A method for analyzing surroundings of a motor vehicle by an electronic computing device, a corresponding computer program product

Abstract

The invention relates to a method for analyzing surroundings of a motor vehicle by an electronic computing device comprising the steps of providing a multiresolution grid 28 with at least a near field 22 comprising a first distribution of occupancy cells 30 and with a far field 26 comprising a second distribution of occupancy cells 30 by the electronic computing device, wherein the second distribution is different to the first distribution. At least a distance 32 to an object 20,24 in the surroundings is determined by the electronic computing which implements the object, depending on the determined distance 32, into an occupancy cell 30 of the near field 22 or the far field 26 and analyses the surroundings depending on the implemented object 20, 24.

Description

FIELD OF THE INVENTION

[0001] The present invention relates to the field of automobiles. More specifically, the present invention relates to a method for analyzing surroundings of a motor vehicle by an electronic computing device. Furthermore, the present invention relates to a corresponding computer program product, a corresponding non-transitory computer-readable storage medium, as well as to a corresponding electronic computing device. BACKGROUND INFORMATION

[0002] From the state of the art occupancy cells for, for example, a radar sensor device, are known. Furthermore, also occupancy cells, for example, for lidar sensors are known. In particular, lidar sensors only delivers the back edge of, for example, a leading vehicle, with no longitudinal extent. This potentially can lead to the removal of occupancies due to timing issues and bad tracking with flickering occupancies and other side effects. Furthermore, a standard radial grid is known, which can be easily implemented and which is close to a sensor representation. But, for example, in near field, the occupancy cells are very tiny, and the depth in the occupancy cells is constant, which means that far distance occupancy cells get wider and wider, but the range does not get extended. SUMMARY OF THE INVENTION

[0003] It is an object of the present invention to provide a method, a corresponding computer program product, a corresponding non-transitory computer-readable storage medium as well as a corresponding electronic computing device, by which an improved analyzing of surroundings of a motor vehicle can be realized.

[0004] This object is solved by a method, a corresponding computer program product, a corresponding non-transitory computer-readable storage medium, as well as a corresponding electronic computing device according to the independent claims. Advantageous embodiments are presented in the dependent claims.

[0005] One aspect of the invention relates to a method for analyzing surroundings of a motor vehicle by an electronic computing device. A multiresolution grid with at least a near field comprising a first distribution of occupancy cells and with a far field comprising a second distribution of occupancy cells is provided by the electronic computing device, wherein the second distribution is different to the first distribution. At least a distance to an object in the surroundings is determined by the electronic computing device. The object depending on the determined distance is implemented into an occupancy cell of the near field or the far field by the electronic computing device and the surroundings are analyzed depending on the implemented object.

[0006] Therefore, a multiresolution grid can be provided. In particular, a two-dimensional mapping according to a distance index and a radial index is provided. The internal distance measures and cell / bin sizes are used for efficient mapping.

[0007] Therefore, for example, in the near field a fixed amount of cells is provided. On the other side, another amount of cells may be provided in the far field. Therefore, an adapted resolution grid is provided, which overcomes the disadvantages in the state of the art.

[0008] According to an embodiment, a predefined distance for a transition from the near field to the far field is provided.

[0009] In another embodiment, a depth and a width of an occupancy cell in the near field and in the far field is equal.

[0010] In another embodiment, a width and a depth in the far field is determined depending on a compound factor.

[0011] In another embodiment, a width and a depth in the near field is fixed.

[0012] In another embodiment, an amount of occupancy cells in the near field is determined depending on an arc length of a capturing device for captiring the surroundings.

[0013] In particular, the method is a computer-implemented method. Therefore, another aspect of the invention relates to a computer program product comprising program code means for performing the method according to the preceding aspect.

[0014] A still further aspect of the invention relates to a non-transitory computer-readable storage medium comprising at least the computer program product according to the preceding aspect.

[0015] Furthermore, the present invention relates to an electronic computing device for analyzing surroundings of a motor vehicle, wherein the electronic computing device is configured for performing a method according to the preceding aspect. In particular, the method is performed by the electronic computing device.

