| CPC G01S 13/42 (2013.01) [G01S 13/726 (2013.01)] | 20 Claims |
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1. An apparatus for tracking an object, the apparatus comprising:
a radar configured to produce radio waves and determine feature values of objects that reflect the radio waves;
a memory including data indicating parameters for grids of cells, the parameters including a cell size, a number of columns of cells, a number of rows of cells, and key values for the cells, each of the grids of cells representing respective different object tracks;
processing circuitry coupled to the memory and the radar, the processing circuitry configured to:
receive first data input including first feature values of the feature values that indicate a first position;
generate a first grid of cells of the grids of cells, the first grid of cells representing a first object track of the respective different object tracks of a first object with the first position within an extent of the first grid of cells;
receive second data input including second feature values of the feature values that indicate a second position;
in response to determining the second feature values are within the extent of the first grid of cells adding a point corresponding to the second feature values to the first grid of cells to associate the second input to the first object track;
receive third data input including third feature values of the feature values that indicate a third position;
in response to determining the third feature values are outside the extent of the first grid of cells generate a second grid of cells of the grids of cells, the second grid of cells representing a second object track of the respective different object tracks of a second object with the third position within an extent of a third grid of cells; and
adding a point corresponding to the third feature values to the second grid of cells to associate the third input to the second object track.
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