Procedure for creating a probabilistic free space map with static and dynamic objects

摘要

The invention concerns a procedure for creating a probabilistic space map with static (2a, 2b, 3) and dynamic objects (V1-V7) with the following steps:retrieval (S1) of static objects (2a, 2b, 3) and a range of perception polygon (WP) from an existing environment model;Collecting (S2) predetermined trajectories (T1, T2) of dynamic objects (V1-V7);-Merge (S3) the static objects (2a, 2b, 3), the perceptual range polygon (WP) and the predetermined trajectories (T1, T2) into a first free space map;setting (S4) a maximum prediction time;Determine (S5) prediction time steps;-Determine (S6) a current prediction time and set this current prediction time to the value 0 to determine the start of a specified prediction period;Determine (S7) of confidence areas (K) around static (2a, 2b, 3) and dynamic objects (V1-V7);Determine (S8) at least one unsafe range (U) by at least one static (2a, 2b, 3) or dynamic object (V1-V7);produce (S9) a first probabilistic free space map for the current prediction time;produce (S10) at least one additional free space card for at least one prediction time step;Evaluation (S11) of the generated free space maps.