US 11,798,291 B2
Redundancy information for object interface for highly and fully automated driving
Thomas Benjamin Gussner, Ludwigsburg (DE); Theresa Veronika Kienle, Stuttgart (DE); Joachim Carsten Mueller, Boeblingen (DE); Stephan Reuter, Elchingen (DE); Oliver F. Schwindt, Sunnyvale, CA (US); and Andreas Heyl, Sunnyvale, CA (US)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on May 13, 2020, as Appl. No. 15/931,160.
Claims priority of provisional application 62/854,729, filed on May 30, 2019.
Prior Publication US 2020/0377121 A1, Dec. 3, 2020
Int. Cl. G06V 20/58 (2022.01); B60W 60/00 (2020.01); B60W 50/14 (2020.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); G06V 10/764 (2022.01)
CPC G06V 20/584 (2022.01) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 50/14 (2013.01); B60W 60/0025 (2020.02); G06V 10/764 (2022.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2555/60 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A system for determining reliability of objects that are sensed for use in driver assistance or automated driving of a vehicle, the system comprising:
a plurality of sensors for providing sensor data for the objects that are sensed, the plurality of sensors including one or more sensor modalities;
an electronic tracking unit for receiving the sensor data, the electronic tracking unit configured to process the sensor data to:
determine a detection probability (p_D) for each of the plurality of sensors for each of the objects,
determine an existence probability (p_ex) for each of the plurality of sensors for each of the objects,
provide a collection of existence probabilities defining vectors for each of the objects sensed based on the existence probability (p_ex) for each of the plurality of sensors for each of the objects, wherein the vectors include all existence probabilities of all contributing ones of the plurality of sensors for each of the objects, and wherein the vectors are sensor independent representations; and
an electronic planning unit, wherein the planning unit is configured to receive the vectors and control the vehicle.