Obstacle detection systems and methods
First Claim
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1. A method comprising:
- receiving, by a controller of a vehicle, data from at least one sensor mounted to the vehicle;
creating, by an obstacle detection system executed by the controller, a probabilistic grid-based map associated with an area near the vehicle, the grid-based map defined as a two-dimensional array of cells distributed in a horizontal plane adjacent the vehicle;
determining, by the obstacle detection system, a confidence associated with each cell of the array of cells in the probabilistic grid-based map; and
determining, by the obstacle detection system, a likelihood that an obstacle exists in the area near the vehicle based on the probabilistic grid-based map;
performing temporal analysis of the received data using learning and forgetting factors associated with the probabilistic grid-based map;
wherein the learning factor increases a probability value associated with each cell in the array of cells over time; and
wherein the forgetting factor decreases a probability value associated with each cell in the array of cells over time.
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Abstract
Example obstacle detection systems and methods are described. In one implementation, a method receives data from at least one sensor mounted to a vehicle and creates a probabilistic grid-based map associated with an area near the vehicle. The method also determines a confidence associated with each probability in the grid-based map and determines a likelihood that an obstacle exists in the area near the vehicle based on the probabilistic grid-based map.
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Citations
8 Claims
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1. A method comprising:
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receiving, by a controller of a vehicle, data from at least one sensor mounted to the vehicle; creating, by an obstacle detection system executed by the controller, a probabilistic grid-based map associated with an area near the vehicle, the grid-based map defined as a two-dimensional array of cells distributed in a horizontal plane adjacent the vehicle; determining, by the obstacle detection system, a confidence associated with each cell of the array of cells in the probabilistic grid-based map; and determining, by the obstacle detection system, a likelihood that an obstacle exists in the area near the vehicle based on the probabilistic grid-based map; performing temporal analysis of the received data using learning and forgetting factors associated with the probabilistic grid-based map; wherein the learning factor increases a probability value associated with each cell in the array of cells over time; and wherein the forgetting factor decreases a probability value associated with each cell in the array of cells over time. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification