US 12,241,964 B2
Tracking different sections of articulated vehicles
Susan Yu-Ping Chen, Los Angeles, CA (US); and Jan K. Schiffmann, Newbury Park, CA (US)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Feb. 21, 2022, as Appl. No. 17/651,885.
Claims priority of provisional application 63/194,844, filed on May 28, 2021.
Claims priority of provisional application 63/185,319, filed on May 6, 2021.
Claims priority of provisional application 63/162,424, filed on Mar. 17, 2021.
Prior Publication US 2022/0299626 A1, Sep. 22, 2022
Int. Cl. G01S 13/72 (2006.01); B60W 30/09 (2012.01); B60W 60/00 (2020.01); G01S 7/41 (2006.01); G01S 13/931 (2020.01)
CPC G01S 13/726 (2013.01) [B60W 30/09 (2013.01); B60W 60/0015 (2020.02); G01S 7/412 (2013.01); G01S 7/415 (2013.01); G01S 13/72 (2013.01); G01S 13/931 (2013.01); B60W 2420/408 (2024.01); B60W 2552/30 (2020.02); B60W 2554/402 (2020.02); G01S 2013/9315 (2020.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
tracking, by a first vehicle, a second vehicle driving in a field of view of a radar system of the first vehicle, the tracking of the second vehicle comprising:
generating, using the radar system of the first vehicle, a first bounding box associated with a first section of the second vehicle and a second bounding box associated with a second section of the second vehicle; determining, based on a first velocity vector associated with the first bounding box and a second velocity vector associated with the second bounding box, whether the second vehicle is an articulated vehicle; and
responsive to determining that the second vehicle is the articulated vehicle, identifying an intersection between the first velocity vector and the second velocity vector, and locating at the intersection a hinge point on or between the first section and the second section of the articulated vehicle; and
responsive to determining that the second vehicle is the articulated vehicle, performing, by the first vehicle, a driving maneuver by separately and concurrently tracking, in the field of view, the first bounding box and the second bounding box.