DE102017209977A1 - Method and apparatus for determining a free object space and generating a defined boundary - Google Patents

Method and apparatus for determining a free object space and generating a defined boundary

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Publication number
DE102017209977A1
DE102017209977A1 DE102017209977.1A DE102017209977A DE102017209977A1 DE 102017209977 A1 DE102017209977 A1 DE 102017209977A1 DE 102017209977 A DE102017209977 A DE 102017209977A DE 102017209977 A1 DE102017209977 A1 DE 102017209977A1
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Prior art keywords
cells
subject
characterized
cell array
method according
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Pending
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DE102017209977.1A
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German (de)
Inventor
Robert Sasu
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Continental Automotive GmbH
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Continental Automotive GmbH
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Priority to DE102017209977.1A priority Critical patent/DE102017209977A1/en
Publication of DE102017209977A1 publication Critical patent/DE102017209977A1/en
Application status is Pending legal-status Critical

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
    • G06K9/00798Recognition of lanes or road borders, e.g. of lane markings, or recognition of driver's driving pattern in relation to lanes perceived from the vehicle; Analysis of car trajectory relative to detected road
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
    • G06K9/00812Recognition of available parking space

Abstract

The present invention relates to a method and an apparatus for determining a free object space around a subject and for generating a defined boundary, comprising the method steps: generating a stationary cell array with individual cells, wherein cells are re-initialized for dynamic objects; Shifting the accumulated cells according to the movement of the subject; Generating busy cells of the cell array by adding stationary cluster data to the cells; and determining the free object space of the subject by analyzing the cells and generating boundary segment lines to produce a defined boundary.

Description

  • FIELD OF THE INVENTION
  • The present invention relates to a method and apparatus for determining a free space object and generating a defined boundary.
  • TECHNICAL BACKGROUND
  • In autonomous driving, it is important to know and determine the complete free space around the autonomous vehicle, which is also called the subject. This is necessary in order for the autonomous vehicle to be prepared for all possible maneuvers it can perform. Certain functions of autonomous driving can be switched on or off. Such functions include, for example, parallel parking, finding a passage between obstacles.
  • If, in the case of radar systems, a clear limit is set, all so-called ghost objects behind it can be hidden or neglected. Branches can be described and prepared for possible traffic situations and / or scenarios.
  • One problem in general is that a list of fixed objects must be present in the radar system and lines from a series of closely spaced clusters, e.g. Posts, crash barriers, etc., are generated. The lines represent the limit of the road. This has proven itself on highways and highways.
  • Fixed objects are difficult to determine, the accuracy of capturing the shape / size is even more difficult. It is customary to determine the free object space with a list of fixed objects and boundaries which are defined by the so-called Hough line.
  • The conventional systems use the Hough transformation of fixed clusters to create boundary lines where the list of fixed objects exists. There is currently no concept of free space objects in conventional radar systems, just the description of line-like boundaries. This is considered disadvantageous since branches, junctions, free parking spaces can not be described and then used for new functionalities.
  • The US patent US 8,321,066 B2 describes a method for determining free spaces in the vicinity of a motor vehicle, in particular in the neighborhood, which is relevant to the operation of the vehicle.
  • The German patent application DE 10 2005 026 386 A1 describes a method for determining a free space, eg parking space, for a motor vehicle. A signal transit time measurement is described for measuring objects adjacent to the vehicle. A distribution of object truth is here combined with an obstacle distribution.
  • Against this background, the object of the present invention is to enable an improved determination of a free space object and an improved generation of a defined limit.
  • According to the invention, this object is achieved by a method having the features of patent claim 1 and / or by a device having the features of patent claim 11.
  • Accordingly, it is provided:
    • A method for determining a free object space around a subject and generating a defined boundary comprises the method steps: generating a stationary cell array with individual cells, wherein cells are reinitialized for dynamic objects; Shifting the accumulated cells according to the movement of the subject; Generating busy cells of the cell array by adding stationary cluster data to the cells; Determine the free object space of the subject by analyzing the cells and generating boundary segment lines to create a defined boundary.
    • A device for carrying out the method according to the invention, which further comprises: a control device, an input quantity block, at least one memory, a shifter and an output block.
