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：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.