Vector Environment Map for Autonomous Vehicle Sensor Fusion
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Solution Overview
Problem
Existing driver assistance systems face challenges in reliably operating and merging sensor data from different sources to create accurate and scalable maps of a vehicle's surroundings, leading to difficulties in data fusion and decision-making, especially when dealing with spatial uncertainty and varying sensor resolutions.
Innovation Solution
A method that generates a vector environment map by transforming sensor data into a global coordinate system, allowing objects to be stored as vectors independent of vehicle movement, which prevents data loss during scaling and enables efficient storage and fusion of sensor data from multiple sources.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If grid-based maps are used to store detected objects, then the environmental map can be created with simple cell occupancy marking, but data loss occurs during scaling and the map cannot be efficiently fused from multiple sensor sources
Solution Approach 1:
The patent transforms the environmental map representation from a discrete grid-based system to a continuous vector-based system using global coordinate systems. This parameter change allows the map to be scaled without data loss while maintaining ease of creation through standard sensor data processing.
Solution Approach 2:
The patent creates a standardized vector-based copy of the environmental map that can be efficiently fused from multiple sensor sources. By representing objects as vectors with global coordinates rather than grid cell occupancies, the system enables accurate data fusion while preserving all spatial information during scaling operations.
2Adaptability or versatility
If different driver assistance systems use different sensors and independently represent vehicle surroundings, then each system can operate autonomously, but sensor data fusion becomes complicated
Solution Approach 1:
The patent implements a universal vector-based environmental map format that can be used by multiple driver assistance systems simultaneously. This standardized representation allows different systems to operate independently while easily fusing their sensor data through a common coordinate system and data structure, reducing fusion complexity.
3Ease of operation
If grid-based environmental maps are used, then the map structure is simple and easy to implement, but the map cannot be efficiently scaled and memory overhead increases
Solution Approach 1:
The patent changes the fundamental parameter of map representation from discrete grid cells to continuous vectors with global coordinates. This enables efficient scaling without increasing memory overhead, as vectors require only coordinate storage rather than grid cell occupancy tracking across the entire map area.
Data Source
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AI summary
The invention relates to a method for generating at map of surroundings (14) of an area (7) of the surroundings of a motor vehicle (1), wherein: an object in the surrounding area (7) is detected using a sensor device (9) of the motor vehicle (1); a position value (P) describing a position of the object is determined on the basis of sensor data from the sensor device (9) and using a control device (3) of the motor vehicle (1), and the determined position value (P) is transferred to the maps of surroundings (14), wherein a vector (v') between the object and a predetermined reference point (11) of the motor vehicle (1) is determined, said reference point forming an origin (0') of a vehicle coordinate system (12); the determined vector (v') is converted from the vehicle coordinate system (12) into a global coordinate system (13) of the map of surroundings (14); and the position value (P) is determined in the map of surroundings (14) on the basis of the converted vector (v).