  • According to the invention, a free space is created and it is determined which free space can be used to generate all further possible passages that are passable for the subject.
  • A probability determination of the new possible scenarios according to the shape of the free space around the subject can be improved. The free space is stored in a structure which requires only a small amount of memory. Geometric calculations are easier to do.
  • Calculations of collision points, reflection points and future passages from a set of segments can be easily performed by computer.
  • The advantage of using a cell array is that no infinite plane is required in which computation steps are time-consuming.
  • Advantageous embodiments and further developments will become apparent from the other dependent claims and from the description with reference to the figures of the drawing.
  • For memory space saving, the cell array generated in method step S1 can be a matrix with a definable number of cells, each cell being provided with definable dimensions. For example, the cell array may be a 70x40 array, with one cell representing a dimension of 2m x 1m.
  • In a further embodiment, in method step S1, the cells having values higher than 250 are reinitialized with 0 for the dynamic objects. This also saves storage space and processing time.
  • In step S2, the accumulated cells can be shifted according to the movement of the subject according to the principle of a ring buffer. This advantageously easy software executable.
  • An advantageously simple incorporation of data can take place in that, in method step S3, RCS data from all stationary clusters are added to the cells of the cell array which are affected according to their position.
  • A further embodiment provides that in method step S4 the boundary segment lines are generated along the boundaries by means of a greedy algorithm and limit positions are stored. The advantage here is a simple and fast processing, in addition, the free space around the subject with intersections, junctions, gaps, etc. is easily recognizable.
  • In yet another embodiment, for each boundary segment line of the cell array, the positions of the two next-to-subject occupancy cells are stored in a point list, with no storage being made if no corresponding occupancy cells are found. This in turn reduces storage space and processing time.
  • A simple and quick analysis of the points list can be made possible by examining each stored point of the points list, whether it has neighbors to the left or right, and storing all the neighbors that are connected.
  • An analysis can be advantageously extended, whereby the point list is analyzed and for each stored point the segment on which the point lies is generated as a segment of a boundary segment line, with the first and last points of the segment being stored. This makes it possible to easily create defined limits.
  • In yet another embodiment, it is advantageously provided that dynamic objects are added to the cell array, the cell array is compressed and further shifted.
  • It is provided in an embodiment of the device that the sliding device is designed as a ring buffer. This is advantageous simply as software feasible.
  • Furthermore, it is provided that the control device has processing algorithms. These can be common algorithms. It is particularly advantageous if a processing algorithm of the control device is a greedy algorithm, which enables simple and fast processing of the cell data.
  • The method and the device described above can also be used, for example, in various short-range and wide-range radar systems as well as in deterministic systems, which makes possible a large field of application.
  • The above embodiments and developments can, if appropriate, combine with each other as desired. Further possible refinements, developments and implementations of the invention also include combinations, not explicitly mentioned, of features of the invention described above or below with regard to the exemplary embodiments. In particular, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the present invention.
  • list of figures
  • The present invention will be explained in more detail with reference to the exemplary embodiments indicated in the schematic figures of the drawings. It shows:
    • 1 a schematic representation of an autonomous motor vehicle in different traffic situations with conventional generated guide boundary lines;
    • 2 a further schematic representation of an autonomous motor vehicle in different traffic situations with usual generated guide boundary lines;
    • 2 a further schematic representation of an autonomous motor vehicle in different traffic situations with usual generated guide boundary lines;
    • 4 a schematic representation of the autonomous motor vehicle in a crossing situation with generated by a method according to the invention boundary segment lines;
    • 5 a schematic representation of the autonomous motor vehicle on a road with parking strips and a side street with generated by the method according to the invention boundary segment lines;
    • 6 a schematic representation of the autonomous motor vehicle in a parking situation with generated by the method according to the invention boundary segment lines;
    • 7 a schematic flow diagram of an embodiment of a method according to the invention; and
    • 8th a schematic block diagram of an embodiment of a device according to the invention for carrying out the method according to the invention.
  • The accompanying drawings are intended to provide further understanding of the embodiments of the invention. They illustrate embodiments and, together with the description, serve to explain principles and concepts of the invention. Other embodiments and many of the stated advantages will become apparent with reference to the drawings. The elements of the drawings are not necessarily shown to scale to each other.
