US 11,994,582 B2
Inverse radar sensor model and evidential grid mapping processors
Gunawath Dilshan Godaliyadda, Allen, TX (US); and June Chul Roh, Allen, TX (US)
Assigned to Texas Instruments Incorporated, Dallas, TX (US)
Filed by Texas Instruments Incorporated, Dallas, TX (US)
Filed on Sep. 13, 2021, as Appl. No. 17/472,809.
Prior Publication US 2023/0089552 A1, Mar. 23, 2023
Int. Cl. G01S 13/931 (2020.01); G01S 13/72 (2006.01); G01S 13/00 (2006.01)
CPC G01S 13/931 (2013.01) [G01S 13/726 (2013.01); G01S 2013/93274 (2020.01)] 25 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
an inverse radar sensor model processor configured to:
receive radar sensor data for a time k from a radar sensor;
generate object data for the time k based on the radar sensor data;
calculate instantaneous masses at the time k for each cell in a field of view (FOV) of the radar sensor based on the object data for the time k and a sensor characteristic; and
output the calculated instantaneous masses for each cell in the FOV at the time k; and
a grid mapping processor configured to:
receive the calculated instantaneous masses for each cell in the FOV at the time k and accumulated masses for each cell in the FOV for a time period 0:k−1 prior to the time k, wherein an accumulated mass for a cell in the FOV for the time period 0:k−1 represents a combination of instantaneous masses for the cell at each time increment in the time period 0:k−1; and
generate, for each cell in the FOV, updated accumulated masses for a time period 0:k based on the calculated instantaneous masses for the time k and the accumulated masses for the time period 0:k−1.