US 11,938,927 B2
Track mergence module and method
Bo Young Yun, Hwaseong-si (KR)
Assigned to HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA CORPORATION, Seoul (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA CORPORATION, Seoul (KR)
Filed on Oct. 28, 2021, as Appl. No. 17/513,650.
Claims priority of application No. 10-2020-0176344 (KR), filed on Dec. 16, 2020.
Prior Publication US 2022/0185268 A1, Jun. 16, 2022
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); G01S 13/931 (2020.01); G01S 17/931 (2020.01)
CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); G01S 13/931 (2013.01); G01S 17/931 (2020.01); B60W 2520/10 (2013.01); B60W 2554/806 (2020.02); B60W 2754/70 (2020.02); G01S 2013/9323 (2020.01)] 21 Claims
OG exemplary drawing
 
1. A track mergence module comprising:
a track deletion condition generation and storage unit configured to generate and store track deletion conditions corresponding to a plurality of phenomena;
a phenomenon determination unit configured to determine a phenomenon, among the plurality of phenomena, corresponding to a current situation by analyzing a plurality of sensor fusion tracks; and
a track mergence unit configured to delete a sensor fusion track among the plurality of sensor fusion tracks based on a track deletion condition which is selected among the stored track deletion conditions and corresponds to the determined phenomenon,
wherein the phenomenon determination unit is configured to determine that the current situation corresponds to one of:
a first phenomenon associated with a situation in which a roof lidar track having a small size with respect to one target is additionally generated;
a second phenomenon associated with a situation in which an unstable false roof lidar track is generated;
a third phenomenon associated with a situation in which two sensor fusion tracks having heading angles parallel to each other overlap each other; and
a fourth phenomenon associated with a situation in which two sensor fusion tracks having heading angles in opposite directions overlap each other, and
wherein the track deletion condition generation and storage unit is configured to generate and store a first track deletion condition corresponding to a function of deletion variables configured to indicate physical characteristics of a fusion track (FT1) and a roof lidar-only track (FT2) corresponding to each of the first to fourth phenomena, and a second track deletion condition corresponding to a deletion condition for a position of the fusion track satisfying the first track deletion condition.