  • In the figures of the drawing are the same, functionally identical and same-acting elements, features and components - unless otherwise stated - each provided with the same reference numerals.
  • DESCRIPTION OF EMBODIMENTS
  • In 1 is a schematic representation of an autonomous motor vehicle as a subject vehicle 10 in a traffic situation on a multi-lane roadway 20 with usual generated guide boundary lines 30 . 31 . 32 shown.
  • The following is under the term subject 10 to understand the autonomous motor vehicle. A direction of travel of the subject 10 is through an arrowhead in which the subject 10 symbolizing rectangle indicated.
  • The term cluster means stationary objects, such as walls, fences, crash barriers, boundary posts, etc.
  • The subject 10 drives on a lane 23 a multi-lane road 20 Here are three lanes 21 . 23 . 24 having. Before the subject 10 (Direction arrow FR upward in the figure) a lane change due to a construction site is required, the left lane 21 is blocked. The right lane 24 next to the subject 10 is due to eg stationary or slower vehicles (not shown) not usable because of high traffic.
  • The left lane 21 is with a left straight guide limit line 30 limited in the lane change in an oblique guide boundary line 31 (in the direction of travel) and then again in a straight guide limit line 32 as the border of the middle lane 23 replaced. On the right lane 24 are the standing, not shown vehicles by another straight guide limit line 30 parallel to the left guide limit line 30 runs, delineated. Also this right guide limit line 30 goes into an oblique guide boundary line 31 and then back to a straight leading edge 32 as the border between the right lane 24 and another right lane 25 (eg edge trim) over.
  • In the conventional system for defining boundaries or guide boundary lines 30 . 31 . 32 indicates each leading limit line 30 . 31 . 32 an associated probability value of good detection and presence. In 1 become the leadership boundary lines 30 . 31 . 32 generated by so-called stationary clusters that are collinear. These leadership limits 30 . 31 . 32 but lose their livelihood when a lane change occurs. Because there are no other clusters on the current set limit. When the lane change occurs, there is not enough time to create a boundary. This is only possible again when the lines are parallel again to the subject 10 run.
  • The leadership boundary lines 30 . 31 . 32 are generated in the conventional system using the Hough transform of stationary clusters, where a list of fixed objects exists. In fact, there is no concept of so-called open space objects, such as intersections, junctions, free parking, etc., which can not be described and then used for new functionalities. When the clearance is described, situations may be anticipated, such as what kind of warnings / braking, etc. are expected, such as FCTA / B, RPCS, LCA, BSD).
  • Furthermore, there is a problem that in the real world not all boundaries are linear, for example they may also have gaps. When using the Hough transformation of lines, no gaps whatsoever can be detected, non-linear segments being detectable only with poor accuracy.
  • 2 shows a traffic situation on a road with a carriageway 20 , the real limits 50 having. The roadway 20 is with a parallel to the real borders 50 running park strip with sloping parking lots 27 Mistake. The parking 27 are through parking markings 27a separated from each other. The parking marks 27a and parking 27 run parallel to each other and are at the real limit 50 the street at an angle 27b arranged. On the other side of the road is a side street 26 with real limits 51 in the roadway 20 , A vehicle 11 drives on the road 20 in a direction to the left in the 2 ,
  • On one of the parking lots 27 is the subject 10 , In the parking lot 27 right next to the subject 10 is a parked vehicle twelve , which roughly coincides with the junction of the side street 26 flees.
  • In addition to the parked subject 10 there are enough stationary clusters at the same angle on the parking strip 27b , eg the further parked vehicle twelve , Therefore, in extension of a borderline 40 that by the further parked vehicle twelve arises, a continuous borderline 41 created, which is down in the side street 26 extending extends. Because of this borderline 41 becomes the vehicle driving on the road 11 which this borderline 41 has not yet reached, treated as a ghost vehicle and hidden. The junction of the side street 26 is not recognized by the conventional system because it does not look for gaps.
  • And in 3 is a situation of two opposite junctions of side streets 26 with their real borders 51 in a larger overland road with the roadway 20 shown.
