公开(公告)号：US20190049580A1

公开(公告)日：2019-02-14

申请号：US16014013

申请日：2018-06-21

Applicant: Intel IP Corporation

Inventor： Koba NATROSHVILI ,  Klaus UHL

IPC: G01S17/02 ,  B60W40/04 ,  B60W40/10 ,  G01S17/93 ,  G01S19/42

Abstract: A perception device including a receiver configured to receive sensor information including information about a location of one or more objects detected by a sensor; a memory configured to store an occupancy grid of a predetermined region, wherein the occupancy grid includes a plurality of grid cells, wherein each grid cell represents an area in the predetermined region, wherein at least one grid cell of the plurality of grid cells is associated with a respective single occupancy hypothesis; a single occupancy hypothesis determiner configured to determine a single occupancy hypothesis; wherein the single occupancy hypothesis includes degree of belief of occupancy of the grid cell depending on the sensor information; wherein a contribution of a sensor information value to the degree of belief of occupancy substantially decreases with an increase of a distance of the location of the object detected by the sensor from a center of the grid cell.