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    Track association based on azimuth extension and compactness errors
    1.
    发明授权
    Track association based on azimuth extension and compactness errors 有权

    公开(公告)号：US12248058B2

    公开(公告)日：2025-03-11

    申请号：US17929500

    申请日：2022-09-02

    Applicant: Aptiv Technologies AG

    Inventor： Syed Asif Imran ,  Zixin Liu

    IPC: G01S13/72 ,  G01S13/86

    Abstract: The techniques and systems herein enable track association based on azimuth extension and compactness errors. Specifically, first and second tracks comprising respective locations and footprints of respective objects are received. An azimuth distance is determined based on an azimuth extension error that corresponds to azimuth spread between the first and second tracks with respect to a host vehicle. A position distance is also determined based on a compactness error that corresponds to footprint difference between the first and second tracks. Based on the azimuth and position distances, it is established whether the first object and the second object are a common object. By doing so, the system can better determine if the tracks are of the common object when the tracks are extended (e.g., not point targets) and/or partially observed (e.g., the track is not of an entire object).

    Occlusion constraints for resolving tracks from multiple types of sensors
    2.
    发明授权
    Occlusion constraints for resolving tracks from multiple types of sensors 有权

    公开(公告)号：US12282089B2

    公开(公告)日：2025-04-22

    申请号：US17457888

    申请日：2021-12-06

    Applicant: Aptiv Technologies AG

    Inventor： Ganesh Sevagamoorthy ,  Syed Asif Imran

    IPC: G01S13/931 ,  B60W30/09 ,  G01S13/86

    Abstract: Perception systems and methods include use of occlusion constraints for resolving tracks from multiple types of sensors. An occlusion constraint is applied to an association between a radar track and vision track to indicate a probability of occlusion. The perception systems and methods refrain from evaluating occluded and collected radar tracks and vision tracks. The probability of occlusion is utilized for deemphasizing pairs of radar tracks and vision tracks with a high likelihood of occlusion and therefore, not useful for tracking. Improved perception data is provided and more closely represents multiple complex data sets for a vehicle to prevent a collision with an occluded object as the vehicle operates in an environment.

    Clustering track pairs for multi-sensor track association
    4.
    发明授权
    Clustering track pairs for multi-sensor track association 有权

    公开(公告)号：US12093048B2

    公开(公告)日：2024-09-17

    申请号：US17524667

    申请日：2021-11-11

    Applicant: Aptiv Technologies AG

    Inventor： Syed Asif Imran

    IPC: G05D1/00 ,  B60W40/04 ,  G06F18/22 ,  G06F18/23 ,  G06F18/25 ,  G06V10/44

    CPC classification number: G05D1/0214 ,  B60W40/04 ,  G06F18/23 ,  G06F18/25 ,  G06V10/457 ,  B60W2420/40 ,  B60W2420/408 ,  G05D1/0246 ,  G05D1/0248 ,  G05D1/0257 ,  G06F18/22

    Abstract: This document describes systems and techniques for clustering track pairs for multi-sensor track association. Many track-association algorithms use pattern-matching processes that can be computationally complex. Clustering tracks derived from different sensors present on a vehicle may reduce the computational complexity by reducing the pattern-matching problem into groups of subproblems. The weakest connection between two sets of tracks is identified based on both the perspective from each track derived from a first sensor and the perspective of each track derived from a second sensor. By identifying and pruning the weakest connection between two sets of tracks, a large cluster of tracks may be split into smaller clusters. The smaller clusters may require fewer computations by limiting the quantity of candidate track pairs to be evaluated. Fewer computations result in processing the sensor information more efficiently that, in turn, may increase the safety and reliability of an automobile.

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