US 11,675,366 B2
Long-term object tracking supporting autonomous vehicle navigation
Hamed Kiani Galoogahi, Pittsburgh, PA (US); and Caglayan Dicle, Boston, MA (US)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by MOTIONAL AD LLC, Boston, MA (US)
Filed on Dec. 16, 2020, as Appl. No. 17/124,288.
Claims priority of provisional application 62/954,264, filed on Dec. 27, 2019.
Prior Publication US 2021/0200238 A1, Jul. 1, 2021
Int. Cl. G05D 1/02 (2020.01)
CPC G05D 1/0274 (2013.01) [G05D 1/0242 (2013.01); G05D 1/0257 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
capturing sensor data at a first time using a sensor of an autonomous vehicle;
detecting, using a processing circuit, a first object from the sensor data, wherein detecting the first object includes creating detection data;
generating, using the processing circuit, first tracking data associated with the first object based on the detection data;
obtaining, using the processing circuit, second tracking data that meets a stale-track criteria, wherein the second tracking data corresponds to a second object detected using second data captured at a second time, wherein the second time is prior to the first time;
determining a predicted position of the second object at the first time based on the second tracking data;
determining that the first tracking data and the second tracking data satisfy matching criteria, wherein determining that the first tracking data and the second tracking data satisfy matching criteria comprises determining that the predicted position of the second object at the first time corresponds to a position of the first object at the first time; and
in accordance with determining that the first tracking data and the second tracking data satisfy the matching criteria:
associating, using the processing circuit, the second tracking data with the first tracking data; and
navigating, using a control circuit, the autonomous vehicle based at least in part on the second tracking data.