Detecting long objects by sensor fusion
First Claim
1. A method for detecting and identifying elongated objects relative to a host vehicle, the method comprising the steps of:
- detecting objects relative to the host vehicle using a plurality of object detection devices, wherein the plurality of object detection devices include at least one of the following;
a radar detection device, a lidar detection device, or an imaging system;
identifying patterns in detection data that correspond to an elongated object, wherein the detection data includes data fused from at least two of the plurality of object detection devices;
determining initial object parameter estimates for the elongated object using each of the plurality of object detection devices;
calculating object parameter estimates for the elongated object by fusing the initial object parameter estimates from each of the plurality of object detection devices; and
determining an object type classification for the elongated object by fusing the initial object parameter estimates from each of the plurality of object detection devices.
1 Assignment
0 Petitions
Accused Products
Abstract
A system and method are provided for detecting and identifying elongated objects relative to a host vehicle. The method includes detecting objects relative to the host vehicle using a plurality of object detection devices, identifying patterns in detection data that correspond to an elongated object, wherein the detection data includes data fused from at least two of the plurality of object detection devices, determining initial object parameter estimates for the elongated object using each of the plurality of object detection devices, calculating object parameter estimates for the elongated object by fusing the initial object parameter estimates from each of the plurality of object detection devices, and determining an object type classification for the elongated object by fusing the initial object parameter estimates from each of the plurality of object detection devices.
23 Citations
20 Claims
-
1. A method for detecting and identifying elongated objects relative to a host vehicle, the method comprising the steps of:
-
detecting objects relative to the host vehicle using a plurality of object detection devices, wherein the plurality of object detection devices include at least one of the following;
a radar detection device, a lidar detection device, or an imaging system;identifying patterns in detection data that correspond to an elongated object, wherein the detection data includes data fused from at least two of the plurality of object detection devices; determining initial object parameter estimates for the elongated object using each of the plurality of object detection devices; calculating object parameter estimates for the elongated object by fusing the initial object parameter estimates from each of the plurality of object detection devices; and determining an object type classification for the elongated object by fusing the initial object parameter estimates from each of the plurality of object detection devices. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
-
-
16. A method for detecting and identifying elongated objects relative to a host vehicle, the method comprising the steps of:
-
obtaining detection data relating to objects detected using a plurality of object detection devices, wherein the plurality of object detection devices include at least one of the following;
a radar detection device, a lidar detection device, or an imaging system;fusing the detection data at a first processing level by referencing complementary detection data from each of the plurality of object detection devices; classifying a detected object as an elongated object at each of the plurality of object detection devices by identifying patterns in the fused detection data that correspond to an elongated object; calculating initial object parameter estimates for the elongated object using each of the plurality of object detection devices; fusing the detection data at a second processing level by; weighting the initial object parameter estimates for each of the plurality of object detection devices and summing the weighted initial object parameter estimates to determine object parameter estimates for the elongated object, and calculating a maximum probability of a particular class of objects as a function of the initial object parameter estimates from each of the plurality of object detection devices to determine an object type classification for the elongated object. - View Dependent Claims (17)
-
-
18. A system for detecting and identifying elongated objects relative to a host vehicle, the system comprising:
-
at least two object detection devices selected from the following;
a radar detection device, a lidar detection device, or an imaging system, and wherein the at least two object detection devices are configured to;obtain detection data relating to objects detected in a field-of-view relating to each of the at least two object detection devices; fuse the detection data by referencing complementary detection data from each of the at least two object detection devices; classify a detected object as an elongated object by identifying patterns in the fused detection data that correspond to an elongated object; and calculate initial object parameter estimates for the elongated object using each of the at least two object detection devices; at least one vehicle control module configured to; receive the initial object parameter estimates from each of the at least two object detection devices and fuse the detection data to determine object parameter estimates and to classify the type of elongated object. - View Dependent Claims (19, 20)
-
Specification