Low-level sensor fusion
First Claim
1. A method comprising:
- spatially aligning, by a computer system, measurement coordinate fields of sensors to an environmental coordinate field associated with a vehicle based, at least in part, on where the sensors are mounted in the vehicle;
populating, by the computer system, an environmental model with raw measurement data captured by the sensors, wherein the environmental model stores the raw measurement data in the environmental coordinate field based on the spatial alignment of the measurement coordinate fields to the environmental coordinate field; and
processing, by the computer system, the raw measurement data from a plurality of the sensors, which was populated in the environmental model, to identify a detection event corresponding to a spatially aligned grouping of the raw measurement data from the plurality of the sensors, wherein a control system for the vehicle is configured to control operation of the vehicle based, at least in part, on the detection event.
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Abstract
This application discloses a computing system to implement low-level sensor fusion in an assisted or automated driving system of a vehicle. The low-level sensor fusion can include receiving raw measurement data from sensors in the vehicle and temporally aligning the raw measurement data based on a time of capture. The low-level sensor fusion can include spatially aligning measurement coordinate fields of the sensors into an environmental coordinate field based, at least in part, on where the sensors are mounted in the vehicle, and then populating the environmental coordinate field with raw measurement data captured by the sensors based on the spatial alignment of the measurement coordinate fields to the environmental coordinate field. The low-level sensor fusion can detect at least one detection event or object based, at least in part, on the raw measurement data from multiple sensors as populated in the environmental coordinate field.
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Citations
20 Claims
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1. A method comprising:
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spatially aligning, by a computer system, measurement coordinate fields of sensors to an environmental coordinate field associated with a vehicle based, at least in part, on where the sensors are mounted in the vehicle; populating, by the computer system, an environmental model with raw measurement data captured by the sensors, wherein the environmental model stores the raw measurement data in the environmental coordinate field based on the spatial alignment of the measurement coordinate fields to the environmental coordinate field; and processing, by the computer system, the raw measurement data from a plurality of the sensors, which was populated in the environmental model, to identify a detection event corresponding to a spatially aligned grouping of the raw measurement data from the plurality of the sensors, wherein a control system for the vehicle is configured to control operation of the vehicle based, at least in part, on the detection event. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An apparatus comprising at least one memory device storing instructions configured to cause one or more processing devices to perform operations comprising:
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spatially aligning measurement coordinate fields of sensors to an environmental coordinate field associated with a vehicle based, at least in part, on where the sensors are mounted in the vehicle; populating an environmental model with raw measurement data captured by the sensors, wherein the environmental model stores the raw measurement data in the environmental coordinate field based on the spatial alignment of the measurement coordinate fields to the environmental coordinate field; and processing the raw measurement data from a plurality of the sensors, which was populated in the environmental model, to identify a detection event corresponding to a spatially aligned grouping of the raw measurement data from the plurality of the sensors, wherein a control system for the vehicle is configured to control operation of the vehicle based, at least in part, on the detection event. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A system comprising:
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a memory device configured to store machine-readable instructions; and a computer system including one or more processing devices, in response to executing the machine-readable instructions, configured to; spatially align measurement coordinate fields of sensors to an environmental coordinate field associated with a vehicle based, at least in part, on where the sensors are mounted in the vehicle; populate an environmental model with raw measurement data captured by the sensors, wherein the environmental model stores the raw measurement data in the environmental coordinate field based on the spatial alignment of the measurement coordinate fields to the environmental coordinate field; and process the raw measurement data from a plurality of the sensors, which was populated in the environmental model, to identify a detection event corresponding to a spatially aligned grouping of the raw measurement data from the plurality of the sensors, wherein a control system for the vehicle is configured to control operation of the vehicle based, at least in part, on the detection event. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification