METHOD AND APPARATUS FOR ON-VEHICLE CALIBRATION AND ORIENTATION OF OBJECT-TRACKING SYSTEMS
First Claim
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1. Method for simultaneously tracking a plurality of objects and registering a plurality of object-locating sensors mounted on a vehicle relative to the vehicle, comprising:
- monitoring sensor data from the plurality of object-locating sensors;
monitoring a plurality of historical target tracks for the plurality of objects;
monitoring historical sensor registration data;
simultaneously tracking the plurality of objects and registering the plurality of object-locating sensors based upon the sensor data, the historical sensor registration data, the plurality of historical target tracks, location and orientation of the sensors to the vehicle and a sensor data covariance matrix;
updating the plurality of historical target tracks for each of the plurality of objects based upon the tracking of the plurality of objects; and
updating the historical sensor registration data based upon the registering of the plurality of object-locating sensors.
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Abstract
A method for simultaneously tracking a plurality of objects and registering a plurality of object-locating sensors mounted on a vehicle relative to the vehicle is based upon collected sensor data, historical sensor registration data, historical object trajectories, and a weighted algorithm based upon geometric proximity to the vehicle and sensor data variance.
87 Citations
34 Claims
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1. Method for simultaneously tracking a plurality of objects and registering a plurality of object-locating sensors mounted on a vehicle relative to the vehicle, comprising:
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monitoring sensor data from the plurality of object-locating sensors; monitoring a plurality of historical target tracks for the plurality of objects; monitoring historical sensor registration data; simultaneously tracking the plurality of objects and registering the plurality of object-locating sensors based upon the sensor data, the historical sensor registration data, the plurality of historical target tracks, location and orientation of the sensors to the vehicle and a sensor data covariance matrix; updating the plurality of historical target tracks for each of the plurality of objects based upon the tracking of the plurality of objects; and updating the historical sensor registration data based upon the registering of the plurality of object-locating sensors. - 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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28. Method for simultaneously tracking a plurality of objects and registering a plurality of object-locating sensors mounted on a vehicle relative to the vehicle, comprising:
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monitoring sensor data from the plurality of object-locating sensors; monitoring a plurality of historical target tracks for the plurality of objects; monitoring historical sensor registration data; monitoring a sensor measurement matrix; monitoring lane geometry including curvature and orientation of the vehicle with respect to the lane geometry; simultaneously tracking the plurality of objects and registering the plurality of object-locating sensors based upon the sensor data, the historical sensor registration data, the plurality of historical target tracks, the sensor measurement matrix, the lane geometry, location and orientation of the sensors to the vehicle and sensor data variance; updating the plurality of historical target tracks for each of the plurality of objects based upon the tracking of the plurality of objects; and updating the historical sensor registration data based upon the registering of the plurality of object-locating sensors. - View Dependent Claims (29, 30, 31, 32, 33, 34)
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Specification