  • Here are the borderlines 41 from the Hough transformation as continuous lines parallel to the real boundaries 50 the roadway 20 generated, with the junctions of the side streets 26 not be recognized. For this reason, that too will be in the junction of the right side street 26 located and in the roadway 20 protruding vehicle 11 considered as a ghost vehicle and hidden, since it is behind the borderline 41 stands. Therefore, a required emergency braking function and / or an evasive maneuver by the subject 10 not be initiated.
  • 4 represents a schematic representation of the autonomous subject 10 in a crossing situation with boundary segment lines generated by a method according to the invention 60 . 61 represents.
  • The intersection is here by the road 20 with the real borders 51 and the side street 26 with the real borders 50 established. The autonomous subject 10 drives on the street 20 to the intersection, in which another vehicle 11 from the right off the side street 26 with its front in the intersection area retracted.
  • To determine the free object space around the autonomous subject 10 around, which is here also called subject, becomes the border around the subject 10 set as a list of continuous segments. These limits are in the 4 . 5 and 6 each as dashed boundary segment lines 60 . 61 shown.
  • First, all collinear stationary clusters 70 get connected. In the 4 . 5 and 6 are the clusters 70 symbolically indicated as points. From these clusters 70 then a segment list is created.
  • A stationary cell array 100 with individual cells 110 is generated and quasi laid over the current traffic situation. The individual cells 110 all have the same cell size with dimensions x and y on. This simplifies a calculation.
  • A cell 110 becomes a busy cell 120 if there is a stationary cluster 70 located in it. The busy cells 120 are in the 4 . 5 and 6 marked by a hatching. The boundary segment lines 60 . 61 run through the busy cells 120 ,
  • Instead of having an infinite surface is using a matrix, namely the cell array 100 , worked with a fixed size. The size of the cell array 100 Here is a grid of 70x40, with a cell 110 the dimensions x . y with the values 2m x 1m having.
  • In the case of radar systems, the precision is for determining a fixed cluster 70 not high. Therefore, to ensure that a cell array 100 is actually a summation of the RCS values (Radar Cross Section) of the clusters 70 in the cell array 100 performed. Verification takes place when a certain limit value is exceeded.
  • The generation of the stationary cell array 100 represents the open space object of a stationary world. But the limit can still be determined.
  • To create the free space object in a dynamic world, all dynamic objects become the cell array 100 added, and the position of the cell array 100 becomes dependent on the movement of the subject 10 postponed.
  • A first measure is therefore, in an algorithm cycle, the position of the measured cell array 100 according to the movement of the subject 10 to move. This is done in this example by means of a ring buffer 260 (see also 8th ) performed.
  • Each value of the cell array 100 is represented by 1 byte (unsigned character) to minimize memory requirements. And the algorithm limits the value of a cell 110 which only fixed clusters 70 includes, on 250 , So every value can be between 251 and 255 for an insertion of the dynamic object into the cell array 100 to be used.
  • All cells 110 with a value that is above a certain value of, for example 250 are at the start of the construction of the cell array 100 re-prepared to 0 at each algorithm cycle. After building the stationary cluster 70 is done, then becomes the occupancy of the dynamic objects 11 . twelve by inserting into the cell array 100 with the high values ( 251 - 250 ) performed.
  • Every dynamic object 11 . twelve is a rectangle, eg the vehicle 11 , It verifies how many cells 110 with the rectangle of the respective dynamic object 11 . twelve are occupied. Then this will be cells 110 assigned the appropriate value.
  • It is enough to use the cell array 100 to determine if an array value is above a threshold or not. So can the array using only 1 bit for each cell 110 (busy or not). Eight cell positions are stored in 1 byte (1 character).
  • Finally, the boundary segment lines 60 . 61 generated. The algorithm works with the cell array 100 but with the values below a certain value, for example 250. That is, only fixed clusters 70 contribute to the creation of the border.
  • To create the boundary, a so-called greedy algorithm is preferably used. That means the positions of the cells 110 which the subject 10 to be stored in each direction closest to each other. After this position has been stored, compression is performed to store only the starting points and endpoints of each line segment. Each continuous (uninterrupted) collinear segment is stored by two points.
