Occupancy Grid Free-Space Detection for Faster Parkable Space Search
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Solution Overview
Problem
Existing free space detection methods for autonomous vehicles are computationally expensive and time-consuming, particularly when determining parkable spaces, due to the need to test each grid cell in a region of interest, leading to inefficient use of processing resources.
Innovation Solution
A method that identifies grid cells as tested and occupied based on surrounding cells, allowing skipping of redundant computations by setting flags for tested and occupied cells, thereby reducing computational load and improving efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If each grid cell is tested individually to determine occupancy status, then measurement precision is improved, but productivity deteriorates due to computational expense and time consumption
Solution Approach 1:
The system performs preliminary occupancy testing of grid cells and stores the results. When a cell is tested, its occupancy status is recorded and used to inform subsequent tests of neighboring cells, avoiding redundant computations while maintaining detection accuracy
Solution Approach 2:
The system combines the occupancy results of multiple grid cells by setting a common occupied flag when any surrounding cell is occupied. This merging approach allows the system to determine the status of multiple cells simultaneously based on shared occupancy information, reducing the number of individual tests required
2Reliability
If comprehensive testing of all grid cells is performed to ensure accurate free space detection, then reliability is improved, but loss of time increases due to redundant computations on occupied cells
Solution Approach 1:
The system extracts and identifies grid cells that have already been tested and marks them with a tested flag. These previously tested cells are then excluded from subsequent testing operations, removing redundant computations while preserving the reliability of free space detection through the use of stored test results
Data Source
AI summary
Examples provide for computer executable instructions executable by a processor to configure the processor to determine an occupancy status of cells of a region of interest by, for a first cell of the region of interest, determining whether the first cell is free by setting a free space flag for the first cell to an asserted value and setting a free space tested flag for the first cell to an asserted value responsive to determining that the first cell and each of the surrounding cells in the programmed radius of the first cell are unoccupied, and setting a free space flag for a second cell to a de-asserted value and setting a free space tested flag for the second cell to an asserted value responsive to determining that the second cell is occupied, the second cell being among the surrounding cells in the programmed radius of the first cell.