FIELD THEORY-BASED PERCEPTION FOR AUTONOMOUS VEHICLES

摘要

The technology described in this document can be implemented in a method that includes generating, using one or more processing devices of a vehicle operated in an environment, a discretized representation of the environment that includes a plurality of cells. The cells are occupied by particles that represent an object and / or a free space in the environment. Sensor data indicating a state of at least one particle is received and an update of a time-varying particle density function associated with a location of the particle in the dynamic occupancy grid is calculated from the sensor data and one or more models. The method further includes generating a prediction of the occupancy of at least one cell in the discretized representation based on the updated particle density function, and operating the vehicle using a control circuit of the vehicle based at least in part on the prediction.