A controller receives outputs form a plurality of sensors such as a camera, LIDAR sensor, RADAR sensor, and ultrasound sensor. Sensor outputs corresponding to an object are assigned to a tracklet. Subsequent outputs by any of the sensors corresponding to that object are also assigned to the tracklet. A trajectory of the object is calculated from the sensor outputs assigned to the tracklet, such as by means of Kalman filtering. For each sensor output assigned to the tracklet, a probability is updated, such as using a Bayesian probability update. When the probability meets a threshold condition, the object is determined to be present and an alert is generated or autonomous obstacle avoidance is performed with respect to an expected location of the object.
СПОСОБ И СИСТЕМА ОТСЛЕЖИВАНИЯ ОБЪЕКТОВ С ИСПОЛЬЗОВАНИЕМ СЛИЯНИЯ ДАННЫХ ДАТЧИКОВ В ВЕРОЯТНОСТНОЙ МОДЕЛИ
2019-04-03
Patent
Elektronische Ressource
Russisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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