US 12,228,939 B2
Occupancy verification device and method
Cornelius Buerkle, Karlsruhe (DE); and Fabian Oboril, Karlsruhe (DE)
Assigned to Intel Corporation, Santa Clara, CA (US)
Filed by Intel Corporation, Santa Clara, CA (US)
Filed on Jun. 26, 2020, as Appl. No. 16/912,758.
Prior Publication US 2020/0326721 A1, Oct. 15, 2020
Int. Cl. G06V 20/00 (2022.01); B60W 60/00 (2020.01); G05D 1/00 (2006.01); G06T 7/70 (2017.01); G06V 20/56 (2022.01)
CPC G05D 1/0253 (2013.01) [B60W 60/0016 (2020.02); G05D 1/0217 (2013.01); G06T 7/70 (2017.01); G06V 20/56 (2022.01); G06T 2207/20084 (2013.01); G06T 2207/30252 (2013.01)] 13 Claims
OG exemplary drawing
 
1. An occupancy grid data verification device, comprising: an artificial neural network, configured to receive sensor data and to output object location data using the sensor data, wherein the object location data represent one or more locations of one or more objects as determined by the artificial neural network; one or more processors, configured to:
receive occupancy grid data, representing a plurality of cells of an occupancy grid for an autonomous driving system and for each cell of the plurality of cells, receive data representing a probability of whether the cell is occupied;
map the object location data to one or more cells of the plurality of cells of the occupancy grid based on the one or more locations of the one or more objects;
determine comparison grid data, wherein determining the comparison grid data comprises determining an occupancy status for each cell of the plurality of cells based on whether the object location data are mapped to the cell;
compare the occupancy grid data to the comparison grid data using at least one comparing rule;
output trust data representing a result of the comparison;
wherein the occupancy grid data further represent velocities associated with one or more cells of the plurality of cells; and wherein the object location data further represent velocities of the one or more objects; and wherein the one or more processors are further configured to:
determine velocity comparison grid data, wherein determining the velocity comparison grid data comprises determining a velocity associated with each cell of the plurality of cells based on a velocity of an object from the object location data that is mapped to the cell;
compare the velocities of the occupancy grid data with the velocity comparison grid data based on at least one velocity comparing rule; and
output velocity trust data representing a result of the comparison.