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Method and system for generating predicted occupancy grid maps

A technology that occupies grids and maps, applied in the direction of kernel methods, neural learning methods, control/regulation systems, etc., can solve problems such as blocking free space

Active Publication Date: 2021-09-03
HUAWEI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Also, this approach may not be suitable for tight environments, as enlarged object representations in the OGM block free space that could be used

Method used

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  • Method and system for generating predicted occupancy grid maps
  • Method and system for generating predicted occupancy grid maps
  • Method and system for generating predicted occupancy grid maps

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Embodiment Construction

[0043] Some examples of this application are described in the context of autonomous vehicles. However, the methods and systems disclosed herein may also be applicable to non-autonomous vehicle implementations such as off-board autonomous driving, semi-autonomous driving devices, and non-autonomous driving devices (eg, devices controlled by a user). For example, any system or device that senses objects in its surroundings could benefit from the examples described here. Although this application describes applications directed to path planning, the examples disclosed herein have application beyond path planning and can be used with mobile or non-mobile devices. Furthermore, examples of the present application may be implemented in an image processing device such as a workstation or other computing device unrelated to an automated machine (eg, an image processing system).

[0044] Although the examples described herein refer to automobiles as autonomous vehicles, the teachings o...

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Abstract

Methods and systems for generating a predicted occupancy grid map (OGM) over at least one future time step are described. The system include a first encoder for extracting OGM features from an input OGM in a current time step. The system also includes a recurrent neural network for generating a corrective term from at least the OGM features, wherein the corrective term represents predicted change to the input OGM, and the corrective term is applied to the input OGM to generate a corrected OGM. The corrected OGM represents features corresponding to occupancy of the environment in a first future time step. The system also includes a classifier for converting the corrected OGM to the predicted OGM for the first future time step. The predicted OGM is fed back as input for performing generating a predicted OGM for a second future time step.

Description

[0001] Related Applications Cross Application [0002] This application claims U.S. Provisional Patent Application No. 62 / 767,309, filed November 14, 2018, entitled "Method and System for Generating Predictive Occupancy Grid Maps," and filed July 11, 2019 Priority priority to US Provisional Patent Application No. 16 / 509,045, entitled "Method and System for Generating Predicted Occupancy Grid Maps," the contents of which are incorporated herein by reference. technical field [0003] The present application relates to methods and systems for providing predictions for generating predicted occupancy grid maps representing dynamic unstructured environments. Background technique [0004] An autonomous device (eg, an autonomous vehicle) may sense its surroundings using different sensors (eg, sonar rangefinder, radar, lidar, and / or cameras, etc.). Information collected from sensors is used for path planning and navigation of autonomous devices. In order to efficiently plan paths a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05D1/00
CPCG05D1/0221G05D1/0274G05D1/0248G06N3/08G06N20/10B60W50/0097B60W60/001G06V20/56G06N3/048G06N3/044G06N3/045G05D1/0278G05D1/0257G05D1/0231G05D1/0088
Inventor 尼玛·莫哈杰林穆赫辛·鲁哈尼
Owner HUAWEI TECH CO LTD