元相关联的环境的区域被标注为被占据的单元阻塞,则该场可以被标注为被堵塞。在一些实例中,可以在被堵塞的区域中检测和/或跟踪对象。如果与该单元相关联的区域在雷达传感器的视场内并且未被占据且未被堵塞,则该单元可以被标注为不受限空间。在一些实例中,空间网格可以用于控制环境中的车辆,例如,自动驾驶车辆。

    Techniques are discussed for generating a spatial grid based on radar sensor data. The spatial grid may include cells, which may be designated as being occupied, occluded, and/or free space. A cell may be designated as being occupied if radar sensor data is associated with a region of an environment associated with the cell. A field may be designated as being occluded if a region of the environment associated with the cell is obstructed, relative to a radar sensor, by a cell that is designated as being occupied. In some instances, objects may be detected and/or tracked in occluded regions. A cell may be designated as being free space if a region associated with the cell is within a field of view of a radar sensor and is unoccupied and un-occluded. In some instances, the spatial grid may be used to control a vehicle, such as an autonomous vehicle, in the environment.


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    Title :

    雷达空间估计


    Publication date :

    2024-03-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen