US 12,488,066 B2
Systems and methods of sensor data fusion
Armando Montalvo, Winter Garden, FL (US)
Assigned to Digital Global Systems, Inc., Tysons Corner, VA (US)
Filed by Digital Global Systems, Inc., Tysons Corner, VA (US)
Filed on Apr. 9, 2025, as Appl. No. 19/174,382.
Application 19/174,382 is a continuation of application No. 19/022,069, filed on Jan. 15, 2025, granted, now 12,306,593.
Application 19/022,069 is a continuation of application No. 18/990,121, filed on Dec. 20, 2024, granted, now 12,332,609.
Application 18/990,121 is a continuation of application No. 18/988,120, filed on Dec. 19, 2024, granted, now 12,314,346.
Prior Publication US 2025/0258464 A1, Aug. 14, 2025
This patent is subject to a terminal disclaimer.
Int. Cl. G06F 18/25 (2023.01); B25J 9/16 (2006.01); B60R 19/48 (2006.01); B60T 8/1755 (2006.01); B60T 8/32 (2006.01); B60W 10/18 (2012.01); B60W 10/184 (2012.01); B60W 30/085 (2012.01); B60W 30/09 (2012.01); B60W 60/00 (2020.01); B62D 15/02 (2006.01); G01C 3/00 (2006.01); G01C 21/00 (2006.01); G01C 22/00 (2006.01); G01S 5/14 (2006.01); G01S 11/00 (2006.01); G01S 13/08 (2006.01); G01S 13/10 (2006.01); G01S 13/42 (2006.01); G01S 15/08 (2006.01); G01S 15/10 (2006.01); G01S 15/42 (2006.01); G01S 17/08 (2006.01); G01S 17/88 (2006.01); G01S 17/894 (2020.01); G05B 13/02 (2006.01); G06F 7/14 (2006.01); G06F 7/16 (2006.01); G06F 16/24 (2019.01); G06F 16/245 (2019.01); G06F 16/2455 (2019.01); G06F 16/33 (2025.01); G06F 16/334 (2025.01); G06F 16/43 (2019.01); G06F 16/53 (2019.01); G06F 16/903 (2019.01); G06F 16/9035 (2019.01); G06F 17/18 (2006.01); G06F 18/21 (2023.01); G06F 18/2431 (2023.01); G06N 3/02 (2006.01); G06N 3/0464 (2023.01); G06N 5/022 (2023.01); G06N 5/04 (2023.01); G06N 5/045 (2023.01); G06N 5/046 (2023.01); G06N 5/048 (2023.01); G06T 7/521 (2017.01); G06V 10/764 (2022.01); G06V 10/80 (2022.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01); H04L 67/12 (2022.01); H04W 4/38 (2018.01); B60W 50/00 (2006.01); G01C 21/16 (2006.01); G01S 7/48 (2006.01); G01S 13/931 (2020.01); G05D 101/15 (2024.01); G05D 111/50 (2024.01); G05D 111/67 (2024.01); G06F 18/213 (2023.01); G06N 20/00 (2019.01); G08B 29/18 (2006.01); G08G 1/01 (2006.01); G08G 1/04 (2006.01); G08G 1/042 (2006.01)
CPC G06F 18/256 (2023.01) [B25J 9/163 (2013.01); B60R 19/483 (2013.01); B60T 8/1755 (2013.01); B60T 8/3275 (2013.01); B60W 10/18 (2013.01); B60W 10/184 (2013.01); B60W 30/085 (2013.01); B60W 30/09 (2013.01); B60W 60/0018 (2020.02); B60W 60/00186 (2020.02); B62D 15/0285 (2013.01); G01C 3/00 (2013.01); G01C 21/3804 (2020.08); G01C 21/3811 (2020.08); G01C 21/3848 (2020.08); G01C 22/00 (2013.01); G01S 5/14 (2013.01); G01S 11/00 (2013.01); G01S 13/08 (2013.01); G01S 13/103 (2013.01); G01S 13/42 (2013.01); G01S 15/08 (2013.01); G01S 15/101 (2013.01); G01S 15/42 (2013.01); G01S 17/08 (2013.01); G01S 17/88 (2013.01); G01S 17/894 (2020.01); G05B 13/0205 (2013.01); G06F 7/14 (2013.01); G06F 7/16 (2013.01); G06F 16/24 (2019.01); G06F 16/245 (2019.01); G06F 16/2455 (2019.01); G06F 16/24556 (2019.01); G06F 16/2456 (2019.01); G06F 16/33 (2019.01); G06F 16/334 (2019.01); G06F 16/43 (2019.01); G06F 16/53 (2019.01); G06F 16/903 (2019.01); G06F 16/90335 (2019.01); G06F 16/9035 (2019.01); G06F 17/18 (2013.01); G06F 18/217 (2023.01); G06F 18/2431 (2023.01); G06F 18/25 (2023.01); G06F 18/251 (2023.01); G06N 3/02 (2013.01); G06N 3/0464 (2023.01); G06N 5/022 (2013.01); G06N 5/042 (2013.01); G06N 5/045 (2013.01); G06N 5/046 (2013.01); G06N 5/048 (2013.01); G06T 7/521 (2017.01); G06V 10/764 (2022.01); G06V 10/803 (2022.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01); H04L 67/12 (2013.01); H04W 4/38 (2018.02); B25J 9/1664 (2013.01); B25J 9/1694 (2013.01); B60T 2201/00 (2013.01); B60T 2201/03 (2013.01); B60W 2050/0052 (2013.01); B60W 60/00 (2020.02); B60W 2420/00 (2013.01); B60W 2420/40 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2420/50 (2013.01); B60W 2510/069 (2013.01); B60W 2510/18 (2013.01); B60W 2520/04 (2013.01); B60W 2540/12 (2013.01); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); B60W 2556/35 (2020.02); B60W 2710/18 (2013.01); B60W 2754/30 (2020.02); G01C 21/1652 (2020.08); G01S 7/4808 (2013.01); G01S 2013/93185 (2020.01); G05D 2101/15 (2024.01); G05D 2111/50 (2024.01); G05D 2111/67 (2024.01); G06F 18/213 (2023.01); G06N 5/04 (2013.01); G06N 20/00 (2019.01); G06T 2207/10028 (2013.01); G06T 2207/20024 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30252 (2013.01); G06T 2207/30264 (2013.01); G06V 10/80 (2022.01); G08B 29/188 (2013.01); G08G 1/0133 (2013.01); G08G 1/04 (2013.01); G08G 1/042 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for sensor data fusion for sensor management and utilization in autonomous transportation, comprising:
at least one computer processor including a memory;
at least one curation engine, at least one link engine, at least one fusion engine, at least one inference engine, and at least one validation engine;
at least one first distance sensor operable to capture a first distance measurement data from a vehicle to at least one object; and
at least one second distance sensor operable to capture a second distance measurement data from the vehicle to the at least one object;
wherein the at least one computer processor is operable to analyze the first distance measurement data and the second distance measurement data;
wherein the at least one curation engine is operable to curate the first distance measurement data and the second distance measurement data, creating a curated first distance measurement data and a curated second distance measurement data, the at least one link engine is operable to link the curated first distance measurement data and the curated second distance measurement data, the at least one fusion engine is operable to fuse the curated first distance measurement data and the curated second distance measurement data, the at least one inference engine is operable to determine at least one inference from the curated first distance measurement data and the curated second distance measurement data, and the at least one validation engine is operable to validate the curated first distance measurement data and the curated second distance measurement data;
wherein the at least one link engine is operable to link the curated first distance measurement data and the curated second distance measurement data based in part on at least one first distance property and at least one second distance property creating a property link and/or based in part on at least one first distance sub-property and at least one second distance sub-property creating a sub-property link;
wherein the at least one link engine is operable to calculate a conditional property entropy between the at least one first distance property and the at least one second distance property and/or a conditional sub-property entropy between the at least one first distance sub-property and the at least one second distance sub-property;
wherein the property link and/or the sub-property link is a non-existent link, a weak link, or a strong link via the conditional entropy property and/or the conditional entropy sub-property; and
wherein the at least one computer processor is operable to instruct the vehicle to brake based on the fused first and second distance measurement data.