OCCUPIED GRID MAP GENERATION DEVICE

摘要

PROBLEM TO BE SOLVED: To provide an occupied grid map generation device capable of suppressing a memory and a calculation amount required for generating an occupied grid map.SOLUTION: An occupied grid map generation device 1 for generating an occupied grid map holding an object presence probability for every grid comprises: an object detection unit 7 for detecting an object which is present in the surrounding of a self vehicle; a probability calculation unit 9 for using the detection result of the object detection unit, for calculating the presence probability on the grid; road end acquisition units 11, 23 and 25 for acquiring positions of a pair of road ends, on a road where the self vehicle is going to travel in the future; and a selection unit 13 for selecting an area which is overlapped to an area which is sandwiched by the pair of road ends, out of plural areas which are set to occupy a part of the occupied grid map. The probability calculation unit calculates the presence probability in only the area selected by the selection unit.SELECTED DRAWING: Figure 2