US 12,412,380 B2
Sensor information fusion method and device
Seong Hwan Kim, Seoul (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed on Jul. 15, 2022, as Appl. No. 17/866,242.
Claims priority of application No. 10-2021-0093472 (KR), filed on Jul. 16, 2021.
Prior Publication US 2023/0020920 A1, Jan. 19, 2023
Int. Cl. G06V 10/80 (2022.01)
CPC G06V 10/80 (2022.01) 19 Claims
OG exemplary drawing
 
1. A sensor information fusion method comprising:
obtaining, by a controller, sensor tracks from each of a plurality of sensors with respect to a target located around a vehicle;
calculating, by the controller, association costs of the sensor tracks with respect to reference tracks;
storing, by the controller, the association costs in a form of a matrix, wherein each of the reference tracks is a fusion track generated or updated at a previous point in time or a track generated by a sensor in the plurality of sensors in an initial state;
calculating, by the controller, a first arrangement of the reference tracks and the sensor tracks that minimize the association costs with respect to the matrix; and
outputting, by the controller, a sensing information fusion result with respect to the target according to a second arrangement of the reference tracks and the sensor tracks calculated by the plurality of sensors,
wherein the sensing information fusion result is generated by fusing the sensor tracks of the plurality of sensors according to a weighting factor based on the association costs.