Occupied grid map generator, occupied grid map generation system, occupied grid map generation method, and program

摘要

PROBLEM TO BE SOLVED: To provide an occupancy grid map (OGM) generation device capable of appropriately controlling an update width of an occupancy probability. SOLUTION: In an OGM generation system 1, an occupancy OGM generation device 10 indicates an occupancy probability that an object exists in each of a plurality of cells whose area is divided into grids, a camera for detecting surrounding objects, a millimeter-wave radar, and the like. Based on the camera ECU, millimeter wave ECU and other ECUs that acquire object detection result data from the sensor, and the detection result data, the occupancy probability of each cell calculated at the previous time is sequentially updated to obtain the latest occupancy probability. The occupancy probability update unit to be calculated, the PD map acquisition unit to acquire the map data of the surrounding area, and the data regarding the existence or nonexistence of the object in each cell in the vicinity are obtained based on the map data, and the data and the detection regarding the existence or nonexistence of the object in each cell It is provided with an update weight calculation unit that determines the weight of the detection result data used when updating the occupancy probability of each cell by the occupancy probability update unit based on the degree of coincidence with the result data. [Selection diagram] Fig. 2