US 12,254,772 B2
Signal processing device, signal processing method, and mobile device
Tatsuya Ishikawa, Tokyo (JP); and Chao Wang, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 17/753,828
Filed by SONY GROUP CORPORATION, Tokyo (JP)
PCT Filed Sep. 11, 2020, PCT No. PCT/JP2020/034437
§ 371(c)(1), (2) Date Mar. 16, 2022,
PCT Pub. No. WO2021/060018, PCT Pub. Date Apr. 1, 2021.
Claims priority of application No. 2019-174077 (JP), filed on Sep. 25, 2019.
Prior Publication US 2022/0383749 A1, Dec. 1, 2022
Int. Cl. G01S 13/00 (2006.01); G01S 13/89 (2006.01); G08G 1/137 (2006.01); G08G 1/16 (2006.01)
CPC G08G 1/165 (2013.01) [G01S 13/89 (2013.01); G08G 1/137 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A signal processing device, comprising:
a central processing unit (CPU) configured to:
create an occupancy grid map to set a path for movement of a mobile device, wherein
the occupancy grid map indicates a presence or absence of an object in a unit of a grid of the occupancy grid map, based on first sensor data from a first sensor, and
the first sensor detects the object in surroundings of the mobile device;
set an attribute of the grid of the occupancy grid map, based on an attribute of the object, wherein
the attribute of the grid includes a type of the object in the grid, and
the type of the object indicates the object as a mobile object or a stationary object;
correct the occupancy grid map based on the attribute of the grid to:
set, based on each of an occupancy state indicating the presence or absence of the object in the grid and the attribute of the grid, a presence probability of the grid in the occupancy grid map, and
set a rate at which the presence probability of the grid gradually increases or gradually decreases, wherein
the rate at which the presence probability of the grid gradually increases or gradually decreases is set based on:
 the type of the object in the grid,
 a change in the occupancy state of the object in the grid, and
 a reliability of the first sensor;
set the path of the mobile device based on the corrected occupancy grid map; and
control an action of the mobile device, based on the set path and the corrected occupancy grid map.