A method comprises receiving a plurality of sensor outputs 402 each including an obstruction-indicating feature from a plurality of different sensing modalities (i.e. 2D image, radar, lidar, ultrasound). A probability according to each sensor output is updated 410, 412 based upon an estimated distance to the feature 406 and the variance, which may be directional, of the sensor which generated the output 408. If the probability is sufficiently high 414, collision avoidance is performed 416. The probability may be reduced in response to detecting a period of time in which no obstruction-indicating features are detected, and may additionally be reduced or increased on detection of a decreasing or increasing probability trend respectively 420. The collision avoidance may involve actuating at least one of a steering wheel, accelerator and/or brake.
Multi-sensor probabilistic object detection and automated braking
2018-06-20
Patent
Electronic Resource
English
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