公开(公告)号：US20230326346A1

公开(公告)日：2023-10-12

申请号：US17658525

申请日：2022-04-08

Applicant: Aptiv Technologies Limited

Inventor： David Aaron Schwartz

IPC: G08G1/16 ,  G08G1/056 ,  G01S13/931

CPC classification number: G08G1/166 ,  G08G1/056 ,  G01S13/931

Abstract: This document describes techniques for performing track associations at least partially based on low confidence detections. For object trackers, which rely on measurement detections that are associated with a reported confidence, there is no direct tradeoff between a true positive track rate and a false positive track rate that applies to improving the accuracy of state estimates of tracks. To increase the true positive track rate while reducing the false positive track rate, a parameter is maintained for each track. Referred to as Probability of Existence (PoE), it is an estimate of likelihood that a real object exists with a true state that approximates an estimated state for that track. By considering PoE in combination with the reported confidence in the measurement detections being used, object tracking using radar and other sensors technologies is improved, so real-objects are reported more-quickly and accurately, and false objects are reported less often.

公开(公告)号：US20220308198A1

公开(公告)日：2022-09-29

申请号：US17649794

申请日：2022-02-02

Applicant: Aptiv Technologies Limited

Inventor： Jan K. Schiffmann ,  David Aaron Schwartz ,  Susan Yu-Ping Chen ,  Nianxia Cao

IPC: G01S13/66 ,  G01S13/931 ,  G01S13/87

Abstract: This document describes radar tracking with model estimates augmented by radar detections. An example tracker analyzes information derived using radar detections to enhance radar tracks having object measurements estimated from directly analyzing data cubes with a model (e.g., a machine-learning model). High-quality tracks with measurements to objects of importance can be quickly produced with the model. However, the model only estimates measurements for classes of objects its training or programming can recognize. To improve estimated measurements from the model, or even in some cases, to convey additional classes of objects, the tracker separately analyzes detections. Detections that consistently align to objects recognized by the model can update model-derived measurements conveyed initially in the tracks. Consistently observed detections that do not align to existing tracks may be used to establish new tracks for conveying more classes of objects than the model can recognize.

公开(公告)号：US11511753B2

公开(公告)日：2022-11-29

申请号：US17080016

申请日：2020-10-26

Applicant: APTIV TECHNOLOGIES LIMITED

Inventor： Jan Schiffmann ,  Henrik Clasen ,  David Aaron Schwartz ,  Amith Somanath

IPC: B60W40/068 ,  B60W30/02

Abstract: An illustrative example method is for estimating a friction characteristic of a surface beneath a vehicle that has a plurality of wheels contacting the surface. The method includes determining a wheel speed of at least one of the wheels, determining a velocity of the at least one of the wheels separately from determining the wheel speed, determining a wheel slip of the at least one of the wheels based on the determined wheel speed and the determined velocity, and determining the friction characteristic based on the determined wheel slip. Determining the velocity separately from the wheel speed is accomplished using at least one detector that provides an output corresponding to a range rate, such as a RADAR or LIDAR detector.