Abstract

A computer-implemented method of assisting in the operation of a vehicle is disclosed, the method comprises the steps of: with at least one sensor, sensing an environment of the vehicle thereby obtaining sensor data, and deriving spatial information of the environment and semantic information from the sensor data. Furthermore, generating a dynamic occupancy grid model, in which the sensed environment is represented as a grid consisting of a plurality of grid cells, the grid cells comprising occupying information and a dynamic state represented by a set of particles, and assigning the grid cells and the particles semantic information derived from the sensor data, wherein the semantic information is represented by a set of categories. The method further comprising the steps of predicting new particle positions on the grid; determining for the grid cells predicted semantic information based on combining the semantic information assigned to the grid cells with the semantic information assigned to the particles based on their predicted new particle positions; obtaining new sensor data, and updating the predicted semantic information assigned to the grid cells and the semantic information assigned to the particles from the new sensor data, and deriving an automated driving action based on the determined new semantic information and the dynamic state of the one or more grid cells. Also disclosed is a system for performing the computer-implemented method of assisting operation of a vehicle and the vehicle comprising said system.

IPC Classes  ?

• G05D 1/246 - Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
• G05D 107/13 - Spaces reserved for vehicle traffic, e.g. roads, regulated airspace or regulated waters
• G05D 109/10 - Land vehicles
• G06N 7/01 - Probabilistic graphical models, e.g. probabilistic networks

Abstract

A computer-implemented method of assisting in the operation of a vehicle is disclosed, the method comprises the steps of: with at least one sensor, sensing an environment of the vehicle thereby obtaining sensor data, and deriving spatial information of the environment and semantic information from the sensor data. Furthermore, generating a dynamic occupancy grid model, in which the sensed environment is represented as a grid consisting of a plurality of grid cells, the grid cells comprising occupying information and a dynamic state represented by a set of particles, and assigning the grid cells and the particles semantic information derived from the sensor data, wherein the semantic information is represented by a set of categories. The method further comprising the steps of predicting new particle positions on the grid; determining for the grid cells predicted semantic information based on combining the semantic information assigned to the grid cells with the semantic information assigned to the particles based on their predicted new particle positions; obtaining new sensor data, and updating the predicted semantic information assigned to the grid cells and the semantic information assigned to the particles from the new sensor data, and deriving an automated driving action based on the determined new semantic information and the dynamic state of the one or more grid cells. Also disclosed is a system for performing the computer-implemented method of assisting operation of a vehicle and the vehicle comprising said system.

IPC Classes  ?

