METHOD TO PROVIDE A VEHICLE ENVIRONMENT CONTOUR POLYLINE FROM DETECTION DATA

摘要

A method of generating a polyline representing a contour of one or more objects of a vehicle environment, said polyline comprising a series of one or more segments of straight lines, comprising a) formulating a series of spatially ordered points in 2-dimensional space, each representing a (point) detection with respect to object(s) in said environment determined by a vehicle on-board detection system; b) connecting the end points of said series of ordered points with a first straight line segment, and determining the shortest distance between each of the intermediate points and the first segment; c) determining from step b) a threshold based on a measure of the dispersion of the intermediate points around said segment; d) for each side of said segment determining, for any points that lie on that respective side, the point which is further from said segment; e) determining any of the points found in step d) which are further from the segment than said threshold; f) formulating a polyline comprising plurality of segments connecting the end points via any of said points determined from step e).