Motion classification using low-level detections

A system comprising:

• a radar system configured to receive radar signals reflected by one or more objects in a vicinity of a host vehicle for a data cycle;
• a processor configured to:
• identify, using the radar signals, one or more detections associated with each of the one or more objects, the one or more detections associated with a particular object of the one or more objects representing a fused detection for the particular object;
• determine, for each fused detection, whether the fused detection indicates that the particular object is moving;
• in response to determining that the fused detection indicates that the particular object is moving, increment a consecutive motion counter associated with the particular object;
• in response to determining that the consecutive motion counter associated with the particular object has a value greater than a threshold counter value, set a consecutive motion flag associated with the particular object as true;
• determine whether the fused detection associated with the particular object has a longitudinal velocity component greater than a motion threshold by:
• (i) determining, for each fused detection and using vision data from one or more cameras of the host vehicle, an object type of the particular object;
• (ii) setting the motion threshold based on the object type of the particular object;
• and (iii) comparing the longitudinal velocity component associated with the particular object to the motion threshold;
• set a moving flag associated with the particular object as true if the consecutive motion flag associated with the particular object is set as true and the longitudinal velocity component of the fused detection associated with the particular object has a velocity component that is greater than the motion threshold;
• in response to setting the moving flag associated with the particular object as true, increment a historical motion counter associated with the particular object;
• and
• operate, based on a status of the moving flag and the historical motion counter associated with each of the one or more objects, the host vehicle in a roadway.

A non-transitory computer-readable storage media comprising computer-executable instructions that, when executed by a processor, cause the processor to:

• obtain, from a radar system for a data cycle, radar signals reflected by one or more objects in a vicinity of a host vehicle;
• identify, using the radar signals, one or more detections associated with each of the one or more objects, the one or more detections associated with a particular object of the one or more objects representing a fused detection for the particular object;
• determine, for each fused detection, whether the fused detection indicates that the particular object is moving;
• in response to determining that the fused detection indicates that the particular object is moving, increment a consecutive motion counter associated with the particular object;
• in response to determining that the consecutive motion counter associated with the particular object has a value greater than a threshold counter value, set a consecutive motion flag associated with the particular object as true;
• determine whether the fused detection associated with the particular object has a longitudinal velocity component greater than a motion threshold by:
• (i) determining, for each fused detection and using vision data from one or more cameras of the host vehicle, an object type of the particular object;
• (ii) setting the motion threshold based on the object type of the particular object;
• and (iii) comparing the longitudinal velocity component associated with the particular object to the motion threshold;
• set a moving flag associated with the particular object as true if the consecutive motion flag associated with the particular object is set as true and the longitudinal velocity component of the fused detection associated with the particular object has a velocity component that is greater than the motion threshold;
• in response to setting the moving flag associated with the particular object as true, increment a historical motion counter associated with the particular object;
• and
• operate, based on a status of the moving flag and the historical motion counter associated with each of the one or more objects, the host vehicle in a roadway.