Methods for operating a vehicle in an environment include receiving LiDAR data from a LiDAR 123 of the vehicle, representing objects 191, 192, 193 in the environment. A dynamic occupancy grid (DOG) (Fig. 13: 1300) is generated based on a semantic map. The DOG includes multiple grid cells (Fig. 13: 1305, 1310) each cell representing a portion of the environment. For each grid cell, a probability density function is generated based on the LiDAR data, which represents a probability that the represented portion of the environment is occupied by an object. The dynamic state of cells can be addressed by modelling objects or free space as a collection of particles (Fig. 13: 1315) where particles represent a set of interacting variables forming a virtual representation of objects, similar to field theory-based modelling in fluid dynamics. The particle density function can be defined in a time-space-velocity coordinate frame. The occupancy state of a grid cells can be computed using a Bayesian filter. A time-to-collision (TTC) of the vehicle and the object less than a threshold time is determined based on the probability density function. If the TTC is less than the threshold time, a control circuit of the vehicle operates the vehicle to avoid a collision of the vehicle and the object.


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    Title :

    Vehicle operation using a dynamic occupancy grid


    Contributors:

    Publication date :

    2023-12-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V



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