US 12,269,504 B2
Particle filter to detect static and dynamic obstacles
Manuel Schier, Santa Clara, CA (US); Gunther Krehl, San Francisco, CA (US); and Jakob Siegel, Brisbane, CA (US)
Assigned to Mercedes-Benz Group AG, Stuttgart (DE)
Filed by Mercedes-Benz Group AG, Stuttgart (DE)
Filed on Dec. 21, 2022, as Appl. No. 18/069,686.
Prior Publication US 2024/0208531 A1, Jun. 27, 2024
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/001 (2020.02) [B60W 2554/20 (2020.02); B60W 2554/4049 (2020.02)] 14 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
a processor coupled to at least one memory device, the processor configured to:
access, from the at least one memory device, sensor measurements generated by one or more sensors mounted in a vehicle;
generate an occupancy grid having grid cells that track occupancy, by static obstacles and dynamic obstacles, in an environment of the vehicle based on the accessed sensor measurements;
adjust an allocation of a first set of particles and a second set of particles based on the accessed sensor measurements to modify operation of a particle filter, which adjusts a movable division that is to separate the first set of particles from the second set of particles based on a ratio of a quantity of the first set of particles to a total quantity of particles, or a ratio of a quantity of the second set of particles, to the total quantity of particles;
allocate (i) the first set of particles to estimate occupancy of grid cells by the static obstacles and states of the static obstacles and (ii) the second set of particles to estimate occupancy of grid cells by the dynamic obstacles and states of the dynamic obstacles; and
execute one or more operations to plan motion of the vehicle based on the estimated occupancy of grid cells by the static obstacles and dynamic obstacles.