公开(公告)号：US20210101620A1

公开(公告)日：2021-04-08

申请号：US17124531

申请日：2020-12-17

Applicant: Intel Corporation

Inventor： Cornelius BUERKLE ,  Fabian OBORIL ,  Ignacio ALVAREZ ,  Maria Soledad ELLI ,  David Israel GONZÁLEZ AGUIRRE

IPC: B60W60/00 ,  G08G1/16 ,  G05D1/02 ,  G01C21/00 ,  B60W30/095 ,  B60W30/09 ,  B60W10/18 ,  B60W10/20 ,  B60W50/06 ,  B60W30/18

Abstract: A method for creating a road user spatio-temporal representation or threat map includes obtaining electronic map data for a spatial region and a plurality of map layers. Creating a map layer includes setting parameter(s) for a vehicle with respect to the map layer. For each subsection of the spatial region, creating the map layer includes defining a position and heading for the vehicle for each of the respective subsections and representing at least one object in the respective subsection using one or more probabilistic distributions with respect to at least velocity and position of the at least one object, and determining a collision risk value between the ego vehicle and the at least one object. The threat map is generated from the map layers with maximum acceptable collision risk values from the map layers.