# US 12,761,871 B2 · Systems, devices and/or processes for verification of data sorting operations > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,761,871 B2 - Document ID: US12761871B2 - Status: Granted - Kind: B2 - Application number: 18/063,568 - Filed: 2022-12-08 - Published: 2024-06-13 - Granted: 2026-10-13 - Earliest claimed: 2022-12-08 - Assignees: Mercedes-Benz Group AG - Applicants: Mercedes-Benz Group AG - Inventors: Suresh Govindachar - Web page: https://patentgrep.com/patent/US12761871B2 ## CPC - G06F 7/08: Sorting, i.e. grouping record carriers in numerical or other ordered sequence according to the classification of at least some of the information they carry (by merging two or more sets of carriers in ordered sequence G06F7/16) - B60W 60/001: {Planning or execution of driving tasks} - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract Subject matter disclosed herein may relate to systems, devices, and/or processes for verification of data sorting operations, such as for those that occur in automated driving vehicles. ## Claims ### Claim 1 An apparatus, comprising: a plurality of sensors to generate a plurality of sensor signals and/or sensor signal packets; and a computing system that includes at least one processing circuit, wherein the at least one processing circuit is to: generate a first set of data elements, wherein each data element of the first set of data elements comprises a plurality of values, derived at least in part from the sensor signals and/or sensor signal packets, wherein the plurality of values respectively pertain to points within a spatial coordinate system; before the first set of data elements is sorted: check one or more local invariant parameter values of each data element of the first set of data elements, and generate a first set of global invariant parameter values for the first set of data elements independent of order of individual data elements; sort the first set of data elements in accordance with one or more specified parameters to generate a sorted set of data elements; after the first set of data elements is sorted, generate a second set of global invariant parameter values for the sorted first set of data elements; verify that the sorted set of data elements has been generated in accordance with the one or more specified parameters; verify (i) that each data element of the first set of data elements is included in the sorted set of data elements, (ii) that each data element of the sorted set of data elements is identical to a respective data element of the first set of data elements, and (iii) that no additional data elements have been introduced into the sorted set of data elements, by: a comparison between the first set of global invariant parameter values and the second set of global invariant parameter values, and a verification of the one or more local invariant parameter values for the first set of data elements against respective data elements of the sorted set of data elements after the sorting; update a particle filter based at least in part on the sorted and verified set of data elements; and affect one or more autonomous functions of a vehicle based at least in part on the updated particle filter, wherein the apparatus comprises the vehicle. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein: the at least one processing circuit is to update the particle filter by generating, based on the sorted set of data elements, an estimate or range of estimates for a variable that represents a vehicle environment surrounding the vehicle, and the at least one processing circuit is further to control a driver assistance function or an autonomous or automated driving function of the vehicle based on the estimate or range of estimates for the variable which represents the vehicle environment. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the spatial coordinate system is divided into a plurality of grid cells, and wherein, to sort the first set of data elements in accordance with the one or more specified parameters, the at least one processing circuit is to: group the first set of data elements into a plurality of subsets based at least in part on which respective grid cells are the respective points of the data elements located within; and order the plurality of subsets with respect to distance of the respective grid cells from a specified point along a specified axis and/or trajectory within the spatial coordinate system. ### Claim 4 (depends on 2) The apparatus of claim 2, wherein the first set of data elements are associated with respective time values, and wherein, to sort the first set of data elements in accordance with the one or more specified parameters, the at least one processing circuit is to: select the first set of data elements based at least in part on a specified period of time; and order the first set of data elements with respect to temporal proximity between: (i) the respective time values associated with the first set of data elements and (ii) a specified point in time. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the one or more local invariant parameter values are derived at least in part from the data elements of the first set of data elements. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the first set of global invariant parameters values for the first set of data elements are derived at least in part from the first set of data elements and are further derived independent of any particular order of the data elements of the first set of data elements. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the comparison between the first set of global invariant parameter values and the second set of global invariant parameter values is configured to verify that each data element of the first set of data elements is included in the sorted set of data elements and that no additional data elements have been introduced into the sorted set of data elements. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein at least one global invariant parameter value of the first set of global invariant parameter values for the first set of data elements is based on a sum of a plurality of values respectively representative of the data elements of the first set of data elements and/or is based on a number of data elements within the first set of data elements. