US 12,384,423 B2
Systems and techniques for object-based sensor fusion
Burkay Donderici, Burlingame, CA (US)
Assigned to GM CRUISE HOLDINGS LLC, San Francisco, CA (US)
Filed by GM Cruise Holdings LLC, San Francisco, CA (US)
Filed on Mar. 7, 2023, as Appl. No. 18/179,939.
Prior Publication US 2024/0300540 A1, Sep. 12, 2024
Int. Cl. B60W 60/00 (2020.01); G01S 13/86 (2006.01); G01S 15/86 (2020.01); G01S 17/86 (2020.01)
CPC B60W 60/0027 (2020.02) [G01S 13/862 (2013.01); G01S 13/865 (2013.01); G01S 13/867 (2013.01); G01S 15/86 (2020.01); G01S 17/86 (2020.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2420/54 (2013.01); B60W 2556/35 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A system comprising:
memory; and
one or more processors coupled to the memory, the one or more processors being configured to:
obtain a first set of sensor data from a first sensor and a second set of sensor data from a second sensor;
detect an object in the first set of sensor data and the object in the second set of sensor data;
align, via a prediction model, the object in the first set of sensor data and the object in the second set of sensor data to a common time by:
determining a first predicted trajectory of the object in the first set of sensor data;
determining a second predicted trajectory of the object in the second set of sensor data;
aligning the object in the first set of sensor data to the common time based on the first predicted trajectory; and
aligning the object in the second set of sensor data to the common time based on the second predicted trajectory; and
based on the aligned object from the first set of sensor data and the aligned object from the second set of sensor data, fuse the aligned object from the first set of sensor data and the aligned object from the second set of sensor data.