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    AUTONOMOUS VEHICLE CONTROL GUIDED BY OCCUPANCY SCORES
    5.
    发明公开
    AUTONOMOUS VEHICLE CONTROL GUIDED BY OCCUPANCY SCORES 审中-公开

    公开(公告)号：EP4325317A1

    公开(公告)日：2024-02-21

    申请号：EP22190589.6

    申请日：2022-08-16

    申请人： Volvo Autonomous Solutions AB

    发明人： WIBERG, Wilhelm ,  LJUNGQVIST, Oskar

    IPC分类号： G05D1/02 ,  B60W30/00 ,  G01C21/00

    摘要： A method of controlling an autonomous vehicle (no), which is movable on a surface, comprises: obtaining a world model of the surface, by which each area of the surface is associated with a probabilistic occupancy score; determining, on the basis of the area's position, an occupancy threshold to be applied to an area of the surface; enabling movement of the AV into the area if the associated occupancy score is less than the determined occupancy threshold; and otherwise disabling movement into the area. In one embodiment, where the world model is obtained or updated based on measurement data from one or more sensors carried by the autonomous vehicle, the occupancy threshold is determined to be relatively lower if the area is outside a field of view of the sensors carried by the AV and relatively higher if the area is inside the field of view