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 |
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.
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