US 12,093,048 B2
Clustering track pairs for multi-sensor track association
Syed Asif Imran, Moorpark, CA (US)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Nov. 11, 2021, as Appl. No. 17/524,667.
Prior Publication US 2023/0147100 A1, May 11, 2023
Int. Cl. G05D 1/00 (2024.01); B60W 40/04 (2006.01); G06F 18/22 (2023.01); G06F 18/23 (2023.01); G06F 18/25 (2023.01); G06V 10/44 (2022.01)
CPC G05D 1/0214 (2013.01) [B60W 40/04 (2013.01); G06F 18/23 (2023.01); G06F 18/25 (2023.01); G06V 10/457 (2022.01); B60W 2420/40 (2013.01); B60W 2420/408 (2024.01); G05D 1/0246 (2013.01); G05D 1/0248 (2013.01); G05D 1/0257 (2013.01); G06F 18/22 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
at least one processor configured to:
determine candidate track pairs from among a cluster of tracks, each candidate track pair representing a connection between a first track obtained by a first sensor and a second track obtained by a second sensor, the connection based on an association between the first track and the second track to represent a same object;
determine, from a perspective of the first tracks obtained by the first sensor as compared to a perspective of the second tracks obtained by the second sensor, a strength of the connection associated with each of the candidate track pairs;
identify a weakest candidate track pair among the candidate track pairs based on the strength of the connection associated with each of the candidate track pairs, the strength of connection between the weakest candidate track pair being a weakest strength among the candidate track pairs;
prune the weakest candidate track pair;
responsive to pruning the weakest candidate track pair, cluster the candidate track pairs into at least a first cluster of the candidate track pairs and a second cluster of the candidate track pairs such that the first cluster of the candidate track pairs and the second cluster of the candidate track pairs are each smaller than the cluster of tracks;
determine, based on track-association techniques, a set of object track pairs from the at least the first cluster of the candidate track pairs and the second cluster of the candidate track pairs, a first track and a second track of each respective object track pair in the set of object track pairs representing the same object; and
output the set of object track pairs to an automotive system of a vehicle to control operations of the vehicle.