[0016] Furthermore, the present invention relates to a motor vehicle comprising at least the electronic computing device according to the preceding aspect. The motor vehicle may be configured as an at least in part automatically automated motor vehicle or a fully automated motor vehicle.

[0017] Advantageous embodiments of the method are to be regarded as an advantageous embodiment of the computer program product, the non-transitory computer-readable storage medium, the electronic computing device as well as the motor vehicle. The electronic computing device as well as the motor vehicle therefore comprises means for performing the method.

[0018] A computing unit / electronic computing device may in particular be understood as a data processing device, which comprises processing circuitry. The computing unit can therefore in particular process data to perform computing operations. This may also include operations to perform indexed accesses to a data structure, for example a look-up table, LUT.

[0019] In particular, the computing unit may include one or more computers, one or more microcontrollers, and / or one or more integrated circuits, for example, one or more application-specific integrated circuits, ASIC, one or more field-programmable gate arrays, FPGA, and / or one or more systems on a chip, SoC. The computing unit may also include one or more processors, for example one or more microprocessors, one or more central processing units, CPU, one or more graphics processing units, GPU, and / or one or more signal processors, in particular one or more digital signal processors, DSP. The computing unit may also include a physical or a virtual cluster of computers or other of said units.

[0020] In various embodiments, the computing unit includes one or more hardware and / or software interfaces and / or one or more memory units.

[0021] A memory unit may be implemented as a volatile data memory, for example a dynamic random access memory, DRAM, or a static random access memory, SRAM, or as a non-volatile data memory, for example a read-only memory, ROM, a programmable read-only memory, PROM, an erasable programmable read-only memory, EPROM, an electrically erasable programmable read-only memory, EEPROM, a flash memory or flash EEPROM, a ferroelectric random access memory, FRAM, a magnetoresistive random access memory, MRAM, or a phase-change random access memory, PCRAM.

[0022] Further advantages, features, and details of the invention derive from the following description of preferred embodiments as well as from the drawings. The features and feature combinations previously mentioned in the description as well as the features and feature combinations mentioned in the following description of the figures and / or shown in the figures alone can be employed not only in the respectively indicated combination but also in any other combination or taken alone without leaving the scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The novel features and characteristic of the disclosure are set forth in the appended claims. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and together with the description, serve to explain the disclosed principles. The same numbers are used throughout the figures to reference like features and components. Some embodiments of system and / or methods in accordance with embodiments of the present subject matter are now described below, by way of example only, and with reference to the accompanying figures.

[0024] The drawings show in:

[0025] Fig. 1 a schematic top view according to an embodiment of a motor vehicle comprising an embodiment of an electronic computing device; and

[0026] Fig. 2 an enlarged view of an embodiment of a multiresolution grid.

[0027] In the figures the same elements or elements having the same function are indicated by the same reference signs. DETAILED DESCRIPTION

[0028] In the present document, the word "exemplary" is used herein to mean "serving as an example, instance, or illustration". Any embodiment or implementation of the present subject matter described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

[0029] While the disclosure is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawing and will be described in detail below. It should be understood, however, that it is not intended to limit the disclosure to the particular forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure.

[0030] The terms “comprises”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion so that a setup, device or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a system or apparatus preceded by “comprises” or “comprise” does not or do not, without more constraints, preclude the existence of other elements or additional elements in the system or method.

[0031] In the following detailed description of the embodiment of the disclosure, reference is made to the accompanying drawing that forms part hereof, and in which is shown by way of illustration a specific embodiment in which the disclosure may be practiced. This embodiment is described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments may be utilized and that changes may be made without departing from the scope of the present disclosure. The following description is, therefore, not to be taken in a limiting sense.

[0032] Fig. 1 shows a schematic top view according to an embodiment of a motor vehicle 10. The motor vehicle 10 may be, for example, configured as an at least in part automated operated motor vehicle 10 or a fully automated operated motor vehicle 10. The motor vehicle 10 according to the shown embodiment comprises at least an electronic computing device 12 as well as a capturing device 14. The capturing device 14 may be configured as lidar sensor or a radar sensor.

