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公开(公告)号：US20220299339A1
公开(公告)日：2022-09-22
申请号：US17655144
申请日：2022-03-16
发明人： Kristian Rackow
摘要： A method for creating a road model for planning a trajectory of an ego vehicle, includes capturing a vehicle environment with at least one environment capturing sensor. Objects are detected in the vehicle environment. The method includes producing a grid map with a plurality of grid cells and entering the detections into the grid map wherein the detections are enlarged prior to being entered. The method also includes determining at least one path through the grid map which consists only of vacant grid cells. The at least one path is gradually scanned, wherein detections are determined orthogonally to a scanning direction of the path on both sides. The method further includes assigning the detections along the at least one path to road boundaries and creating the road model based on the previously determined information.
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公开(公告)号：US20220080982A1
公开(公告)日：2022-03-17
申请号：US17447817
申请日：2021-09-16
发明人： Peter Barth , Kristian Rackow , Sara Gallian , Xiaoying Cong , Haoyuan Ying
摘要： A method for creating a road model for a driver assistance system of an ego vehicle includes recording the surroundings of the ego vehicle with at least one environment detection sensor. The method also includes detecting static and/or dynamic objects and creating a grid map having a plurality of grid cells. Static objects are entered into the grid map as occupied grid cells. The method also includes tracking the static objects and/or the dynamic objects. Information regarding a road profile is deduced based on the detections entered in the grid map and the tracked objects. A road model with the deduced information is created. The road model is provided to at least one driver assistance system.
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