APPARATUS, METHOD AND PROGRAM FOR GENERATING OCCUPANCY GRID MAP
First Claim
1. An apparatus for generating an occupancy grid map constituted with, a two-dimensional grid around a first moving body, the apparatus comprising;
- processing circuitry configured to;
acquire data of a distance from the first moving body to an obstacle lying in surroundings of the first moving body;
acquire first information indicating a movement status of the first moving body at current time and determine an operation mode of the first moving body;
set a range of interest, which is a movement range of the first moving body at next time, in a grid of a resolution higher than a resolution of the grid of the occupancy grid map, from the operation mode; and
align the occupancy grid map to the range of interest and generate the occupancy grid map in such a manner that the obstacle exists in the grid of the occupancy grid map and the grid of the range of interest with respect to a position corresponding to the distance data.
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Accused Products
Abstract
According to one embodiment, an apparatus for generating an occupancy grid map constituted with a two-dimensional grid around a first moving body includes processing circuitry configured to acquire data of a distance from the first moving body to an obstacle lying in surroundings of the first moving body; acquire first information indicating the movement status of the first moving body at current time and determine an operation mode of the first moving body; set a range of interest in a grid of a resolution higher than a resolution of the grid of the occupancy grid map, from the operation mode; and align the occupancy grid map to the range of interest and generate the occupancy grid map in such a manner that the obstacle exists in the grid of the occupancy grid map and the grid of the range of interest with respect to a position corresponding to the distance data.
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Citations
12 Claims
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1. An apparatus for generating an occupancy grid map constituted with, a two-dimensional grid around a first moving body, the apparatus comprising;
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processing circuitry configured to; acquire data of a distance from the first moving body to an obstacle lying in surroundings of the first moving body; acquire first information indicating a movement status of the first moving body at current time and determine an operation mode of the first moving body; set a range of interest, which is a movement range of the first moving body at next time, in a grid of a resolution higher than a resolution of the grid of the occupancy grid map, from the operation mode; and align the occupancy grid map to the range of interest and generate the occupancy grid map in such a manner that the obstacle exists in the grid of the occupancy grid map and the grid of the range of interest with respect to a position corresponding to the distance data. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for generating an occupancy grid map constituted with a two-dimensional grid around a first moving body, the method comprising:
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acquiring data of a distance from the first moving body to an obstacle lying in surroundings of the first moving body; acquiring first information indicating a movement status of the first moving body at current time and determining an operation mode of the first moving body; setting a range of interest, which is a movement range of the first moving body at next time, in a grid of a resolution higher than a resolution of the grid of the occupancy grid map, from the operation mode; and aligning the occupancy grid map to the range of interest and generating the occupancy grid map in such a manner that the obstacle exists in the grid of the occupancy grid map and the grid of the range of interest with respect to a position corresponding to the distance data.
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9. A non-transitory program stored in a computer readable medium, causing a computer to perform a method for generating an occupancy grid map composed of a two-dimensional grid around a first moving body, the method comprising:
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acquiring data of a distance from the first moving body to an obstacle lying in surroundings of the first moving body; acquiring first information indicating a movement status of the first moving body at current time and determining an operation mode of the first moving body; setting a range of interest, which is a movement range of the first moving body at next time, in a grid of a resolution higher than a resolution of the grid of the occupancy grid map, from the operation mode; and aligning the occupancy grid map to the range of interest and generating the occupancy grid map in such a manner that the obstacle exists in the grid of the occupancy grid map and the grid of the range of interest with respect to a position corresponding to the distance data.
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10. An apparatus for generating an occupancy grid map constituted with a three-dimensional grid around a first moving body, the apparatus comprising:
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processing circuitry configured to; acquire data of a distance from the first moving body to an obstacle lying in surroundings of the first moving body; acquire first information indicating a movement status of the first moving body at current time and determine a three-dimensional movement vector of the first moving body; set a range of interest, which is a movement range of the first moving body at next time, in a grid of a resolution higher than a resolution of the grid of the occupancy grid map, from the three-dimensional movement vector; and align the occupancy grid map to the range of interest and generate the occupancy grid map in such a manner that the obstacle exists in the grid of the occupancy grid map and the grid of the range of interest with respect to a position corresponding to the distance data.
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11. A method for generating an occupancy grid map constituted with a three-dimensional grid around a first moving body, the method comprising:
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acquiring data of a distance from the first moving body to an obstacle lying in surroundings of the first moving body; acquiring first information indicating a movement status of the first moving body at current time and determining a three-dimensional movement vector of the first moving body; setting a range of interest, which is a movement range of the first moving body at next time, in a grid of a resolution higher than a resolution of the grid of the occupancy grid map, from the three-dimensional movement vector; and aligning the occupancy grid map to the range of interest and generating the occupancy grid map in such a manner that the obstacle exists in the grid of the occupancy grid map and the grid of the range of interest with respect to a position corresponding to the distance data.
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12. A non-transitory program stored in a computer readable medium, causing a computer to perform a method for generating an occupancy grid map constituted with a three-dimensional grid around a first moving body, the method comprising:
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acquiring data of a distance from the first moving body to an obstacle lying in surroundings of the first moving body; acquiring first information indicating a movement status of the first moving body at current time and determining a three-dimensional movement vector of the first moving body; setting a range of interest, which is a movement range of the first moving body at next time, in a grid of a resolution higher than a resolution of the grid of the occupancy grid map, from the three-dimensional movement vector; and aligning the occupancy grid map to the range of interest and genera ting the occupancy grid map in such a manner that the obstacle exists in the grid of the occupancy grid map and the grid of the range of interest with respect to a position corresponding to the distance data.
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Specification