To provide an occupancy grid map (OGM) generation device capable of appropriately controlling an updating width of an occupancy probability.SOLUTION: In an OGM generation system 1, an occupancy OGM generation device 10 includes: a camera for detecting an object in the periphery and indicating an occupancy probability of existence of the object in each one of multiple cells obtained by grid-dividing an area; a camera ECU, a millimeter wave ECU, and other ECUs for acquiring object detection result data from a millimeter wave radar and other sensors; an occupancy probability updating section for successively updating an occupancy probability of each one of the cells calculated at previous time so as to calculate the latest occupancy probability based on detection result data; a PD map acquisition section for acquiring map data of the periphery; and an updating weight calculation section for obtaining data related to presence/absence of an object in each one of the cells in the periphery based on map data, and determining a weight of detection result data to be used in updating an occupancy probability of each cell by the occupancy probability updating section based on coincidence between data related to presence/absence of an object in each cell and detection result data.SELECTED DRAWING: Figure 2

    【課題】占有確率の更新幅を適切に制御できる占有グリッドマップ(OGM)生成装置を提供する。【解決手段】OGM生成システム1において、占有OGM生成装置10は、領域をグリッド分割した複数のセルのそれぞれに物体が存在する占有確率を示す、周辺の物体を検出するカメラ、ミリ波レーダ及びその他センサから物体の検出結果データを取得するカメラ用ECU、ミリ波用ECU及びその他ECUと、検出結果データに基づいて、前時刻に算出した各セルの占有確率を逐次更新して最新の占有確率を算出する占有確率更新部と、周辺の地図データを取得するPD地図取得部と、地図データに基づいて周辺の各セルの物体の存否に関するデータを求め、当該各セルの物体の存否に関するデータと検出結果データとの一致度合に基づいて、占有確率更新部による各セルの占有確率を更新する際に用いる検出結果データの重みを決定する更新重み算出部とを備える。【選択図】図2


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    Title :

    OCCUPANCY GRID MAP GENERATION DEVICE, OCCUPANCY GRID MAP GENERATION SYSTEM, OCCUPANCY GRID MAP GENERATION METHOD, AND PROGRAM


    Additional title:

    占有グリッドマップ生成装置、占有グリッドマップ生成システム、占有グリッドマップ生成方法、およびプログラム


    Contributors:

    Publication date :

    2021-04-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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