Event classification and object tracking

An apparatus comprising at least one memory device storing instructions configured to cause one or more processing devices to perform operations comprising:

• assigning a pre-classification to a detection event in an environmental model having an environmental coordinate field that spans multiple non-overlapping measurement coordinate fields of sensors mounted in a vehicle, wherein the detection event corresponds to spatially-aligned and temporally-aligned raw sensor measurements indicative of an object proximate to the vehicle, and wherein the environmental model is stored by the memory device and includes both the spatially-aligned and temporally-aligned raw sensor measurements and an indication of the detection event;
• updating the environmental model to include new raw sensor measurements from the sensors mounted in the vehicle and corresponding detection events over time;
• and
• tracking the detection event in the updated environmental model based on the assigned pre-classification of the detection event, wherein a control system for the vehicle is configured to control operation of the vehicle based, at least in part, on the tracked detection event.

A system comprising:

• a memory device configured to store machine-readable instructions;
• and
• a computing system including one or more processing devices, in response to executing the machine-readable instructions, configured to:
• assign a pre-classification to a detection event in an environmental model having an environmental coordinate field that spans multiple non-overlapping measurement coordinate fields of sensors mounted in a vehicle, wherein the detection event corresponds to spatially-aligned and temporally-aligned raw sensor measurements indicative of an object proximate to the vehicle, and wherein the environmental model is stored by the memory device and includes both the spatially-aligned and temporally-aligned raw sensor measurements and an indication of the detection event;
• update the environmental model to include new raw sensor measurements from the sensors mounted in the vehicle and corresponding detection events over time;
• and
• track the detection event in the updated environmental model based on the assigned pre-classification of the detection event, wherein a control system for the vehicle is configured to control operation of the vehicle based, at least in part, on the tracked detection event.