  • Using the boundary segment lines 60 . 61 a list of boundary segment lines 60 . 61 a gap in the border can be detected. In 4 this is the intersection with the side street 26 , Therefore, the object becomes 11 not hidden here. Thus, an emergency braking function and / or an evasive maneuver of the subject 10 be initiated. A probability of an intersection situation (intersection scenario) may be added to determine the approaching speed of the subject since the intersection situation has been detected.
  • In 5 is a schematic representation of the autonomous motor vehicle 10 on a street 20 with parking strips and a side street 26 with boundary segment lines generated by the method according to the invention 60 . 61 shown.
  • The situation is comparable to those in 2 is shown. In contrast to 2 becomes the parking marker 27a between the subject 10 and the object twelve not extended, but captured according to the situation. This will also be the object 11 in the street 20 not hidden as ghost vehicle / ghost object.
  • 6 shows a schematic representation of the autonomous motor vehicle 10 in a parking situation with boundary segment lines generated by the method according to the invention 60 . 61 ,
  • The subject 10 drives into a parking bay 28 one. Before the in 6 shown upper real limit 50 are parked objects twelve arranged. Left and right of the subject 10 are also objects twelve parked. The one with the generated boundary segment lines 60 . 61 certain free object space allows the free parking space between the parked objects twelve find. The found parking space can be detected and calculated, whether it is for the subject 10 is big enough. It also allows a free path for the subject 10 to determine.
  • In 7 is a schematic flow diagram of an embodiment of a method according to the invention for determining a free object space and generating a defined boundary shown.
  • In a first process step S1 becomes the stationary cell array 100 with individual cells 110 generated. Then the cells become 110 which values are higher than a certain value of, for example 250 with 0 for the dynamic objects 11 . twelve reinitialized.
  • The accumulated cells 110 of the cell array 100 be in a second process step S2 the movement of the subject 10 according to the principle of a ring buffer 250 transferred or moved.
  • A third process step S3 adds the RCS data from all fixed clusters 70 to the cells 110 of the cell array 100 which are affected according to their position.
  • In a fourth process step S4 become the boundary segment lines 60 . 61 generated by means of a greedy algorithm along the boundaries and stored the limit positions.
  • This is for each boundary segment line 60 . 61 of the cell array 100 the positions of the two to the subject 10 closest occupancy cells 120 , a left, a right of it, stored in a point list. If no corresponding occupancy cells 120 are found, there is no storage.
  • Each stored point of the point list is examined to see if it has neighbors left or right. All neighbors that are connected (right-angled lines) are saved.
  • The point list is analyzed, and for each point stored, the segment on which the point is located becomes a segment of a boundary segment line 60 . 61 generated. The first and last points of the segment are saved.
  • Then all dynamic objects become the cell array 100 added. The cell array 100 is compressed and moved further.
  • In this way, a free object space is determined. A defined limit is defined by the boundary segment lines 60 . 61 generated.
  • 8th shows a schematic block diagram of an embodiment of a device according to the invention 200 for carrying out the method according to the invention.
  • The device 200 comprises a control device 210 , an input size block 220 , at least one memory 250 , a shifter and an output block 270 ,
  • The shifter is in this example as a ring buffer 260 educated. There may also be another means for moving the cell array 100 in the store 250 can be used, separately or in addition to the ring buffer 260 ,
  • The control device 210 controls the input block 220 , the at least one memory 250 , the ring buffer 260 and the output block 270 , The control device 210 has at least one microprocessor with suitable software, which also includes editing algorithms, eg the greedy algorithm.
  • The input block 220 processes sensor data 230 from sensors of the subject 10 For example, radar, lidar, ultrasound, GPS, etc., as well as vehicle data 240 of the subject 10 from a vehicle control unit. The motor vehicle data 240 can data the current speed of the subject 10 and motor control data of the subject 10 exhibit.
  • The at least one memory 250 serves to store the cell array 100 , the data of the cells 110 and the occupied cells 120 , as well as for storing all other processing data. He may also have a part as a program memory of the control device 210 form.
  • The ring buffer 260 serves as described above for the displacement of the position data of the measured cell array 100 according to the movement of the subject 10 ,
  • About the output block 270 be data for further processing and / or control of the autonomous subject 10 output.
