Mapping a vehicle environment

• Main Authors: Maciej Rózewicz, Jakub Porebski, Krzysztof Kogut
• Format: Patent
• Language: English
• Published: 12.10.2022
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTING; CONTROLLING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; HANDLING RECORD CARRIERS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; PRESENTATION OF DATA; RADIO DIRECTION-FINDING; RADIO NAVIGATION; RECOGNITION OF DATA; RECORD CARRIERS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

A computer-implemented method and device for mapping a vehicle environment of a vehicle (fig 1, 10) are disclosed. The method comprising determining an occupancy grid representing the vehicle environment, the occupancy grid comprising occupancy probability information of a first set of object detections, wherein the occupancy probability information is determined from first positioning information obtained from a first sensor system 210, the first positioning information indicating one or more positions of the first set of object detections with respect of the vehicle; obtaining semantic information and second positioning information associated with the semantic information from one or more semantic information sources, the semantic information comprising object classification information of a second set of object detections, the second positioning system indicating one or more positions of the second set of object detections with respect to the vehicle; and combining the object classification information of the second set of object detections with the occupancy probability information of the occupancy grid to generate a classified occupancy grid.