# US 11,077,756 B2 · Area occupancy determining device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,756 B2 - Document ID: US11077756B2 - Status: Granted - Kind: B2 - Application number: 15/821,784 - Filed: 2017-11-23 - Published: 2019-02-14 - Granted: 2021-08-03 - Earliest claimed: 2017-11-23 - Assignees: Intel Corporation - Applicants: Intel Corporation - Inventors: Koba Natroshvili; Kay-Ulrich Scholl - Web page: https://patentgrep.com/patent/US11077756B2 ## CPC - B60L 15/00: Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - B60L 2240/62: Vehicle position - G06T 2207/30261: Obstacle - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract Various aspects of this disclosure provide an area occupancy determining device. The device may include a memory configured to store at least one occupancy grid of a predetermined region, and a processor. The processor may be configured to generate the occupancy grid of the predetermined region. The occupancy grid includes a plurality of grid cells, each grid cell framed by respective grid cell frame lines. At least some of the grid cells have been assigned an information about the occupancy of the region represented by the respective grid cell. The processor may further be configured to dynamically update the occupancy grid, thereby successively generating a plurality of updated occupancy grids. Each updated occupancy grid is moved relative to the previous occupancy grid such that an origin coordinate of the updated occupancy grid is positioned on a contact point of grid cell frame lines of adjacent grid cells. ## Claims ### Claim 1 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, each grid cell framed by respective grid cell frame lines, and a portion of the grid cells having been assigned an information about the occupancy of the region represented by the respective grid cell including an associated belief mass that indicates a likelihood that the particle is in the corresponding grid cell; and dynamically update the occupancy grid to successively generate a plurality of updated occupancy grids, wherein each updated occupancy grid is moved relative to a previous occupancy grid such that an occupancy grid center of the updated occupancy grid is positioned on a contact point of grid cell frame lines of adjacent grid cells relative to a previous occupancy grid. ### Claim 2 (depends on 1) The device of claim 1, wherein the grid cells of the occupancy grid have the same size. ### Claim 3 (depends on 1) The device of claim 1, wherein the grid cells of the occupancy grid have a cell size in the range from 5 cm by 5 cm to 1 m by 1 m. ### Claim 4 (depends on 1) The device of claim 1, wherein the grid cells of the occupancy grid have the same cell shape. ### Claim 5 (depends on 1) The device of claim 1, further comprising: a sensor to detect information about the predetermined region used to generate the occupancy grid. ### Claim 6 (depends on 1) The device of claim 1, further comprising: a motor configured to drive the vehicle based on the occupancy grids; wherein the device is configured as a vehicle. ### Claim 7 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. ### Claim 8 (depends on 7) The device of claim 7, wherein the grid cells of the occupancy grid have the same size. ### Claim 9 (depends on 7) The device of claim 7, wherein the grid cells of the occupancy grid have a cell size in the range from 5 cm by 5 cm to 1 m by 1 m. ### Claim 10 (depends on 7) The device of claim 7, wherein the grid cells of the occupancy grid have the same cell shape. ### Claim 11 (depends on 7) The device of claim 7, further comprising: a sensor to detect information about the predetermined region used to generate the occupancy grid. ### Claim 12 (depends on 7) The device of claim 7, wherein the processor is configured to generate the occupancy grid as a particle filter map. ### Claim 13 (depends on 7) The device of claim 7, further comprising: a motor configured to drive the vehicle based on the occupancy grids; wherein the device is configured as a vehicle. ### Claim 14 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. ### Claim 15 (depends on 14) The device of claim 14, wherein a portion of the first grid cells or the second grid cells of the occupancy grid have the same size. ### Claim 16 (depends on 14) The device of claim 14, wherein the first grid cells of the occupancy grid have a cell size in the range from 5 cm by 5 cm to 1 m by 1 m; and wherein the second grid cells of the occupancy grid have a cell size of at least 1 m by 1 m. ### Claim 17 (depends on 14) The device of claim 14, wherein a portion of the first grid cells or the second grid cells of the occupancy grid have the same cell shape. ### Claim 18 (depends on 14) The device of claim 14, wherein a portion the first grid cells or the second grid cells of the occupancy grid have a cell shape of a sector of a circle. ### Claim 19 (depends on 14) The device of claim 14, further comprising: a sensor to detect information about the predetermined region used to generate the occupancy grid. ### Claim 20 (depends on 14) The device of claim 14, further comprising: a motor configured to drive the vehicle based on the occupancy grids; wherein the device is configured as a vehicle.