A method performed by a vehicle comprising instantiating, using a processing device of one or more sensors, a set of interacting software components that represent contents of cells 1105 of a discretised representation 1100 of an environment. Receiving from the one or more sensors a vector of sensor observations, the vector of sensor observations including one or more parameters associated with the interacting software component at a given location. Determining using the processing device an update to a time varying particle density function associated with a cell of the cells of the discretised representation corresponding to the given location from the vector of sensor observations. Generating using the processing circuit a prediction of occupancy of the cell based on the updated particle density function and augmenting using the processor an operation of a vehicle based on the prediction. The discretised representation preferably comprises a grid defined using a mesh which may be structured, block structured or unstructured. The process may assign, for each cell, an initial value of occupancy which is updated in accordance with the change in particle density.


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    Titel :

    Field theory based perception for autonomous vehicles


    Beteiligte:

    Erscheinungsdatum :

    2021-12-29


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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