US 12,217,513 B2
Device, system, and method for generating occupancy grid map
Naohiro Fujiwara, Kariya (JP); Makoto Ohkado, Kariya (JP); Ariya Terani, Kariya (JP); and Itsuki Chiba, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Mar. 25, 2022, as Appl. No. 17/656,623.
Application 17/656,623 is a continuation of application No. PCT/JP2020/028376, filed on Jul. 22, 2020.
Claims priority of application No. 2019-177053 (JP), filed on Sep. 27, 2019.
Prior Publication US 2022/0215673 A1, Jul. 7, 2022
Int. Cl. G06V 20/58 (2022.01); G06V 10/74 (2022.01); G01S 13/86 (2006.01); G01S 13/89 (2006.01)
CPC G06V 20/58 (2022.01) [G06V 10/74 (2022.01); G01S 13/867 (2013.01); G01S 13/89 (2013.01)] 9 Claims
OG exemplary drawing
 
1. An occupancy grid map generation device for generating an occupancy grid map that indicates, for each of a plurality of cells of a grid into which a region is divided, an occupancy probability that an object occupies the cell, the occupancy grid map generation device comprising:
a data acquisition unit configured to acquire, from a detection device that detects an object therearound, detection result data of the object;
an occupancy probability updating unit configured to, based the detection result data, successively update the occupancy probability for each of the plurality of cells calculated at a previous time to calculate a latest occupancy probability;
a map data acquisition unit configured to acquire map data therearound; and
an updating weight calculation unit configured to acquire data about presence or absence of an object in each of the plurality of cells therearound based on the map data, and determine a weight of the detection result data used by the occupancy probability updating unit to update the occupancy probability for the cell, based on a degree of match between the data about presence or absence of an object in the cell and the detection result data.