Occupancy grid for static environment perception in series automotive applications. Issue 8 (2019)

• Record Type: Journal Article
• Authors: Porebski, Jakub; Kogut, Krzysztof; Markiewicz, Paweł; Skruch, Paweł
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 8(2019)
• Page Start: 148
• Page End: 153
• Publication Date: 2019
• Subjects: Autonomous Vehicles -- Map building -- Sensor integration -- perception -- Control architectures in automotive control -- General automobile -- road-environment strategies -- Information -- sensor fusion -- Bayesian methods -- Estimation -- filtering; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.08.063
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper presents a comprehensive review of state-of-the-art occupancy grid mapping approaches for highway and urban automotive applications. The primary objective is to identify most suitable algorithm candidates for series applications. The occupancy grid functional performance requirements for automotive are given. A new high level grid fusion architecture is introduced. The innovative element is a second stage filtering step allowing better performance in case of highly uncertain inputs. An application of the architectures to an example sensor suite is proposed.