20250229802. Steering Automated Vehicles Based (EMBOTECH AG)
STEERING AUTOMATED VEHICLES BASED ON TRAJECTORIES PLANNED FROM OCCUPANCY GRIDS OBTAINED BY BACKTRACING LIDAR RAYS
Abstract: the invention is notably directed to a computer-implemented method of steering an automated vehicle on a ground of a designated area using a set of one or more offboard sensors (), each being a 3d laser scanning lidar. the method comprises repeatedly executing algorithmic iterations. each iteration of the algorithmic iterations comprises obtaining, for each sensor of the one or more offboard sensors, a grid, which is a 2d occupancy grid of cells reflecting a perception of said each sensor. this is achieved by first accessing a dataset capturing a point cloud model of an environment of said each sensor and processing the dataset to identify characteristics of rays (r) emitted by said each sensor, the characteristics including hit points (hp) of the rays, as well as projections of the hit points and the rays on a plane (g) corresponding to the ground. the grid is populated by determining a state of each cell (c) of the cells based on the identified characteristics, whereby, given a first height (h) above the plane and a second height (h) above the first height, a necessary and sufficient condition for said each cell to be in an occupied state is to be matched by a projection of a hit point located above the first height, and a necessary condition for said each cell to be in a free state is to be crossed by a projection of an overhanging ray that has dropped below the second height when passing over said each cell. eventually, a vehicle trajectory is determined based on the grid obtained for said each sensor and the trajectory is forwarded to a drive-by-wire system of the automated vehicle. 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: B60W60/001 ({Planning or execution of driving tasks})
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