公开(公告)号：US20220299626A1

公开(公告)日：2022-09-22

申请号：US17651885

申请日：2022-02-21

Applicant: Aptiv Technologies Limited

Inventor： Susan Yu-Ping Chen ,  Jan K. Schiffmann

IPC: G01S13/72 ,  B60W30/09 ,  B60W60/00 ,  G01S13/931 ,  G01S7/41

Abstract: This document describes techniques and systems related to tracking different sections of articulated vehicles. A vehicle uses a radar system that can discern between unarticulated vehicles and articulated vehicles, which by definition have multiple sections that can pivot in different directions for turning or closely following a curve. The radar system obtains detections indicative of another vehicle traveling nearby. When the detections indicate the other vehicle is articulated, the radar system tracks each identifiable section, rather than tracking all the sections together. A bounding box is generated for each identifiable section; the radar system separately and concurrently monitors a velocity of each bounding box. The multiple bounding boxes that are drawn enable the radar system to accurately track each connected section of the articulated vehicle, including to detect whether any movement occurs between two connected sections, for accurately localizing the vehicle when driving.

公开(公告)号：US10775494B2

公开(公告)日：2020-09-15

申请号：US15914219

申请日：2018-03-07

Applicant: APTIV TECHNOLOGIES LIMITED

Inventor： Jan K. Schiffmann ,  Wenbing Dang ,  Kumar Vishwajeet ,  Keerthi Raj Nagaraja ,  Franz P. Schiffmann

IPC: G01S13/93 ,  G01S13/72 ,  G01S13/931 ,  G01S13/58 ,  G01S15/931 ,  G01S17/66 ,  G01S15/66 ,  G01S17/931

Abstract: An illustrative example method of tracking a moving object includes determining a heading angle of a centroid of the object from a tracking sensor, determining a raw difference value corresponding to a difference between a pointing angle of a selected feature on the object and the heading angle, wherein the raw difference is based on a trajectory curvature of the centroid from the tracking sensor and a distance between the centroid and the selected feature, determining a filtered difference between the pointing angle and the heading angle using a low pass filter, and determining the pointing angle by subtracting the filtered difference from the heading angle.

公开(公告)号：US20230192146A1

公开(公告)日：2023-06-22

申请号：US18173045

申请日：2023-02-22

Applicant: Aptiv Technologies Limited

Inventor： Syed Asif Imran ,  Jan K. Schiffmann ,  Nianxia Cao

IPC: B60W60/00 ,  B60W30/095 ,  B60W50/02 ,  G01S13/931 ,  G06T7/20

CPC classification number: B60W60/0027 ,  B60W30/0956 ,  B60W50/0205 ,  G01S13/931 ,  G06T7/20 ,  B60W2554/20 ,  B60W2554/4029 ,  B60W2420/40 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2420/54 ,  G06T2207/10028 ,  G06T2207/10044 ,  G06T2207/10048 ,  G06T2207/10132 ,  G06T2207/30252

Abstract: This document describes Kurtosis based pruning for sensor-fusion systems. Kurtosis based pruning minimizes a total quantity of comparisons performed when fusing together large sets of data. Multiple candidate radar tracks may possibly align with one of multiple candidate visual tracks. For each candidate vision track, a weight or other evidence of matching is assigned to each candidate radar track. An inverse of matching errors between each candidate vision and each candidate radar track contributes to this evidence, which may be normalized to produce, for each candidate vision track, a distribution associated with all candidate radar tracks. A Kurtosis or shape of this distribution is calculated. Based on the Kurtosis values, some candidate radar tracks are selected for matching and other remaining candidate radar tracks are pruned. The Kurtosis aids in determining how many candidates to retain and how many to prune. In this way, Kurtosis based pruning can prevent combinatorial explosions due to large-scale matching.

公开(公告)号：US11113824B2

公开(公告)日：2021-09-07

申请号：US16398745

申请日：2019-04-30

Applicant: Aptiv Technologies Limited

Inventor： Wenbing Dang ,  Jan K. Schiffmann ,  Kumar Vishwajeet ,  Susan Chen

IPC: G06T7/246 ,  G06T7/50 ,  G06T7/60

Abstract: An illustrative example method of tracking an object includes detecting one or more points on the object over time to obtain a plurality of detections, determining a position of each of the detections, determining a relationship between the determined positions, and determining an estimated heading angle of the object based on the relationship.

公开(公告)号：US10914813B2

公开(公告)日：2021-02-09

申请号：US16106308

申请日：2018-08-21

Applicant: APTIV TECHNOLOGIES LIMITED

Inventor： Wenbing Dang ,  Jan K. Schiffmann ,  Kumar Vishwajeet ,  Keerthi Raj Nagaraja ,  Franz P. Schiffmann

IPC: G01S5/02 ,  B60W40/04

Abstract: An illustrative example method of tracking a detected object comprises determining that a tracked object is near a host vehicle, determining an estimated velocity of the tracked object, and classifying the tracked object as frozen relative to stationary ground when the estimated velocity is below a preselected object threshold and a speed of the host vehicle is below a preselected host threshold.