Area occupancy determining device

An area occupancy determining device, the device comprising:

• a memory configured to store an occupancy grid of a predetermined region;
• and
• a processor configured to:
• generate a particle using a sensor measurement;
• generate the occupancy grid of the predetermined region, the occupancy grid comprising a plurality of grid cells, wherein each grid cell is defined by respective grid cell lines, and wherein information about the occupancy of the region represented by a respective grid cell is assigned to a portion of the grid cells including an associated belief mass that indicates a likelihood that the particle is in the corresponding grid cell;
• and
• update the occupancy grid a plurality of times, wherein each updated occupancy grid is moved relative to a previous occupancy grid by an integer multiple of grid cells such that an occupancy grid center of the respectively updated occupancy grid is positioned on a contact point of grid cell lines relative to a previous occupancy grid.

An area occupancy determining device, the device comprising:

• a memory configured to store an occupancy grid of a predetermined region;
• and
• a processor configured to:
• generate a particle using a sensor measurement;
• generate the occupancy grid of the predetermined region, the occupancy grid comprising a plurality of first grid cells in a first area and a plurality of second grid cells in a second area each grid cell framed by respective grid cell frame lines, wherein the second area is further away from a center of the occupancy grid, and wherein the second grid cells are larger than the first grid cells, and wherein information about the occupancy of the region represented by a respective grid cell is assigned to a portion of the first grid cells and the second grid cells that includes an associated belief mass that indicates a likelihood that the particle is in the corresponding grid cell;
• and
• update the occupancy grid, thereby successively generating a plurality of updated occupancy grids, wherein the updated occupancy grids are moved relative to previous occupancy grids such that occupancy grid centers of the updated occupancy grids are positioned on contact points of grid cell frame lines of adjacent grid cells relative to a previous occupancy grid.