Patent attributes
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.
