Occupancy Grid Fusion Prototyping Using Automotive Virtual Validation Environment

被引：8

作者：

Markiewicz, Pawel ^{[1
,2
]}

Kogut, Krzysztof ^{[2
]}

Rozewicz, Maciej ^{[2
,3
]}

Skruch, Pawel ^{[2
,3
]}

Starosolski, Roman ^{[1
]}

机构：

[1] Silesian Tech Univ, Ul Akad 16, PL-44100 Gliwice, Poland

[2] Aptiv Serv Poland SA, Ul Podgorki Tynieckie 2, PL-30399 Krakow, Poland

[3] AGH Univ Sci & Technol, Al A Mickiewicza 30, PL-30059 Krakow, Poland

来源：

ICCMA 2018: PROCEEDINGS OF THE 6TH INTERNATIONAL CONFERENCE ON CONTROL, MECHATRONICS AND AUTOMATION | 2018年

关键词：

Occupancy Grid; Sensor Fusion; Inverse Sensor Model; ADAS; Automated Driving;

D O I：

10.1145/3284516.3284540

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper walks through the occupancy grid fusion algorithm prototyping process. The implementation consists of core fusion algorithms using probability derived from inverse sensor models. Preliminary results are obtained using an automotive virtual validation tool and phenomenological sensor models of radars, lidars and selected functions of vision sensors. The purpose of the developed framework is to perform a relative performance assessment between certain grid computation and fusion methods. Assessment is carried out by comparing computed results with reference data. Virtual validation is used to enable quick and cost effective reference data generation in comparison to real world testing.

引用

页码：81 / 85

页数：5

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