STEERING AUTOMATED VEHICLES BASED ON TRAJECTORIES DETERMINED FROM FUSED OCCUPANCY GRIDS

Abstract: the invention is notably directed to a method of steering an automated vehicle () in a designated area, thanks to a set () of offboard perception sensors (-). the method comprises repeatedly executing algorithmic iterations, where each iteration comprises the following steps. first, sensor data are dispatched to k processing systems (), whereby each processing system k of the k processing systems receives ndatasets of the sensor data as obtained from nrespective sensors of the set () of offboard perception sensors (-), where k=1 to k, k≥2, and n≥2. the ndatasets are subsequently processed at each processing system k to obtain moccupancy grids corresponding to perceptions from mrespective sensors of the offboard perception sensors, respectively, where n≥m≥1. the moccupancy grids overlap at least partly. data from the moccupancy grids obtained are then fused, at each processing system k, to form a fused occupancy grid, whereby k fused occupancy grids are formed by the k processing systems (), respectively. the k fused occupancy grids are then forwarded to a further processing system (), which merges the k fused occupancy grids to obtain a global occupancy grid for the designated area. eventually, a trajectory is determined for the automated vehicle (), based on the global occupancy grid. this trajectory is then forwarded to a drive-by-wire system () of the automated vehicle (), to accordingly steer the latter. the invention is further directed to related systems and computer program products.

Inventor(s): Elias Lukas HAMPP, David MAUDERLI, Alexander HEILMEIER, Alexander DOMAHIDI, Stefano LONGO

CPC Classification: B60W50/0097 (Details of control systems for road vehicle drive control not related to the control of a particular sub-unit {, e.g. process diagnostic or vehicle driver interfaces})

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