Parametric Free Space Map Merging for Vehicle-to-X Communication
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Solution Overview
Problem
Existing free space maps generated by motor vehicles are limited in scope and data transmission efficiency, particularly in vehicle-to-X communication, as they are large and cumbersome for exchange between vehicles and infrastructure units.
Innovation Solution
A method for generating merged free space maps using parametric representations, allowing for reduced data transmission rates by merging free space maps from multiple vehicles or infrastructure units, utilizing environment sensors and vehicle-to-X communication to create a comprehensive and detailed map of the driving environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If grid-based free space maps are used to represent driving environments in detail, then measurement precision and detail representation are improved, but data transmission time and communication bandwidth requirements increase significantly
Solution Approach 1:
The patent transforms free space map representation from a grid-based spatial structure to a parametric mathematical representation. Instead of transmitting individual grid cell values, the system uses parametric curves (e.g., B-splines) to describe free space boundaries, reducing data volume while preserving geometric accuracy. This parameter transformation enables efficient compression and faster transmission without sacrificing the ability to represent complex driving environment geometries.
2Area of stationary object
If free space maps from multiple vehicles are merged to expand coverage area, then area of coverage is improved, but data transmission load and processing complexity increase
Solution Approach 1:
The patent implements a merging mechanism that combines free space maps from multiple vehicles and infrastructure units into a unified parametric representation. The system aligns parametric curves from different sources, resolves geometric conflicts, and generates a consolidated free space map that represents the union of all input maps. This merging process expands the effective coverage area while maintaining computational efficiency through the use of parametric mathematics rather than brute-force grid operations.
3Reliability
If comprehensive environment detection is performed using vehicle sensors, then measurement precision and reliability are improved, but data transmission requirements and energy consumption increase
Solution Approach 1:
The patent creates a simplified parametric copy of the environmental free space geometry instead of transmitting raw sensor data or detailed grid maps. Environment sensors detect the actual free space boundaries, which are then fitted to parametric curves that serve as compact mathematical copies of the physical environment. These parametric copies can be transmitted with minimal energy expenditure while preserving the essential geometric information needed for autonomous navigation and collision avoidance.
Data Source
AI summary
A method for the generation of a merged free-space map in a motor vehicle or in an infrastructure unit, wherein free space maps are generated and transmitted using vehicle-to-X communication. Parametric free space maps are used in this case. An associated electronic control device and an associated storage medium are also provided.