The present technology relates to tracking objects in an environment around an autonomous vehicle. Although there are various sensor measurement limitations, a computing system (110) of an autonomous vehicle determines an accurate motion characteristic of an object detected in its environment. By correcting motion distortions of a fast moving object (808) and taking into account differences in sensor data collection, motion characteristics of a detected object can be determined with enhanced accuracy (908). Multiple sets of correspondences are determined for a cluster from multiple sensor spins such that better alignment can be achieved using a surface matching algorithm even when the cluster has fewer data points (904). Efficiency can also be improved by selecting hypotheses based on confidence levels. These techniques provide for identifying the type of object for which the yaw rate can be accurately determined. Object classification (186) may also be improved by accumulating associated clusters corresponding to detected objects. In addition, under-segmentation or over-segmentation may be mitigated using such techniques.

    本技术涉及跟踪自主车辆周围的环境中的对象。尽管存在各种传感器测量限制,但自主车辆的计算系统(110)确定在其环境中检测到的对象的准确运动特性。通过校正快速移动对象的运动失真(808)并考虑传感器数据收集的差异,可以以增强的准确度确定检测到的对象的运动特性(908)。针对来自多个传感器自旋的集群确定多组对应性,使得甚至当集群具有较少数据点时也能够使用表面匹配算法实现更好的对齐(904)。通过基于置信度级别选择假设也可以提高了效率。这些技术提供识别可以针对其准确确定偏航率的对象的类型。还可以通过累积对应于检测到的对象的关联集群来改进对象分类(186)。此外,可以使用此这样的技术缓解欠分割或过度分割。


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    Title :

    Vehicle-mounted cluster tracking system


    Additional title:

    车载集群跟踪系统


    Contributors:

    Publication date :

    2022-06-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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