METHOD AND SYSTEM FOR DETECTING, TRACKING AND ESTIMATING STATIONARY ROADSIDE OBJECTS
First Claim
1. A method for evaluating roadside stationary objects, comprising the steps of:
- receiving sensor readings from one or more vehicle mounted sensor(s), the sensor readings include a plurality of data points and each data point corresponds to an object that is within a field-of-view of one of the sensors;
consolidating the plurality of data points into a smaller set of consolidated data points;
classifying the consolidated data points into a smaller set of classified data points, the classified data points correspond to one or more stationary objects;
pre-sorting the classified data points into first and second smaller sets of pre-sorted data points, the first set of pre-sorted data points correspond to one or more stationary objects located only on a left side of the road and the second set of pre-sorted data points correspond to one or more stationary objects located only on a right side of the road;
determining if there is one or more stationary objects present on the left side of the road by using the first set of pre-sorted data points, and determining if there is one or more stationary objects present on the right side of the road by using the second set of pre-sorted data points; and
when there is a stationary object present on the left side of the road then applying the first set of pre-sorted data points to a data fitting algorithm that estimates a size, shape and/or location of the stationary object, and when there is a stationary object present on the right side of the road then applying the second set of pre-sorted data points to a data fitting algorithm that estimates a size, shape and/or location of the stationary object.
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Abstract
A system and method for selectively reducing or filtering data provided by one or more vehicle mounted sensors before using that data to detect, track and/or estimate a stationary object located along the side of a road, such as a guardrail or barrier. According to one example, the method reduces the amount of data by consolidating, classifying and pre-sorting data points from several forward looking radar sensors before using those data points to determine if a stationary roadside object is present. If the method determines that a stationary roadside object is present, then the reduced or filtered data points can be applied to a data fitting algorithm in order to estimate the size, shape and/or other parameters of the object. In one example, the output of the present method is provided to automated or autonomous driving systems.
71 Citations
27 Claims
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1. A method for evaluating roadside stationary objects, comprising the steps of:
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receiving sensor readings from one or more vehicle mounted sensor(s), the sensor readings include a plurality of data points and each data point corresponds to an object that is within a field-of-view of one of the sensors; consolidating the plurality of data points into a smaller set of consolidated data points; classifying the consolidated data points into a smaller set of classified data points, the classified data points correspond to one or more stationary objects; pre-sorting the classified data points into first and second smaller sets of pre-sorted data points, the first set of pre-sorted data points correspond to one or more stationary objects located only on a left side of the road and the second set of pre-sorted data points correspond to one or more stationary objects located only on a right side of the road; determining if there is one or more stationary objects present on the left side of the road by using the first set of pre-sorted data points, and determining if there is one or more stationary objects present on the right side of the road by using the second set of pre-sorted data points; and when there is a stationary object present on the left side of the road then applying the first set of pre-sorted data points to a data fitting algorithm that estimates a size, shape and/or location of the stationary object, and when there is a stationary object present on the right side of the road then applying the second set of pre-sorted data points to a data fitting algorithm that estimates a size, shape and/or location of the stationary object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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Specification