US 11,912,293 B2
Method, system, and computer program product for determining a blockage of a sensor of a plurality of sensors of an ego vehicle
Tin Lian Abt, Munich (DE); Kira Goehl, Munich (DE); Carsten Isert, Munich (DE); Luca Parolini, Landshut (DE); Simon Radler, Munich (DE); and Sebastian Rauch, Guending (DE)
Assigned to Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
Appl. No. 16/961,517
Filed by Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
PCT Filed Nov. 22, 2018, PCT No. PCT/EP2018/082166
§ 371(c)(1), (2) Date Jul. 10, 2020,
PCT Pub. No. WO2019/137675, PCT Pub. Date Jul. 18, 2019.
Claims priority of application No. 18151367 (EP), filed on Jan. 12, 2018.
Prior Publication US 2020/0353942 A1, Nov. 12, 2020
Int. Cl. B60W 50/04 (2006.01); G01S 17/931 (2020.01); G01S 13/931 (2020.01); G01S 7/497 (2006.01); G01S 7/40 (2006.01)
CPC B60W 50/045 (2013.01) [G01S 13/931 (2013.01); G01S 17/931 (2020.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); G01S 7/4039 (2021.05); G01S 2007/4975 (2013.01); G01S 2013/9327 (2020.01)] 10 Claims
OG exemplary drawing
 
1. A method for determining a blockage of a sensor of a plurality of sensors of an ego vehicle, the method comprising:
determining a prior blockage probability of the sensor, wherein the prior blockage probability is a probability that a field of view of the sensor is limited due to environmental effects;
receiving sensor data of the sensor;
determining a performance of the sensor based on the received sensor data;
calculating a posterior blockage probability based on the prior blockage probability of the sensor and the performance of the sensor; and
determining the blockage of the sensor using the calculated posterior blockage probability,
wherein determining the prior blockage probability of the sensor comprises:
determining a first blockage probability of the sensor based on a relative change of a motion of an object detected by the sensor, wherein the object is on a road within the field of view of the sensor;
determining a second blockage probability of the sensor using a predefined performance of the sensor regarding a current weather condition; and
calculating the prior blockage probability of the sensor based on the first blockage probability and the second blockage probability.