Grid-Based Environment Estimation Using Evidential Mapping and Particle Tracking

Modeling and estimating the current local environment by processing sensor measurement data is essential for intelligent vehicles. Static obstacles, dynamic objects, and free space have to be appropriately represented, classified, and filtered. Occupancy grids, known for mapping static environments, provide a common low-level representation using occupancy probabilities with an implicit data association through the discrete grid structure. Extending this idea toward dynamic environments with moving objects requires a static/dynamic classification of measured occupancy and a tracking of the dynamic state of grid cells. In this paper, we propose a new dynamic grid mapping approach. An evidential representation using the Dempster-Shafer framework is used to model hypotheses for static occupancy, dynamic occupancy, free space, and their combined hypotheses. These hypotheses are consistently estimated and accumulated in a dynamic grid map by an adapted evidential filtering, allowing one to distinguish static and dynamic occupancy. The evidential grid mapping is combined with a low-level particle filter tracking that is used to estimate cell velocity distributions and predict dynamic occupancy of the grid map. Static occupancy is directly modeled in the grid map without requiring particles, increasing efficiency, and improving the static/dynamic classification due to the persistent map accumulation. Experimental results with real sensor data show the effectiveness of the proposed approach in challenging scenarios with occlusions and dense traffic.