The invention relates to hazard detection using occupancy grids for autonomous systems and applications. In various examples, a hazard detection system draws hazard indicators from a plurality of detection sensors to grid cells of an occupancy grid corresponding to a driving environment. For example, when the self-machine travels along a road, one or more sensors of the self-machine may capture sensor data representing a driving environment. The self-machine system may then analyze the sensor data to determine the presence and/or location of one or more hazards within the occupancy grid, and thereby determine the presence and/or location of one or more hazards within the environment. When a hazard is detected using a respective sensor, the system may map an indicator of the hazard to one or more grid cells corresponding to the detected hazard location. Based at least in part on the fused or combined confidence of the hazard indicator for each grid cell, the system may predict whether the corresponding grid cell is occupied by a hazard.

    本公开涉及用于自主系统和应用的使用占用网格进行危险检测。在各种示例中,危险检测系统将来自多个检测传感器的危险指示符绘制到与行驶环境相对应的占用网格的网格单元格。例如,当自机器沿着道路行驶时,自机器的一个或更多个传感器可捕获表示驾驶环境的传感器数据。然后,自机器的系统可分析传感器数据,以确定占用网格内的一个或更多个危险的存在和/或位置,且从而确定环境内的一个或更多个危险的存在和/或位置。当使用相应的传感器检测到危险时,系统可将危险的指示符绘制到与检测到的危险位置相对应的一个或更多个网格单元格。至少部分地基于每个网格单元格的危险指示符的融合或组合置信度,系统可预测对应的网格单元格是否被危险占用。


    Access

    Download


    Export, share and cite



    Title :

    Danger detection using occupancy grids for autonomous systems and applications


    Additional title:

    用于自主系统和应用的使用占用网格进行危险检测


    Contributors:

    Publication date :

    2023-09-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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 / G01S RADIO DIRECTION-FINDING , Funkpeilung



    HAZARD DETECTION USING OCCUPANCY GRIDS FOR AUTONOMOUS SYSTEMS AND APPLICATIONS

    OH SANGMIN / DEMIROZ BARIS EVRIM / PAN GANG et al. | European Patent Office | 2023

    Free access

    Occupancy Grids Generation Using Deep Radar Network for Autonomous Driving

    Engelhardt, Nick / Perez, Rodrigo / Rao, Qing | IEEE | 2019


    IN-CABIN OCCUPANCY DETECTION FOR AUTONOMOUS SYSTEMS AND APPLICATIONS

    KELLER CHRISTOPH GUSTAV | European Patent Office | 2024

    Free access

    Predicting Future Spatiotemporal Occupancy Grids with Semantics for Autonomous Driving

    Toyungyernsub, Maneekwan / Yel, Esen / Li, Jiachen et al. | IEEE | 2024