Patent Document ID: 8868344
Application ID: 13240957
Patent Flag: 1

Claim One:
1. A method performed by a processing device located in a vehicle, the method comprising: a. receiving a first data set from at least a radar device corresponding to a first detection signal transmitted over a first spatial region based on initial location and attitude information of the radar device; b. determining a match probability between the first data set and previously stored a priori terrain and obstacle data based on the location and attitude information of the radar device and associated with the received first data set; c. if at least one of the determined match probability is not greater than a predefined match probability threshold or a predefined threshold number of match probability determinations has not been met, adjusting at least one of the location or attitude information of the radar device and returning to b. based on the adjusted location or attitude information; d. if at least one of the determined match probability is greater than a predefined match probability threshold or a predefined threshold number of match probability determinations has been met, saving the adjusted location or attitude information or the initial location and attitude information if no adjustment occurred; e. calculating the most likely occupancy values to cells in an evidence grid based on the first data set, the stored location and attitude information, and a second data set formed by representing the a priori terrain data as the output of a virtual sensor; and f. generating an output based on the most likely occupancy values.