Developing Occupancy Grid with Automotive Simulation Environment

Applied Sciences

Jakub Porębski¹  Paweł Markiewicz² 

[1] Aptiv Services Poland S.A., Podgórki Tynieckie 2, 30-399 Kraków, Poland;Faculty of Automatic Control, Electronics and Computer Science, Silesian University of Technology, Akademicka 2A, 44-100 Gliwice, Poland;

关键词: occupancy grid;    fusion;    automotive;    perception;    simulation;   

DOI  :  10.3390/app10217629

来源: DOAJ

【 摘 要 】

This study presents the process employed in prototyping and early evaluation of automotive perception algorithms. The data generation was performed using an automotive virtual validation tool. The off-the-shelf simulation framework used was expanded to include phenomenological sensors model that allowed for a simplified simulation of radars, lidars, and cameras. This paper extends the description of the methods for the generation of control algorithms. The work presented also includes a description of relevant data fusion methods for building occupancy grids. Results were obtained by performing a comparison of algorithm results against ground-truth. This virtual validation was used to enable early definition and verification of system-level requirements, narrow down performance assessment methods, and identify performance limitations before data from real sensors are available.

【 授权许可】

Unknown