Surrounding environment estimation device and surrounding environment estimating method
US10488507B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 13, 2017 |
| Grant date | Nov 26, 2019 |
| Priority date | — |
| Expiry date | May 3, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S2013/0263
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A technique of estimating a surrounding environment with higher accuracy from observation data obtained by using sensing equipment is disclosed. According to the technique, a certain pixel in an observation data space which includes the observation data obtained by a sensor 50 is sampled. With regard to the sampled pixel, a grid-unspecified logarithm-likelihood ratio indicating whether a received signal is a signal reflected from a detected object is calculated from an intensity value of the received signal, and a distribution function of an angle indicating the degree of dispersion centering on an azimuth angle is calculated. Then, the product of the grid-unspecified logarithm-likelihood ratio and the distribution function is calculated and thereby a calculation for updating an occupation probability of the object is performed across a plurality of grids in an occupancy grid map by using a value obtained by dispersing the likelihood using the distribution function.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.