Robert Boschgmbh

Mercedes-Benz Group Ag

Gunther Krehl

Oliver F Schwindt

Suresh Govindachar

Andrei Vatavu

Manuel Schier

Michael Maile

Dominik Nuss

Jakob Siegel

Briefly, example methods, apparatuses, and/or articles of manufacture may be implemented to access, from at least one memory device, sensor measurements generated by one or more sensors mounted in a vehicle and to generate an occupancy grid having grid cells that track occupancy, by static obstacles and dynamic obstacles, in an environment of the vehicle based on the accessed sensor measurements. An apparatus may additionally allocate (i) a first set of particles to estimate occupancy of grid cells by the static obstacles and states of the static obstacles and (ii) a second set of particles to estimate occupancy of grid cells by the dynamic obstacles and states of the dynamic obstacles. An apparatus may additionally execute one or more operations to plan motion of the vehicle based on the estimated occupancy of grid cells by the static obstacles and dynamic obstacles.

Particle filter to detect static and dynamic obstacles

A method for managing tracklets in a particle filter estimation framework includes executing a tracklet prediction dependent on a list of previous tracklets, thereby determining persistent tracklets and new tracklets; sampling new measurements for initializing the new tracklets, thereby determining an amount of estimated new tracklets; and determining an amount of the persistent tracklets dependent on the list of previous tracklets. The method further includes determining an amount of the new tracklets and an amount of updated persistent tracklets to be sampled dependent on the amount of estimated new tracklets, the amount of the persistent tracklets, and a memory bound; sampling the updated persistent tracklets from a list of the persistent tracklets dependent on the determined amount of the updated persistent tracklets; and sampling the new tracklets from unassociated measurements dependent on the determined amount of the new tracklets.

Method for managing tracklets in a particle filter estimation framework

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San Francisco, CA, United States of America

Gunther Krehl