{
  "$type": "site.standard.document",
  "coverImage": {
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  "description": "Technology described in this document can be embodied in a method that includes generating, using one or more processing devices of a vehicle operating in an environment, a discretized representation of the environment, including a plurality of cells. The cells are occupied by particles…",
  "path": "/patents/1269654",
  "publishedAt": "2020-08-13T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G06K9/6226",
    "Aptiv Technologies Limited"
  ],
  "textContent": "Technology described in this document can be embodied in a method that includes generating, using one or more processing devices of a vehicle operating in an environment, a discretized representation of the environment, including a plurality of cells. The cells are occupied by particles representing at least one of: an object, or a free space in the environment. Sensor data indicative of a state of at least one particle is received, and an update to 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 occupancy of at least one cell in the discretized representation based on the updated particle density function, and operating the vehicle, using a controller circuit of the vehicle, based at least in part on the prediction.",
  "title": "FIELD THEORY BASED PERCEPTION FOR AUTONOMOUS VEHICLES"
}