# US 12,217,513 B2 · Device, system, and method for generating occupancy grid map > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,217,513 B2 - Document ID: US12217513B2 - Status: Granted - Kind: B2 - Application number: 17/656,623 - Filed: 2022-03-25 - Published: 2022-07-07 - Granted: 2025-02-04 - Earliest claimed: 2019-09-27 - Assignees: Denso Corporation - Applicants: Denso Corporation - Inventors: Naohiro Fujiwara; Makoto Ohkado; Ariya Terani; Itsuki Chiba - Web page: https://patentgrep.com/patent/US12217513B2 ## CPC - G01S 13/931: of land vehicles - 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 - G06T 7/00: Image analysis - G06V 10/74: Image or video pattern matching; Proximity measures in feature spaces - G08G 1/01: Detecting movement of traffic to be counted or controlled (G08G1/07 - G08G1/14 take precedence) - G08G 1/13: the indicator being in the form of a map - G01S 13/867: {Combination of radar systems with cameras} - G01S 13/89: for mapping or imaging - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract In an occupancy grid map generation device for generating an occupancy grid map that indicates, for each of cells of a grid into which a region is divided, an occupancy probability that an object occupies the cell, an occupancy probability updating unit is configured to, based detection result data of an object therearound, successively update the occupancy probability for each of the cells calculated at a previous time to calculate a latest occupancy probability. An updating weight calculation unit is configured to acquire data about presence or absence of an object in each of the cells therearound based on map data, and determine a weight of the detection result data used by the occupancy probability updating unit to update the occupancy probability for the cell, based on a degree of match between the data about presence or absence of an object in the cell and the detection result data. ## Claims ### Claim 1 An occupancy grid map generation device for generating an occupancy grid map that indicates, for each of a plurality of cells of a grid into which a region is divided, an occupancy probability that an object occupies the cell, the occupancy grid map generation device comprising: a data acquisition unit configured to acquire, from a detection device that detects an object therearound, detection result data of the object; an occupancy probability updating unit configured to, based the detection result data, successively update the occupancy probability for each of the plurality of cells calculated at a previous time to calculate a latest occupancy probability; a map data acquisition unit configured to acquire map data therearound; and an updating weight calculation unit configured to acquire data about presence or absence of an object in each of the plurality of cells therearound based on the map data, and determine a weight of the detection result data used by the occupancy probability updating unit to update the occupancy probability for the cell, based on a degree of match between the data about presence or absence of an object in the cell and the detection result data. ### Claim 2 (depends on 1) The occupancy grid map generation device according to claim 1, wherein the updating weight calculation unit is configured to, when the degree of match between the detection result data and the data about presence or absence of an object based on the map data is high, calculate the weight of the detection result data to be greater than when the degree of match is low. ### Claim 3 (depends on 2) The occupancy grid map generation device according to claim 2, wherein the map data acquired by the map data acquisition unit is a probe data map generated from data collected from probe cars, and the updating weight calculation unit is configured to calculate the weight for a high degree of match between the detection result data and the data about presence or absence of an object based on the probe data map such that the weight increases as an accuracy of the probe data map increases. ### Claim 4 (depends on 2) The occupancy grid map generation device according to claim 2, wherein the map data acquired by the map data acquisition unit is a probe data map generated from data collected from probe cars, and the updating weight calculation unit is configured to calculate the weight for a high degree of match between the detection result data and the data about presence or absence of an object based on the probe data map such that the weight increases as an updating date and time of the probe data map is more recent. ### Claim 5 An occupancy grid map generation system comprising: a plurality of vehicles equipped with a detection device configured to detect an object therearound, a current location detection unit configured to detect data of a current location, and an occupancy grid map generation device for generating an occupancy grid map that indicates, for each of a plurality of cells of a grid into which a region around the current location is divided, an occupancy probability that an object occupies the cell; a probe data map server configured to acquire, from each of the plurality of vehicles, detection result data from the detection device and the data of the current location, wherein the occupancy grid map generation device of each of the plurality of vehicles comprises: a data acquisition unit configured to acquire, from the detection device, detection result data of the object; an occupancy probability updating unit configured to, based the detection result data, successively update the occupancy probability for each of the plurality of cells calculated at a previous time to calculate a latest occupancy probability; a map data acquisition unit configured to acquire probe data map around the current location of the vehicle from the probe data map server; and an updating weight calculation unit configured to acquire data about presence or absence of an object in each of the plurality of cells around the current location based on the probe data map, and determine a weight of the detection result data used by the occupancy probability updating unit to update the occupancy probability for the cell, based on a degree of match between the data about presence or absence of an object in the cell and the detection result data from the detection device, the updating weight calculation unit being configured to, when the degree of match between the detection result data and the data about presence or absence of an object based on the probe data map is high, calculate the weight of the detection result data to be greater than when the degree of match is low. ### Claim 6 (depends on 5) The occupancy grid map generation device according to claim 5, wherein the updating weight calculation unit is configured to calculate the weight for a high degree of match between the detection result data and the data about presence or absence of an object based on the probe data map such that the weight increases as an accuracy of the probe data map increases. ### Claim 7 (depends on 5) The occupancy grid map generation device according to claim 5, wherein the updating weight calculation unit is configured to calculate the weight for a high degree of match between the detection result data and the data about presence or absence of an object based on the probe data map such that the weight increases as an updating date and time of the probe data map is more recent. ### Claim 8 An occupancy grid map generation method for generating an occupancy grid map that indicates, for each of a plurality of cells of a grid into which a region is divided, an occupancy probability that an object occupies the cell, the occupancy grid map generation method comprising: acquiring, from a detection device that detects an object therearound, detection result data of the object; based the detection result data, successively updating the occupancy probability for each of the plurality of cells calculated at a previous time to calculate a latest occupancy probability; acquiring map data therearound; acquiring data about presence or absence of an object in each of the plurality of cells therearound based on the map data, and calculating a weight of the detection result data to update the occupancy probability for the cell, based on a degree of match between the data about presence or absence of an object in the cell and the detection result data; and based on the detection result data and the calculated weight, successively updating the occupancy probability for each of the plurality of cells calculated at the previous time to calculate a latest occupancy probability. ### Claim 9 A non-transitory computer-readable storage media having instructions stored thereon that, when executed by a computer, cause the computer to perform an occupancy grid map generation method for generating an occupancy grid map that indicates, for each of a plurality of cells of a grid into which a region is divided, an occupancy probability that an object occupies the cell, the occupancy grid map generation method comprising: acquiring, from a detection device that detects an object therearound, detection result data of the object; based the detection result data, successively updating the occupancy probability for each of the plurality of cells calculated at a previous time to calculate a latest occupancy probability; acquiring map data therearound; acquiring data about presence or absence of an object in each of the plurality of cells therearound based on the map data, and calculating a weight of the detection result data to update the occupancy probability for the cell, based on a degree of match between the data about presence or absence of an object in the cell and the detection result data; and based on the detection result data and the calculated weight, successively updating the occupancy probability for each of the plurality of cells calculated at the previous time to calculate a latest occupancy probability.