US 11,740,352 B2
Obstacle recognition device, vehicle system including the same, and method thereof
Kyu Jin Park, Namyangju-si (KR)
Assigned to HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA MOTORS CORPORATION, Seoul (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA MOTORS CORPORATION, Seoul (KR)
Filed on Oct. 26, 2020, as Appl. No. 17/80,002.
Claims priority of application No. 10-2020-0053411 (KR), filed on May 4, 2020.
Prior Publication US 2021/0341603 A1, Nov. 4, 2021
Int. Cl. G01S 15/00 (2020.01); G01S 15/931 (2020.01); G05D 1/02 (2020.01); B60W 30/095 (2012.01); B60W 40/13 (2012.01); B60W 50/06 (2006.01); B60W 30/09 (2012.01); B60W 40/105 (2012.01); G06N 3/04 (2023.01); G06N 3/08 (2023.01)
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
OG exemplary drawing
 
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.