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US 10,884,119 B2Granted
Object tracking in blind-spot
AssigneeFord Global Technologies, LLC
InventorDouglas Rogan
Life of this patent
Estimating the term…
Abstract
A point is detected from first and second sensor data. An uncertainty range is estimated for a location of the point relative to the vehicle based on a motion model. Upon determining the point exited a first sensor field of view, the uncertainty range is estimated based on data received from the second sensor and dead reckoning, and the location of the point is estimated within the uncertainty range.
Claims18
A method, comprising:
- receiving data at a processor from a first sensor of a vehicle and a second sensor of the vehicle;
- detecting a point within a first field of view of the first sensor and a second field of view of the second sensor from the data received from the first sensor and from the second sensor;
- receiving motion data of the vehicle at the processor;
- and
- estimating a location of the point and an uncertainty range for the location of the point relative to the vehicle based on a motion model, wherein the motion model is based at least in part on the data from the first and second sensors when the point is in both the first field of view and the second field of view;
- and
- upon determining the point exited the first field of view, updating the estimated uncertainty range based on the data received from the second sensor and based on dead reckoning;
- wherein the location of the point in the motion model at a specified time is determined by using the uncertainty range at a previous time.
5 more elements
A system, comprising a processor and a memory, the memory storing instructions executable by the processor to:
- receive data from a first sensor of a vehicle and a second sensor of the vehicle;
- detect a point within a first field of view of the first sensor and a second field of view of the second sensor from the data received from the first sensor and from the second sensor;
- receive motion data of the vehicle at a processor;
- and
- estimate a location of the point and an uncertainty range for the location of the point relative to the vehicle based on a motion model, wherein the motion model is based at least in part on the data from the first and second sensors when the point is in both the first field of view and the second field of view;
- and
- upon determining the point exited the first field of view, update the estimated uncertainty range based on the data received from the second sensor and based on dead reckoning;
- wherein the location of the point in the motion model at a specified time is determined by using the uncertainty range at a previous time.
5 more elements
Dependencies are inferred from the claim text.