US 11,756,310 B2
Method and device for sensor data fusion for a vehicle
Michael Himmelsbach, Munich (DE); Luca Trentinaglia, Eichenau (DE); Dominik Bauch, Muehldorf am Inn (DE); Daniel Meissner, Friedberg (DE); Josef Mehringer, Gmund (DE); and Marco Baumgartl, Gilching (DE)
Assigned to Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
Appl. No. 17/423,938
Filed by Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
PCT Filed Oct. 18, 2019, PCT No. PCT/EP2019/078424
§ 371(c)(1), (2) Date Jul. 19, 2021,
PCT Pub. No. WO2020/160795, PCT Pub. Date Aug. 13, 2020.
Claims priority of application No. 102019102769.1 (DE), filed on Feb. 5, 2019.
Prior Publication US 2022/0092870 A1, Mar. 24, 2022
Int. Cl. G06V 20/58 (2022.01); G06V 10/80 (2022.01); G06V 20/56 (2022.01); B60W 50/00 (2006.01)
CPC G06V 20/58 (2022.01) [G06V 10/803 (2022.01); G06V 20/56 (2022.01); B60W 50/0098 (2013.01); B60W 2556/35 (2020.02)] 10 Claims
OG exemplary drawing
 
1. A method of sensor data fusion for a vehicle (F), wherein a sensor device (S1) is associated with the vehicle (F), and wherein in the method
a fusion object data set is provided comprising fusion object data each representative of a fusion object (OF) detected in an environment of the vehicle (F), each fusion object (OF) being associated with a fusion reference point,
sensor object data is provided, which is representative of a sensor object (OS) detected by the respective sensor device (S1) in the environment of the vehicle (F) and to which a sensor reference point (AS) is assigned,
indicator data is provided that is representative of an uncertainty in the determination of the sensor object data,
wherein the indicator data comprises a first, a second, and a third characteristic of the sensor object (OS), the first characteristic value representative of an uncertainty in the determination of a length (1), a second characteristic value representative of an uncertainty in the determination of a width (b), and a third characteristic value representative of an uncertainty in the determination of an orientation (α), and
wherein the first, second and third characteristic values are each compared with a separate predetermined threshold value,
reference point transformation candidates of the sensor object (OS) are determined depending on the indicator data,
wherein reference point transformation candidates are determined when either the first characteristic or the second characteristic are less than or equal to the respective threshold value, and
wherein the third characteristic is less than or equal to the respective threshold value, and
depending on the reference point transformation candidates, an innovated fusion object is determined.