[0033] The capturing device 14 is configured for capturing surroundings 16 of the motor vehicle 10. The electronic computing device 12 is configured for analyzing the surroundings 16. According to a shown embodiment, the capturing device 14 comprises a capturing area 18, which is shown with the dashed line. Furthermore, a predefined distance D is shown. Furthermore, a first object 20 in a near field 22 of the capturing device 14 is shown as well as a second object 24 in a far field 26 of the capturing device 14 is shown.

[0034] Fig. 2 shows a schematic enlarged view according to the capturing area 18. In particular, Fig. 2 shows a multiresolution grid 28 with at least the near field 22 comprising a first distribution of occupancy cells 30 and with the far field 26 comprising a second distribution of occupancy cells 30 by the electronic computing device 12. The second distribution is different to the first distribution. At least a distance 32 to an object 20, 24 in the surroundings 16 is determined by the electronic computing device 12. The object 20, 24 is implemented depending on the determined distance 32 into an occupancy cell 30 of the near field 22 or the far field 26 by the electronic computing device 12 and the surroundings 16 are analyzed depending on the implemented object 20, 24.

[0035] According to the shown embodiment, the first object 20 is implemented in an occupancy cell 30 of the near field 22, and the second object 24 is implemented in an occupancy cell 30 of the far field 26.

[0036] In particular, Fig. 2 shows that the predefined distance D is provided for a transition to the near field 22 to the far field 26.

[0037] Furthermore, it is shown that a depth 34 and a width 36 in the near field 22 are equal. Furthermore, a depth 38 and a width 40 of the far field 26 are equal. Furthermore, the width 38 and the depth 40 in the far field 26 may be determined depending on a compound factor.

[0038] In particular the following formulas can be used for calculating the multi resolution grid 28: In the far field 26: ^+i = M Wj + 1 = Wi * c d,+i = di * c Wf T = 1 ln(D) - ln(D0) l Istart + ln(c) In the near field 22: ..   _ ^^lenght 1+1 “ Wj+i = Wi ^i+1 = Wi -^=1 di . _ D l = d~0 With di as the deptch of a cell at index i, c as the compound factor, w as the width, d as the depth and N as the number of the cell.

[0039] Furthermore, the width 36 and the depth 34 in the near field 22 is fixed.

[0040] Furthermore, an amount of occupancy cells 30 in the near field 22 is determined depending on an arc length of the capturing device 14 for capturing the surroundings 16. signs motor vehicle electronic computing device capturing device surroundings capturing area object near field second object far field multiresolution grid occupancy cell distance depth width depth width provided distance

Claims

1. A method for analyzing surroundings (16) of a motor vehicle (10) by an electronic computing device (12), comprising the steps of:- providing a multiresolution grid (28) with at least a near field (22) comprising a first distribution of occupancy cells (30) and with a far field (26) comprising a second distribution of occupancy cells (30) by the electronic computing device (12), wherein the second distribution is different to the first distribution;- determining at least a distance (32) to an object (20, 24) in the surroundings (16) by the electronic computing (12);- implementing the object (20, 24) depending on the determined distance (32) into an occupancy cell (30) of the near field (22) or the far field (26) by the electronic computing device (10); and- analyzing the surroundings (16) depending on the implemented object (20, 24).

2. The method according to claim 1, characterized in thatwherein a predefined distance (D) for a transition from the near field (22) to the far field (26) is provided.

3. The method according to claim 1 or 2, characterized in thata depth (34) and a width (36) of an occupancy cell (30) in the near field (22) is equal and a depth (38) and a width (40) of an occupancy cell (30) in the far field (22) is equal.

4. The method according to claim 3, characterized in thatthe width (40) and a depth (38) in the far field (26) is determined depending on a compound factor.

5. The method according to claim 3 or 4, characterized in thatthe width (36) and a depth (34) in the near field (22) is fixed.

6. The method according to any of claims 1 to 5, characterized in thatan amount of occupancy cells (30) in the near field (22) is determined depending on an arc length of a capturing device (14) for capturing the surroundings (16).

7. A computer program product comprising program code means for performing a method according to any one of claims 1 to 6.

8. A non-transitory computer-readable storage medium comprising at least the computer program product according to claim 7.

9. An electronic computing device (12) for analyzing surroundings (16) of a motor vehicle (10), wherein the electronic computing device (12) is configured for performing a method according to any one of claims 1 to 6.

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