Method for Creating a Probabilistic Free Space Map with Static and Dynamic Objects

摘要

The invention relates to a method for creating a probabilistic free space map with static (2a, 2b, 3) and dynamic objects (V1-V7), having the following steps:retrieving (S1) static objects (2a, 2b, 3) as well as a perception area polygon (WP) from an existing environment model;collecting (S2) predicted trajectories (T1, T2) of dynamic objects (V1-V7);merging (S3) the static objects (2a, 2b, 3) of the perception area polygon (WP) and the predicted trajectories (T1, T2) in a first free space map;fixing (S4) a maximum prediction time;fixing (S5) prediction time steps;fixing (S6) a current prediction time and setting this current prediction time to the value 0 in order to fix the start of a fixed prediction time period;fixing (S7) confidence regions (K) around the static (2a, 2b, 3) and dynamic objects (V1-V7);fixing (S8) at least one uncertain region (U) around at least one static (2a, 2b, 3) or dynamic object (V1-V7);producing (S9) a first probabilistic free space map for the current prediction time;producing (S10) at least one further free space map for at least one prediction time step;evaluating (S11) the produced free space maps.