Detecting a parking row with a vehicle radar system
AssigneeArriver Software AB
InventorsAndreas Schmid, Christopher Unverdorben, Christian Pfaffenzeller
Life of this patent
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Abstract
A vehicle radar detection system arranged to be mounted in an ego vehicle and including at least one detector arrangement and at least one control unit arrangement. The detector arrangement is adapted to obtain a dataset initially including a number K of radar detections. The control unit arrangement is adapted to repeatedly determine a dominating line from the dataset of radar detections, remove radar detections associated with the dominating line from the dataset of radar detections until a first stopping criterion is fulfilled, thereby determining a plurality of lines from the number K of radar detections.
Claims20
A vehicle radar system arranged to be mounted in an ego vehicle and including:
- at least one detector arrangement;
- and
- at least one control unit arrangement,
- wherein the detector arrangement is configured to obtain a dataset initially including a number K of radar detections, and
- wherein the control unit arrangement is configured to, for determination of a plurality of lines corresponding to dominating lines of respective iterations from the number K of radar detections, repeatedly until a first stopping criterion is fulfilled:
- determine a dominating line for a current iteration from the dataset of radar detections for the current iteration, and
- update the dataset of radar detections for a next iteration based on removal of radar detections associated with the dominating line for the current iteration from the dataset of radar detections for the current iteration.
A method for a vehicle radar system arranged to be mounted in an ego vehicle, comprising:
- obtaining, by at least one detector of the vehicle radar system, a dataset initially including a number K of radar detections;
- and
- determining, by at least one controller of the vehicle radar system, a plurality of lines corresponding to dominating lines of respective iterations from the number K of radar detections by performing, repeatedly until a first stopping criterion is fulfilled:
- determining a dominating line for a current iteration from the dataset of radar detections for a current iteration, and
- updating the dataset of radar detections for a next iteration by removing radar detections associated with the dominating line for the current iteration from the dataset of radar detections for the current iteration.
A vehicle radar system arranged to be mounted in an ego vehicle and including:
- at least one detector arrangement;
- and
- at least one control unit arrangement,
- wherein the detector arrangement is configured to obtain a dataset initially including a number K of radar detections,
- wherein the control unit arrangement is configured to, for determination of a plurality of lines corresponding to dominating lines of respective iterations from the number K of radar detections, repeatedly until a first stopping criterion is fulfilled:
- determine a dominating line for a current iteration from the dataset of radar detections for the current iteration, and
- update the dataset of radar detections for a next iteration based on removal of radar detections associated with the dominating line for the current iteration from the dataset of radar detections for the current iteration, and
- wherein the control unit arrangement is further configured to, for determination of the dominating line for the current iteration:
- for determination of one or more temporary lines, repeatedly until a second stopping criterion is fulfilled:
- select at least two radar detections,
- determine one of the one or more temporary lines based on the at least two selected radar detections, and
- determine a set of inliers from the radar detections associated with the one of the one or more temporary lines, wherein an inlier is a radar detection that lies within a certain predetermined distance from the determined one of the one or more temporary lines;
- and
- based on the second stopping criterion being fulfilled, determine, from the one or more temporary lines, the dominating line as the temporary line associated with the set of inliers having largest cardinality.
Dependencies are inferred from the claim text.