Multi-Resolution Probability Grid for Vehicle Surroundings
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Solution Overview
Problem
Current vehicle driver assistance systems using object-abstract models of surroundings fail to effectively represent object-free areas and manage varying levels of resolution, leading to inefficiencies in processing and accuracy.
Innovation Solution
A method for mapping vehicle surroundings into a probability grid model with multiple levels of resolution, where data from high-resolution grid cells is combined and stored in lower-resolution cells, using a tree-like data structure to maintain accuracy and efficiency, and employing maximum or minimum values for occupancy and free space probabilities to ensure information integrity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a uniform high-resolution probability grid is used to represent all surrounding areas, then measurement precision is improved, but device complexity and computational load increase significantly
Solution Approach 1:
The surrounding space is segmented into multiple zones with different resolution levels. The probability grid is divided into a first plurality of grid cells for a first region and a second plurality of grid cells for a second region, allowing each zone to have appropriate resolution for its specific requirements.
Solution Approach 2:
Different regions of the surrounding space are assigned different quality levels of representation. The first region uses high-resolution grid cells while the second region uses lower-resolution grid cells, optimizing computational resources by applying higher precision only where necessary.
2Loss of information
If high-resolution grid cells are used throughout the entire surrounding area, then information accuracy is improved, but storage requirements and processing time increase
Solution Approach 1:
The probability grid is segmented into multiple resolution levels, with high-resolution cells used only in critical regions and lower-resolution cells in less critical regions, reducing overall data volume while preserving essential information.
Solution Approach 2:
The system can dynamically adjust the resolution level used for different regions based on current driving conditions, allowing flexible optimization between information accuracy and processing efficiency.
3Productivity
If multiple resolution levels are implemented in the probability grid, then data processing efficiency is improved, but device complexity increases
Solution Approach 1:
The probability grid implements a nested structure where multiple resolution levels are organized hierarchically, with coarser grids containing aggregated information from finer grids, allowing efficient navigation and processing at appropriate levels.
Solution Approach 2:
The system adds a resolution level dimension to the traditional two-dimensional grid, creating a multi-dimensional data structure that enables efficient processing by selecting appropriate resolution levels based on processing needs.
Data Source
AI summary
A method for represents the surroundings of a vehicle with at least two levels of resolution in a surroundings model, preferably for a vehicle having a sensor system for monitoring the surroundings and at least one driver assistance system. The surroundings model preferably represents a probability grid having a plurality of grid cells. Data from at least two grid cells at a higher level of resolution are combined and stored in a grid cell at a lower level of resolution.