公开(公告)号：EP3828587A1

公开(公告)日：2021-06-02

申请号：EP19212492.3

申请日：2019-11-29

Applicant: Aptiv Technologies Limited

Inventor： Leßmann, Stephanie ,  Pishehvari, Ahmad

IPC: G01S7/41 ,  G01S5/08 ,  G01S5/16 ,  G01S7/539 ,  G01S13/58 ,  G01S13/72 ,  G01S13/89 ,  G01S17/86 ,  G01S17/89 ,  G01S17/66 ,  G01S7/295 ,  G01S13/87 ,  G01C21/30 ,  G01S7/00 ,  G01S13/86 ,  G01S17/93 ,  G01S13/931

Abstract: A computer implemented method for determining the position of a vehicle, wherein the method comprises: determining at least one scan comprising a plurality of detection points, wherein each detection point is evaluated from a signal received at the at least one sensor and representing a location in the vehicle environment; determining, from a database, a predefined map, wherein the map comprises a plurality of elements in a map environment, each of the elements representing a respective one of a plurality of static landmarks in the vehicle environment, and the map environment representing the vehicle environment; matching the plurality of detection points and the plurality of elements of the map; determining the position of the vehicle based on the matching; wherein the predefined map further comprises a spatial assignment of a plurality of parts of the map environment to the plurality of elements, and wherein the spatial assignment is used for the matching.

公开(公告)号：EP4036601A1

公开(公告)日：2022-08-03

申请号：EP21154384.8

申请日：2021-01-29

Applicant: Aptiv Technologies Limited

Inventor： Leßmann, Stephanie ,  Doerr, Wolfgang

IPC: G01S13/60 ,  G01S7/35 ,  G01S7/288 ,  G01S7/41 ,  G01S13/34 ,  G01S13/44 ,  G01S13/58 ,  G01S13/87 ,  G01S13/931

Abstract: A method of processing radar data obtained by a radar sensor mounted on a vehicle to generate a set of motion spectrum data for estimating ego-motion information of the vehicle, comprising: processing (S20) data samples of each of a plurality of radar return signals received at each antenna element of the radar sensor to generate, for each antenna element, respective Doppler-processed data comprising a plurality of data values, each calculated for a respective Doppler bin index; and generating (S30) a set of motion spectrum data, which comprises a plurality of data elements each calculated for a respective Doppler bin index and a respective spatial bin index, by performing, for each Doppler bin index, processes of: selecting data values of the Doppler-processed data calculated for the Doppler bin index; calculating a covariance matrix using the selected data values; and applying a spectral estimation algorithm which uses the covariance matrix to determine, for the Doppler bin index, a spatial spectrum value for each spatial bin index.

公开(公告)号：EP3193306B8

公开(公告)日：2019-01-23

申请号：EP16151517.6

申请日：2016-01-15

Applicant: Aptiv Technologies Limited

Inventor： Westerhoff, Jens ,  Leßmann, Stephanie ,  Meuter, Mirko ,  Siegemund, Jan

IPC: G06T7/00 ,  G06T7/70 ,  G06T3/20 ,  G06T7/60

公开(公告)号：EP4036602A1

公开(公告)日：2022-08-03

申请号：EP21154386.3

申请日：2021-01-29

Applicant: Aptiv Technologies Limited

Inventor： Leßmann, Stephanie ,  Iurgel, Uri ,  Doerr, Wolfgang

IPC: G01S13/60 ,  G01S7/35 ,  G01S7/288 ,  G01S7/41 ,  G01S13/34 ,  G01S13/44 ,  G01S13/58 ,  G01S13/87 ,  G01S13/931

Abstract: A method of determining ego-motion information of a vehicle comprising a radar sensor having a plurality of antenna elements, comprising: acquiring (S410) motion spectrum comprising a plurality of data elements, each calculated for a respective one of a plurality of Doppler bin indices and for a respective one of a plurality of spatial bin indices, each spatial bin index indicating a respective angle-of-arrival of a radar return signal at the radar sensor; and determining (S420) the ego-motion information by solving a motion equation system comprising equations of motion generated using the motion spectrum data and each relating a respective value indicating a radial velocity, a respective value indicating an angular displacement, and a variable indicating a velocity of the vehicle.

公开(公告)号：EP3739361A1

公开(公告)日：2020-11-18

申请号：EP19174053.9

申请日：2019-05-13

Applicant: Aptiv Technologies Limited

Inventor： Leßmann, Stephanie ,  Iurgel, Uri

IPC: G01S13/72 ,  G01S13/93

Abstract: A method for fusing a first occupancy map and a second occupancy map comprises: determining at least one fusion parameter representing a potential dissimilarity between the first occupancy map and the second occupancy map; determining a fused occupancy map representing free and occupied space around the vehicle, wherein the fused occupancy map is determined on the basis of the first occupancy map and the second occupancy map by means of a fusion rule, the fusion rule being adapted to control the influence of the first occupancy map and/or the second occupancy map on the fused occupancy map by means of the at least one fusion parameter.

公开(公告)号：EP3388972B1

公开(公告)日：2020-08-26

申请号：EP17166468.3

申请日：2017-04-13

Applicant: Aptiv Technologies Limited

Inventor： Westerhoff, Jens ,  Siegemund, Jan ,  Meuter, Mirko ,  Leßmann, Stephanie

IPC: G06K9/00 ,  G06T7/269

公开(公告)号：EP3038011B1

公开(公告)日：2019-06-05

申请号：EP14199767.6

申请日：2014-12-22

Applicant: Aptiv Technologies Limited

Inventor： Leßmann, Stephanie ,  Meuter, Mirko ,  Müller, Dennis

IPC: G06K9/00 ,  G06K9/62 ,  G06K9/32