A controller receives outputs from a plurality of sensors 106a, 106b of multiple sensing modalities, such as a camera 104a, 104b, LIDAR sensor, RADAR sensor or ultrasound sensor. A probability is determined according to the outputs, for example using a Bayesian probability update, and, if sufficiently high, collision avoidance, which may be an alert or autonomous avoidance, is performed with respect to an object 300b, 300c, 300d. In a typical example, sensor outputs corresponding to the object are assigned to a tracklet and subsequent outputs by any sensors corresponding to that object are also assigned to the tracklet. A trajectory of the object may be calculated from the sensor outputs assigned to the tracklet, such as by means of Kalman filtering.
Object tracking using sensor fusion within a probabilistic framework
2018-07-18
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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