• G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle

Goods & Services

Scientific, nautical, surveying, photographic, cinematographic, optical, weighing, measuring, signalling, checking (supervision), life-saving and teaching apparatus and instruments; Apparatus and instruments for conducting, switching, transforming, accumulating, regulating or controlling electricity; Apparatus for recording, transmission or reproduction of sound or images; Magnetic data carriers, recording discs; Automatic vending machines and mechanisms for coin-operated apparatus; Cash registers, calculating machines, data processing equipment, computers; Fire-extinguishing apparatus; Alarm apparatus; Acoustic (sound) alarms; Testing apparatus not for medical purposes; Aerials; Indicators (electricity); Apparatus and instruments for conducting, switching, transforming, accumulating, regulating or controlling electricity; Distance recording apparatus; Steering apparatus, automatic, for vehicles; Observation instruments; Magnetic encoders; Computers; Computer operating programs recorded; Computer displays; Computer peripheral devices; Computer software (recorded); Computer programs (downloadable); Computer software (recorded); Computer keyboards; Data-processing apparatus; Detectors; Diagnosis apparatus, not for medical purposes; Revolution counters; Electrical sensors; Electronic display boards; Electronic publications (downloadable); Telemeters; Distance measuring apparatus; Anti-interference devices [electricity]; Ergometers; Milage recorders for vehicles; Frequency meters; Spark-guards; Printed circuits; Speed indicators; Speed checking apparatus for vehicles; Speed measuring apparatus [photography]; High-frequency apparatus; Altimeters; Interfaces (for computers); Regulating apparatus, electric; Jigs [measuring instruments]; Readers (data processing equipment); Mathematical instruments; Quantity indicators; Meters; Measuring devices (electric); Measuring instruments; Nautical apparatus and instruments; Navigation apparatus for vehicles [on board computers]; Navigational instruments; Inclinometers; Optical apparatus and instruments; Apparatus and instruments for physics; Precision measuring apparatus; Radar apparatus; Radiological apparatus for industrial purposes; Satellite navigational apparatus; Sound locating instruments; Transmitters of electronic signals; Transmitting sets [telecommunication]; Transmitters [telecommunication]; Simulators for the steering and control of vehicles; Memories for data processing equipment; Tachometers; Metronomes; Audio and video receiver; Monitoring apparatus, electric; Ultrasound apparatus, not for medical purposes; Teaching apparatus; Audiovisual teaching apparatus; Surveying apparatus and instruments; Wavemeters; Scientific, nautical, surveying, photographic, cinematographic, optical, weighing, measuring, signalling, checking (supervision), life-saving and teaching apparatus and instruments; Time recording apparatus; Central processing units [processors]. Telecommunications; Providing access to computer programs on data networks; Providing access to information on the Internet; Providing access to position information and position auxiliary information by means of mobile telephone networks; Providing access to position information and position auxiliary information by means of satellite services; Electronic exchange of information between computers for cooperative systems; Electronic exchange of status information between computers for cooperative systems; Radio telecommunications; Communication by computer terminals; Computer-aided transmission of messages and images; Leasing of access time to global computer networks; Procuring access to databases. Education; Providing of training; Entertainment; Sporting and cultural activities; Consultancy regarding training, further training and education; Providing of training; Providing electronic publications (not downloadable); Coaching; Practical training demonstrations; Desktop publishing (creating publications using computers); Educational services; Correspondence courses; Correspondence courses; Providing of training, including through international computer networks; On-line publishing of electronic books and magazines; Arranging and conducting of conferences; Arranging and conducting of congresses; Educational consultancy; Human resources development by basic and advanced training; Publication of printed matter (also in electronic form), except for advertising purposes; Publication of magazines and books in electronic form, also on the Internet; Training; Sports training; Arranging, conducting of seminars; Arranging and conducting of workshops (training); Arranging and conducting of colloquiums; Organisation of exhibitions for cultural or educational purposes; Organization of competitions [education or entertainment]; Editing of texts (except publicity texts); Publication of books; Computer animation. Scientific and technological services and research and design relating thereto; Industrial analysis and research services; Design and development of computer hardware and software; Computer software (updating of-); Updating of computer software; Updating of Internet pages; Telecommunications engineering consultancy; Consultancy in the field of computers; Computer hardware and software consultancy; Computer software consulting; Computer systems analyses; Software design services; Design of computer systems; Computer programming; Graphic-design services; Draftsman's services; Physics research; Technical measuring and testing; Engineering; Digital image processing (graphic design); Technical testing; Scientific experiments; Electronic data processing consultancy (information technology services); Calibration (measuring); Electronic data security; Data warehousing (providing electronic data storage); Computer software and hardware design and development; Computer programming; Surveying; Scientific reports; Technical research; Mechanical research; Industrial analysis and research services; Installation and maintenance of software; Installation and maintenance of software for Internet access; Installation of computer programs; Calibration and function testing of measuring apparatus; Configuring computer networks by means of software; Construction drafting; Conversion of computer programs and data (other than physical alteration); Duplication of computer programs; Inquiries, research in databases and on the Internet, for scientific and research purposes; Research physics; Quality control; Research and development (for others); Server administration; Technical consultancy; Technical project studies; Technical project management in the field of electronic data processing; Testing the roadworthiness of vehicles; Rental and maintenance of memory space for websites, for others (hosting); Rental of computer; Rental of computer software; Computer rental; Rental of webservers; Restoration of computer dates; Scientific research; Scientific research and technological services; Design relating thereto; Providing or rental of electronic memory space; Webspace on the Internet.