  • The invention can be used in areas in which dimensions and positions of objects in a defined zone are determined. For example, in GPS / radar and other systems.
  • The invention is not limited to the embodiment described above, but modifiable within the scope of the claims.
  • Although the present invention has been fully described above with reference to preferred embodiments, it is not limited thereto but is modifiable in a variety of ways.
  • LIST OF REFERENCE NUMBERS
  • 10
    subject
    11
    object
    12
    object
    20
    roadway
    21
    lane
    23
    lane
    24
    lane
    25
    side street
    26
    side street
    27
    parking spot
    27a
    Park marker
    27b
    angle
    28
    Park bay
    30
    Leadership borderline
    31
    Leadership borderline
    32
    Leadership borderline
    40
    boundary line
    41
    boundary line
    50
    Real border
    51
    Real border
    60
    Boundary segment line
    61
    Boundary segment line
    70
    cluster
    100
    cell array
    110
    cell
    120
    assigned cell
    200
    contraption
    210
    control device
    220
    Input block
    230
    sensor data
    240
    Motor vehicle records
    250
    Storage
    260
    circular buffer
    270
    output block
    280
    data output
    FR
    direction of travel
    S1 - S4
    step
    x
    dimension
    y
    dimension
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
  • Cited patent literature
    • US 8321066 B2 [0007]
    • DE 102005026386 A1 [0008]

Claims (14)

  1. Method for determining a free object space around a subject (10) and generating a defined boundary, comprising the method steps: Generating (S1) a stationary cell array (100) with individual cells (110), whereby a re-initialization of cells (110) for dynamic objects (11, 12) takes place; Shifting (S2) the thus accumulated cells (110) in accordance with a movement of the subject (10); Generating (S3) occupied cells (120) of the cell array (100) by adding stationary cluster data (70) to the cells (110); and Determining (S4) the free object space of the subject (10) by analyzing the cells (110) and generating boundary segment lines (60, 61) to produce the defined boundary.
  2. Method according to Claim 1 , characterized in that the generated cell array (100) is a matrix with a definable number of cells (110), each cell (110) being provided with definable dimensions.
  3. Method according to one of the preceding claims, characterized in that the cells (110) having values which are higher than a predetermined value are reinitialized with 0 for the dynamic objects (11, 12).
  4. Method according to one of the preceding claims, characterized in that the accumulated cells (110) are displaced according to the movement of the subject (10) in accordance with the principle of a ring buffer (250).
  5. Method according to one of the preceding claims, characterized in that, in generating the busy cells (120), RCS data from all the stationary clusters (70) are added to the cells (110) of the cell array (100) which are affected according to their position ,
  6. Method according to one of the preceding claims, characterized in that, in determining the free object space of the subject (10), the boundary segment lines (60, 61) are generated along the boundaries by means of a greedy algorithm and boundary positions are stored.
  7. Method according to Claim 6 characterized in that, for each boundary segment line (60, 61) of the cell array (100), the positions of the two occupancy cells (120) closest to the subject (10) are stored in a point list, where no storage occurs if no corresponding occupancy cells are stored (120) can be found.
  8. Method according to Claim 7 Characterized in that each recorded point of the points list is examined to determine whether it has left or right neighbor, all neighbors which are connected, are stored.
  9. Method according to Claim 8 Characterized in that the points list is analyzed and for each stored point, the segment on which the point lies, as a segment of a boundary line segment (60, 61) is generated, wherein the first and last points of the segment are stored.
  10. Method according to Claim 9 , characterized in that all dynamic objects are added to the cell array (100), the cell array (100) is compressed and further shifted.
  11. Device (200) for carrying out a method according to one of Claims 1 to 10 wherein the apparatus (200) comprises: a controller (210), an input size block (220), at least one memory (250), a shifter, and an output block (270).
  12. Device after Claim 11 , characterized in that the sliding device is designed as a ring buffer (260).
  13. Device after Claim 11 or twelve , characterized in that the control device (210) has processing algorithms.
  14. Device after Claim 13 , characterized in that one of the processing algorithms of the control device (210) is a greedy algorithm.
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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