公开(公告)号：US20220067395A1

公开(公告)日：2022-03-03

申请号：US17460895

申请日：2021-08-30

Applicant: Aptiv Technologies Limited

Inventor： Premnaath Sukumar ,  Aniello Sorrentino ,  Alexander Ioffe

IPC: G06K9/00 ,  G06T7/73

Abstract: A computer implemented method for determining an occupancy map in the vicinity of a vehicle comprises the following steps: successively acquiring sensor data of a sensor system, determining object detections based on the sensor data, overlaying the object detections in a spatial representation of the vicinity of the vehicle, defining, for an object detection of a first data acquisition process, an expectation area extending around the object detection, adjusting, if an object detection of a second data acquisition process is present within the expectation area, the position of the expectation area based on a difference between the position of the object detection of the first data acquisition process and the position of the object detection of the second data acquisition process, and removing an object detection of the expectation area from the occupancy map if no object detection can be determined in the expectation area for a predetermined number of successive data acquisition processes.