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    Occupancy Grid Calibration
    1.
    发明申请
    Occupancy Grid Calibration 有权

    公开(公告)号：US20230008457A1

    公开(公告)日：2023-01-12

    申请号：US17811263

    申请日：2022-07-07

    Applicant: Aptiv Technologies Limited

    Inventor： Jakub Porebski ,  Krzysztof Kogut ,  Maciej Rózewicz ,  Mohamed Farag

    IPC: G06F30/20 ,  G01S17/89 ,  G01S13/89

    Abstract: A computer-implemented method and system for calibrating an occupancy grid mapping a vehicle environment are disclosed. An example method includes identifying a feature of an occupancy grid that maps a vehicle environment in which the occupancy grid provides a primary representation of the feature. The example method also includes determining a quality level of the primary representation of the feature and determining if the quality level satisfies a quality criterion. The example method further includes adjusting a calibration of the occupancy grid if the quality level fails to satisfy the quality criterion. The adjustment of the calibration of the occupancy grid can include adjusting at least one parameter used to generate the occupancy grid to cause the quality level to satisfy the quality criterion.

    Mapping a Vehicle Environment
    2.
    发明申请
    Mapping a Vehicle Environment 有权

    公开(公告)号：US20220319188A1

    公开(公告)日：2022-10-06

    申请号：US17657040

    申请日：2022-03-29

    Applicant: Aptiv Technologies Limited

    Inventor： Krzysztof Kogut ,  Jakub Porebski ,  Maciej Rózewicz

    IPC: G06V20/58 ,  B60W30/095 ,  G06K9/62

    Abstract: A computer-implemented method and device for mapping a vehicle environment of a vehicle are disclosed. The method comprises determining an occupancy grid representing the vehicle environment, including occupancy probability information of a first set of object detections. The occupancy probability information is determined from first positioning information obtained from a first sensor system. Semantic information and second positioning information associated with the semantic information from one or more semantic information sources is obtained. The semantic information comprises object classification information of a second set of object detections and the second positioning system indicates one or more positions of the second set of object detections with respect to the vehicle. The object classification information of the second set of object detections is combined with the occupancy probability information of the occupancy grid to generate a classified occupancy grid.

    Methods and Systems for Occupancy State Detection
    3.
    发明申请
    Methods and Systems for Occupancy State Detection 有权

    公开(公告)号：US20220381902A1

    公开(公告)日：2022-12-01

    申请号：US17749826

    申请日：2022-05-20

    Applicant: Aptiv Technologies Limited

    Inventor： Maciej Rózewicz ,  Jakub Porebski ,  Krzysztof Kogut

    IPC: G01S13/931 ,  G01S17/931

    Abstract: A computer-implemented method for occupancy state detection in an area for a pre-determined point in time. In aspects, the computer-implemented method includes operations carried out by computer hardware components. The operations include determining a probability distribution over a list of possible occupancy states of the area at a previous point in time, determining measurement data related to the area at the pre-determined point in time, and determining a probability distribution over the list of possible occupancy states of the area at the pre-determined point in time based on the measurement data and the probability distribution over the list of possible occupancy states of the area at the previous point in time.

    Method and Device for Arranging a Grid Structure with Respect to a Vehicle Position
    6.
    发明申请
    Method and Device for Arranging a Grid Structure with Respect to a Vehicle Position 有权

    公开(公告)号：US20220381923A1

    公开(公告)日：2022-12-01

    申请号：US17664574

    申请日：2022-05-23

    Applicant: Aptiv Technologies Limited

    Inventor： Maciej Rózewicz ,  Krzysztof Kogut ,  Jakub Porebski

    IPC: G01S19/39 ,  G01S19/47

    Abstract: A method is provided for arranging a grid with respect to a vehicle position. An initial position and a state of movement of the vehicle are determined. A physical grid specifying a spatial location of grid cells with respect to an earth-fixed coordinate system and a logical grid representing the cells within a memory are defined. An initial arrangement of the physical grid is determined with respect to the initial vehicle position. A mapping is defined between the physical and logical grids, and a torus interconnection is defined between margins of the logical grid. A modification of the vehicle position is determined based on the state of movement of the vehicle. By applying the torus interconnection, a revised logical grid is determined based on the modification of the vehicle position. A current arrangement of the physical grid is determined by mapping the revised logical grid.

    Vehicle Routing Based on Availability of Radar-Localization Objects
    7.
    发明申请
    Vehicle Routing Based on Availability of Radar-Localization Objects 有权

    公开(公告)号：US20220196830A1

    公开(公告)日：2022-06-23

    申请号：US17313973

    申请日：2021-05-06

    Applicant: Aptiv Technologies Limited

    Inventor： Amith Somanath ,  Mohamed A. Moawad ,  Michael H. Laur ,  Nanhu Chen ,  Aniello Sorrentino ,  Aron Sommer ,  Kai Zhang ,  Jakub Porebski ,  Krzysztof Kogut

    IPC: G01S13/931 ,  G01C21/34 ,  G01C21/36 ,  G01S13/64

    Abstract: Methods and systems are described that enable vehicle routing based on availability of radar-localization objects. A request to navigate to a destination is received, and at least two possible routes to the destination are determined. Availabilities of radar-localization objects for the possible routes are determined, and a route is selected based on the availabilities of the radar-localization objects. Furthermore, while traveling along a route, the vehicle is localized based on radar detections of radar-localization objects. A radar-localization quality of the localizing is monitored, and a determination is made that the radar-localization quality has dropped or will drop. Based on the radar-localization quality dropping, the route is modified and/or an operation of a radar module is adjusted. In this way, availabilities of radar-localization objects may be used to select an optimal route and to adjust a current navigation along a route to minimize driver takeover.

    System and Method for Mapping a Vehicle Environment
    8.
    发明申请
    System and Method for Mapping a Vehicle Environment 有权

    公开(公告)号：US20220187469A1

    公开(公告)日：2022-06-16

    申请号：US17644046

    申请日：2021-12-13

    Applicant: Aptiv Technologies Limited

    Inventor： Jakub Porebski ,  Krzysztof Kogut ,  Maciej Rózewicz

    IPC: G01S17/931 ,  G01S17/894 ,  G01S17/86 ,  G06V10/84 ,  G06V20/58

    Abstract: Provided is a computer-implemented method for mapping a vehicle environment, the method comprising: a) defining a first grid in the earth frame of reference having a first coordinate system; b) initializing a position of the vehicle in the first grid and a first set of cell occupancy values of the first grid; c) receiving sensor data of the surroundings of the vehicle from one or more sensors on the vehicle; d) updating the first grid with a second set of occupancy values calculated at least in part from the sensor data; and e) calculating one or more absolute velocities of one or more objects in the earth frame of reference from the change in cell occupancy values of the first grid.

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