CPC G01S 15/931 (2013.01) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 40/105 (2013.01); B60W 40/13 (2013.01); B60W 50/06 (2013.01); G05D 1/0221 (2013.01); G05D 1/0223 (2013.01); G06N 3/04 (2013.01); G06N 3/08 (2013.01); B60W 2040/1315 (2013.01); B60W 2420/54 (2013.01); B60W 2520/10 (2013.01); B60W 2554/801 (2020.02); G05D 2201/0213 (2013.01)] | 17 Claims |
1. An obstacle recognition device, comprising:
a storage storing data and an algorithm for calculating a risk probability; and
a processor configured to execute the algorithm to generate an occupancy grid map based on a sensing value of at least one ultrasonic sensor, calculate the risk probability of each cell on the occupancy grid map, and determine a shape and location of an obstacle based on the risk probability of each cell,
wherein the processor is configured to determine that an obstacle located on a corresponding cell is an obstacle for a vehicle to pass, when a risk probability of at least one cell on the occupancy grid map is greater than or equal to a predetermined threshold value, and
the processor converts the risk probability of each cell, calculated by a Bayesian rule, in log notation.
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