Method and system for performing adaptive ray-based scene analysis on semantic traffic space, and vehicle comprising such a system

摘要

The invention is in the field of automated computerized driver assistance for vehicles. The invention regards in particular a method and a system for computationally performing scene analysis of semantic traffic spaces based on an adaptive spatio-temporal ray-based approach. The method for spatial analysis of a traffic scene comprises a step of acquiring a spatial semantic environment map including semantic context data, a step of calculating at least one feature for at least one location on the spatial environment map taking into account the semantic context of the location and a step of determining a category for the at least one location based on the at least one calculated feature. In an embodiment the feature is a ray based feature calculated by integrating input values along at least one ray extending in least one of a space dimension and a time dimension. The ray may have a ray shape corresponding to a general shape of a road and/or the at least one spatially extending ray follows a course of the road and/or is perpendicular to a surrounding road segment orientation.