公开(公告)号：US20170269201A1

公开(公告)日：2017-09-21

申请号：US15456666

申请日：2017-03-13

Applicant: DENSO IT LABORATORY, INC.

Inventor： Jingo Adachi ,  Chiharu Yamano

IPC: G01S13/56 ,  G01S13/93 ,  G01S13/89

CPC classification number: G01S13/56 ,  G01S13/42 ,  G01S13/584 ,  G01S13/726 ,  G01S13/89 ,  G01S13/931 ,  G01S2013/0263

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.