Abstract: A computer-implemented method and device for mapping a vehicle environment of a vehicle are disclosed. The method comprises determining an occupancy grid representing the vehicle environment, including occupancy probability information of a first set of object detections. The occupancy probability information is determined from first positioning information obtained from a first sensor system. Semantic information and second positioning information associated with the semantic information from one or more semantic information sources is obtained. The semantic information comprises object classification information of a second set of object detections and the second positioning system indicates one or more positions of the second set of object detections with respect to the vehicle. The object classification information of the second set of object detections is combined with the occupancy probability information of the occupancy grid to generate a classified occupancy grid.

Abstract: A computer-implemented method for occupancy state detection in an area for a pre-determined point in time. In aspects, the computer-implemented method includes operations carried out by computer hardware components. The operations include determining a probability distribution over a list of possible occupancy states of the area at a previous point in time, determining measurement data related to the area at the pre-determined point in time, and determining a probability distribution over the list of possible occupancy states of the area at the pre-determined point in time based on the measurement data and the probability distribution over the list of possible occupancy states of the area at the previous point in time.

Abstract: A method is provided for arranging a grid with respect to a vehicle position. An initial position and a state of movement of the vehicle are determined. A physical grid specifying a spatial location of grid cells with respect to an earth-fixed coordinate system and a logical grid representing the cells within a memory are defined. An initial arrangement of the physical grid is determined with respect to the initial vehicle position. A mapping is defined between the physical and logical grids, and a torus interconnection is defined between margins of the logical grid. A modification of the vehicle position is determined based on the state of movement of the vehicle. By applying the torus interconnection, a revised logical grid is determined based on the modification of the vehicle position. A current arrangement of the physical grid is determined by mapping the revised logical grid.

Abstract: A computer-implemented method and system for calibrating an occupancy grid mapping a vehicle environment are disclosed. An example method includes identifying a feature of an occupancy grid that maps a vehicle environment in which the occupancy grid provides a primary representation of the feature. The example method also includes determining a quality level of the primary representation of the feature and determining if the quality level satisfies a quality criterion. The example method further includes adjusting a calibration of the occupancy grid if the quality level fails to satisfy the quality criterion. The adjustment of the calibration of the occupancy grid can include adjusting at least one parameter used to generate the occupancy grid to cause the quality level to satisfy the quality criterion.

Abstract: A computer-implemented method for occupancy state detection in an area for a pre-determined point in time. In aspects, the computer-implemented method includes operations carried out by computer hardware components. The operations include determining a probability distribution over a list of possible occupancy states of the area at a previous point in time, determining measurement data related to the area at the pre-determined point in time, and determining a probability distribution over the list of possible occupancy states of the area at the pre-determined point in time based on the measurement data and the probability distribution over the list of possible occupancy states of the area at the previous point in time.

Abstract: A method is provided for arranging a grid with respect to a vehicle position. An initial position and a state of movement of the vehicle are determined. A physical grid specifying a spatial location of grid cells with respect to an earth-fixed coordinate system and a logical grid representing the cells within a memory are defined. An initial arrangement of the physical grid is determined with respect to the initial vehicle position. A mapping is defined between the physical and logical grids, and a torus interconnection is defined between margins of the logical grid. A modification of the vehicle position is determined based on the state of movement of the vehicle. By applying the torus interconnection, a revised logical grid is determined based on the modification of the vehicle position. A current arrangement of the physical grid is determined by mapping the revised logical grid.

Abstract: A computer-implemented method and device for mapping a vehicle environment of a vehicle are disclosed. The method comprises determining an occupancy grid representing the vehicle environment, including occupancy probability information of a first set of object detections. The occupancy probability information is determined from first positioning information obtained from a first sensor system. Semantic information and second positioning information associated with the semantic information from one or more semantic information sources is obtained. The semantic information comprises object classification information of a second set of object detections and the second positioning system indicates one or more positions of the second set of object detections with respect to the vehicle. The object classification information of the second set of object detections is combined with the occupancy probability information of the occupancy grid to generate a classified occupancy grid.

Abstract: Provided is a computer-implemented method for mapping a vehicle environment, the method comprising: a) defining a first grid in the earth frame of reference having a first coordinate system; b) initializing a position of the vehicle in the first grid and a first set of cell occupancy values of the first grid; c) receiving sensor data of the surroundings of the vehicle from one or more sensors on the vehicle; d) updating the first grid with a second set of occupancy values calculated at least in part from the sensor data; and e) calculating one or more absolute velocities of one or more objects in the earth frame of reference from the change in cell occupancy values of the first grid.

Abstract: A computer implemented method for determining alignment parameters of a radar sensor comprises the following steps carried out by computer hardware components: determining measurement data using the radar sensor, the measurement data comprising a range-rate measurement, an azimuth measurement, and an elevation measurement; determining a velocity of the radar sensor; and determining the misalignment parameters based on the measurement data and the velocity, the misalignment parameters comprising an azimuth misalignment, an elevation misalignment, and a roll misalignment.

Abstract: A method for estimating a velocity of a target using a host vehicle equipped with a radar system includes determining a plurality of radar detection points, determining a compensated range rate, and determining an estimation of a first component of a velocity profile equation of the target and an estimation of a second component of the velocity profile equation of the target by using an iterative methodology comprising at least one iteration. The estimations and of the first and second components and of the velocity profile equation are not determined from a further iteration if at least one statistical measure representing the deviation of an estimated dispersion of the estimations and of the first and second components, and of a current iteration from a previous iteration and/or the deviation of an estimated dispersion of the residual from a predefined dispersion of the range rate meets a threshold condition.