SYSTEM AND METHOD FOR WRITING OCCUPANCY GRID MAP OF SENSOR CENTERED COORDINATE SYSTEM USING LASER SCANNER

• US 20160378115A1
• Filed: 12/03/2015
• Published: 12/29/2016
• Est. Priority Date: 06/25/2015
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Industry Academic Cooperation Foundation, Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group), Industry Academic Cooperation Foundation, Kia Motors Corporation (Kia Corp.)
• Inventors: YOO, Minkyun, PARK, Seongkeun, LEE, Hoon, JANG, Hyungsun, KIM, Hyunju, KIM, Youngwon, KIM, Beomseong, CHOI, Baehoon, AN, Jhonghyun, KIM, Euntai
• Granted Patent: US 9,827,994 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 40/105 Speed
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data

Abstract

A system for writing an occupancy grid map of a sensor centered coordinate system using a laser scanner includes a data unit that includes scan data read by the laser scanner, a past measurement map, and data relating to a movement of the sensor, a mapping unit for stochastically combining a current measurement map written from the scan data with a predicted map written by using the past measurement map and the data relating to a movement of the sensor, and a static and dynamic object detection unit for determining whether an object in the occupancy grid map is a static or a dynamic object by using a mapping algorithm of the mapping unit.

Claims

1. A system for writing an occupancy grid map of a sensor centered coordinate system using a laser scanner, the system comprising:

a data unit that includes scan data read by the laser scanner, a past measurement map, and data relating to a movement of the sensor;

a mapping unit for stochastically combining a current measurement map written from the scan data with a predicted map written by using the past measurement map and the data relating to a movement of the sensor; and

a static and dynamic object detection unit for determining whether an object in the occupancy grid map is a static or a dynamic object by using a mapping algorithm of the mapping unit.

2. The system of claim 1, wherein the data relating to a movement of the sensor includes information selected from the group consisting of speed and yaw information received from a user vehicle.

3. The system of claim 1, wherein the occupancy grid map is recursively updated by using the scan data which is measured every hour.

4. A method for writing an occupancy grid map of a sensor centered coordinate system using a laser scanner, the method comprising:

measuring a scan data by using the laser scanner provided to a user vehicle;

writing a predicted map which is predicted as a sensor centered coordinate system by using a past measurement map and data relating to a movement of the sensor;

writing a current measurement map by using the measured scan data; and

writing the occupancy grid map of a sensor centered coordinate system by stochastically combining the written current measurement map with the written predicted map.

5. The method of claim 4, wherein the step of writing a predicted map comprises:

calculating a displacement of the user vehicle by using the data relating to a movement of the sensor; and

calculating a significant displacement by adding the displacement of the user vehicle to a past surplus displacement, and calculating a current surplus displacement.

6. The method of claim 4, wherein the data relating to a movement of the sensor comprises information selected from the group consisting of speed and yaw information received from the user vehicle.

7. The method of claim 4, wherein after the step of writing the occupancy grid map of a sensor centered coordinate system, further comprising determining whether an object in the occupancy grid map is a static or a dynamic object.

8. The system of claim 4, wherein the occupancy grid map is recursively updated by using the scan data which is measured every hour.