Environment sensing method and apparatus using a wide-angle distance sensor

Patent metadata

Field	Value
Publication number	US-11327157-B2
Application number	US-201916505535-A
Country	US
Kind code	B2
Filing date	Jul 8, 2019
Priority date	Jul 13, 2018
Publication date	May 10, 2022
Grant date	May 10, 2022

Abstract

An environment sensing method includes the following steps, carried out by a data processor a) defining an occupancy grid comprising a plurality of cells; b) acquiring at least one measurement result from a distance sensor, representative of the distance of one or more nearest targets; and c) computing an occupation probability of the cells of the occupancy grid by applying to the measurement an inverse sensor model stored in a memory device in the form of a data structure representing a plurality of model grids associated to respective distance measurement results, at least some cells of a model grid corresponding to a plurality of contiguous cells of the occupancy grid belonging to a same of a plurality of angular sectors into which the field of view of the distance sensor is divided, and associating a same occupation probability to each one of the plurality of cells. An apparatus programmed or configured for carrying out the environment sensing method and a computer-implemented method of computing an inverse sensor model suitable for carrying out the environment sensing method are also provided.

First claim

The invention claimed is:

1. An environment sensing method comprising the following steps, carried out by a data processor:
a) defining an occupancy grid on a region including a field of view of a distance sensor, the grid comprising a plurality of cells, each having a quantized distance from the sensor;
b) acquiring at least one measurement result from the distance sensor, said measurement result being representative of the distance of one or more nearest targets from the sensor; and
c) computing an occupation probability of the cells of the occupancy grid by applying to the at least one measurement result an inverse sensor model stored in a memory device cooperating with the data processor;
wherein the inverse sensor model is stored in the memory device in the form of a data structure representing a plurality of grids, called model grids, associated to respective possible distance measurement results, at least some cells of a model grid corresponding to a plurality of contiguous cells of the occupancy grid belonging to a same of a plurality of angular sectors into which the field of view of the distance sensor is divided, and associating a same occupation probability to each one of said plurality of cells.

2. The method of claim 1 , wherein at least some cells of at least one model grid correspond to a plurality of contiguous cells of the occupancy grid belonging to the same angular sector and having different quantized distances from the distance sensor.

3. The method of claim 1 , wherein the model grids have a polar geometry and the occupancy grid a Cartesian geometry.

4. The method of claim 1 , wherein the inverse sensor model is derived by considering as equivalent all configurations of the occupancy grid comprising at least an occupied cell belonging to a same angular sector and having a same quantized distance from the sensor.

5. The method of claim 4 , wherein the inverse sensor model is further derived under the assumption that a detection probability of a target by the sensor depends on the angular position and the angular cross-section of the target as seen from the sensor.

6. The method of claim 1 , wherein steps b) and c) are carried out a plurality of times, for a plurality of separate distance measurements, with a same or with different sensors, further comprising:
d) computing a consolidated occupancy grid comprising a plurality of cells, each having an occupation probability, by fusing the occupation probabilities computed from said plurality of separate distance measurements.

7. The method of claim 6 , wherein at least some of said separate distance measurements correspond to different orientations of a same sensor, two consecutive orientations being separated by less than one half of the angular width of the field of view of the sensor.

8. The method of claim 1 , wherein the field of view of the sensor includes at least two cells of the occupancy grid having a same distance from the sensor.

9. An environment sensing apparatus comprising:
an input port for receiving at a signal representative of a target distance measurement from a distance sensor;
a memory device storing an inverse sensor model; and
a data processor configured for receiving said signal and using the signal for computing an occupation probability of the cells of an occupancy grid defined on a region including a field of view of said distance sensor by applying said inverse sensor model to the signal;
wherein the inverse sensor model is stored in the memory device in the form of a data structure representing a plurality of grids, called model grids, associated to respective possible distance measurement results, each cell of a model grid corresponding to a plurality of contiguous cells of the occupancy grid belonging to a same of a plurality of angular sectors into which the field of view of the distance sensor is divided, and associating a same occupation probability to each one of said plurality of cells.

10. The apparatus of claim 9 , wherein at least some cells of at least one model grid of the inverse sensor model stored in the memory device correspond to a plurality of contiguous cells of the occupancy grid belonging to the same angular sector and having different quantized distances from the distance sensor.

11. The apparatus of claim 9 , wherein the model grids have a polar geometry and the occupancy grid a Cartesian geometry.

12. The apparatus of claim 9 , wherein the inverse sensor model is derived by considering as equivalent all configurations of the occupancy grid comprising at least an occupied cell belonging to a same angular sector and having a same quantized distance from the sensor.

13. The apparatus of claim 12 , wherein the inverse sensor model is further derived under the assumption that a detection probability of a target by the sensor depends on the angular position and the angular cross-section of the target as seen from the sensor.

14. The apparatus of claim 9 , wherein the data processor is configured for receiving a plurality of said signals from a same or from different sensors and for computing a consolidated occupation probability of the cells of the occupancy grid by fusing the occupation probabilities computed from said plurality of signals.

15. A computer-implemented method of computing an inverse sensor model of distance sensor configured for generating a signal representative of the distance of a nearest target, the method comprising the steps of:
i. defining an occupancy grid on a region including a field of view of the distance sensor, the occupancy grid comprising a plurality of cells, each having a quantized distance from the sensor;
ii. decomposing the field of view of the sensor in a plurality of angular sectors, each comprising a plurality of cells of the occupancy grid having a same quantized distance from the sensor;
iii. for every cell of the occupancy grid, computing the probability density of the value taken by the signal generated by the sensor, conditioned by an occupied state of the cell, said probability density being expressed by a sum of contributions corresponding to different states of the occupancy grid for which the cell is occupied;
iv. for every cell of the occupancy grid, computing the probability density of the value taken by the signal generated by the sensor, conditioned by an empty state of the cell, said probability density being expressed by a sum of contributions corresponding to different states of the occupancy grid for which the cell is empty;
v. computing the inverse sensor model from the probability densities computed at steps iii. and iv.; and
vi. storing the inverse sensor model in a memory device in the form of a data structure representing a plurality of grids, called model grids, associated to respective possible distance measurement results, each cell of a model grid corresponding to a plurality of contiguous cells of the occupancy grid belonging to a same angular sector, and associating a same occupation probability to each one of said plurality of cells;
wherein steps iii. and iv. are carried out by considering as equivalent all the configuration of the occupancy grid comprising at least an occupied cell belonging to a same angular sector and having a same quantized distance from the distance sensor.

16. The method of claim 15 , wherein step v. comprises computing a discrete model associating to each said plurality of cells of the occupancy grid a discrete probability value for each possible measurement result, whereby each cell of each model grid corresponds to a plurality of cells of the occupancy grid belonging to a same ang

Assignees

• Commissariat Energie Atomique

Inventors

• Dia Roxana
• Heitzmann Frédéric
• Lesecq Suzanne
• Mottin Julien
• Puschini Pascual Diego
• Rakotovao Andriamahefa Tiana

Classifications

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• G01S17/931

  of land vehicles · CPC title

• G01S13/931

  of land vehicles · CPC title

• G01S15/006

  Theoretical aspects · CPC title

• G01S7/4808 Primary

  Evaluating distance, position or velocity data · CPC title