Inverse radar sensor model and evidential grid mapping processors

A non-transitory computer readable medium (CRM), comprising computer executable code to:

• receive radar sensor data for a time k from a radar sensor;
• generate object data based on the radar sensor data, wherein the object data comprises locations at which radar reflections are centered;
• calculate, for each cell in a field of view (FOV) of the radar sensor, an instantaneous mass m(i,j;k) based on the object data and a radar sensor characteristic, wherein (i,j) represents a cell position;
• and
• accumulate, for each cell in the FOV, the calculated instantaneous mass m(i,j;k) and a prior accumulated mass m(i,j;0:k−1), wherein the prior accumulated mass m(i,j;0:k−1) represents an accumulation of instantaneous masses for (i,j) from a time 0 to a time k−1.

A method, comprising:

• receiving radar sensor data for a time k from a radar sensor;
• generating object data based on the radar sensor data, wherein the object data comprises locations at which radar reflections are centered;
• calculating, for each cell in a field of view (FOV) of the radar sensor, an instantaneous mass m(i,j;k) based on the object data and a radar sensor characteristic, wherein (i,j) represents a cell position, wherein calculating the instantaneous mass m(i,j;k) comprises:
• determining a probability of occupancy Pocc(i,j) based on a range of the cell (i,j) from the locations at which the radar reflections are centered;
• determining a position of the cell (i,j) with respect to a position of the radar sensor;
• updating the Pocc(i,j) based on an ambiguity of the radar sensor data associated with the cell position;
• determining whether the Pocc(i,j) satisfies an occupancy criterion ∈occ;
• in response to the Pocc(i,j) not satisfying the ∈occ:
• determine whether the cell position is between the position of the radar sensor and a position of a cell (a, b) with a corresponding Pocc(a,b) that satisfies the ∈occ;
• in response to the cell position not being between the position of the radar sensor and the cell position of the cell (a,b):
• calculate an instantaneous mass m(i,j;k)(F) for a free state with low confidence;
• set an instantaneous mass m(i,j;k)(SD) for a static-dynamic state to zero;
• and
• set an instantaneous mass m(i,j;k)(D) for a dynamic state to zero;
• and in response to the cell position being between the position of the radar sensor
• and the cell position of the cell (a,b):
• calculate the instantaneous mass m(i,j;k)(F) for the free state with high confidence;
• set the instantaneous mass m(i,j;k)(SD) for the static-dynamic state to zero;
• and
• set the instantaneous mass m(i,j;k)(D) for the dynamic state to zero;
• and
• in response to the Pocc(i,j) satisfying the ∈occ:
• determine whether a radial velocity associated with the cell (i,j) satisfies a velocity criterion ∈ν;
• in response to the radial velocity not satisfying the ∈ν:
• calculate an instantaneous mass m(i,j;k)(SD) for a static-dynamic state;
• set an instantaneous mass m(i,j;k)(F) for a free state to zero;
• and
• set an instantaneous mass m(i,j;k)(D) for a dynamic state to zero;
• and
• in response to the radial velocity satisfying the ∈ν:
• calculate the instantaneous mass m(i,j;k)(D) for the dynamic state;
• set the instantaneous mass m(i,j;k)(F) for the free state to zero;
• and
• set the instantaneous mass m(i,j;k)(SD) for the static-dynamic state to zero;
• and
• accumulating, for each cell in the FOV, the calculated instantaneous mass m(i,j;k) and a prior accumulated mass m(i,j;0:k−1), wherein the prior accumulated mass m(i,j;0:k−1) represents an accumulation of instantaneous masses for (i,j) from a time 0 to a time k−1.