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the at least one processing circuit is further to, before sorting the first set of data elements and to check the one or more local invariant parameter values, determine whether the data elements of the first set of data elements respectively include the one or more local invariant parameter values. ### Claim 10 (depends on 9) The apparatus of claim 9, wherein at least one local invariant parameter value of the one or more local invariant parameter values is based on an error correction code. ### Claim 11 (depends on 9) The apparatus of claim 9, wherein the at least one processing circuit is further to, before sorting the first set of data elements, for one or more of the data elements of the first set of data elements determined to not include the one or more local invariant parameter values, generate the one or more local invariant parameter values for the respective one or more of the data elements of the first set of data elements determined to not include the one or more local invariant parameter values. ### Claim 12 (depends on 9) The apparatus of claim 9, wherein the verification, of the one or more local invariant parameter values for the first set of data elements against respective data elements of the sorted set of data elements after the sorting, is configured to verify that the data elements of the sorted set of data elements are identical to the respective data elements of the first set of data elements. ### Claim 13 A method comprising: generating, via at least one processing circuit of a computing system of a vehicle, a first set of data elements, wherein each data element of the first set of data elements comprises a plurality of values, derived at least in part from sensor signals and/or sensor signal packets obtained from a plurality of sensors of the vehicle, wherein the plurality of values respectively pertain to points within a spatial coordinate system; before sorting the first set of data elements: checking one or more local invariant parameter values of each data element of the first set of data elements, and generating a first set of global invariant parameter values for the first set of data elements independent of order of individual data elements; sorting, via the at least one processing circuit, the first set of data elements in accordance with one or more specified parameters to generate a sorted set of data elements; after the sorting, generating a second set of global invariant parameter values for the sorted first set of data elements; verifying, via the at least one processing circuit, that the sorted set of data elements has been generated in accordance with the one or more specified parameters; verifying, via the at least one processing circuit, (i) that data elements of the first set of data elements are included in the sorted set of data elements, (ii) that data elements of the sorted set of data elements are identical to respective data elements of the first set of data elements, and (iii) that no additional data elements have been introduced into the sorted set of data elements, by: a comparison between the first set of global invariant parameter values and the second set of global invariant parameter values, and a verification of the one or more local invariant parameter values for the first set of data elements against respective data elements of the sorted set of data elements after the sorting; updating, via the at least one processing circuit, a particle filter based at least in part on the sorted and verified set of data elements; and affecting, via the at least one processing circuit, one or more autonomous functions of the vehicle based at least in part on updating the particle filter. ### Claim 14 (depends on 13) The method of claim 13, wherein the spatial coordinate system is divided into a plurality of grid cells, wherein sorting the first set of data elements in accordance with the one or more specified parameters comprises grouping the first set of data elements into a plurality of subsets based at least in part on which respective grid cells are the respective points of the data elements located within, and wherein sorting the first set of data elements in accordance with the one or more specified parameters further comprises ordering the plurality of subsets with respect to distance of the respective grid cells from a specified point along a specified axis and/or trajectory within the spatial coordinate system. ### Claim 15 (depends on 13) The method of claim 13, wherein the first set of global invariant parameter values for the first set of data elements are derived at least in part from the set of data elements and are further derived independent of any particular order of the data elements of the first set of data elements. ### Claim 16 (depends on 15) The method of claim 15, wherein the comparison between the first set of global invariant parameter values and the second set of global invariant parameter values is configured for verifying that the data elements of the first set of data elements are included in the sorted set of data elements and that no additional data elements have been introduced into the sorted set of data elements. ### Claim 17 (depends on 16) The method of claim 16, wherein a particular global invariant parameter value of the first set of global invariant parameter values for the first set of data elements comprises a sum of a plurality of values respectively representative of the data elements of the first set of data elements and/or comprises a number of elements within the first set of data elements. ### Claim 18 (depends on 13) The method of claim 13, wherein the verification, of the one or more local invariant parameter values for the first set of data elements against respective data elements of the sorted set of data elements after the sorting, is configured for verifying that the data elements of the sorted set of data elements are identical to the respective data elements of the first set of data elements. ### Claim 19 (depends on 18) The method of claim 18, wherein at least one of the one or more local invariant parameter values comprises an error correction code. ### Claim 20 An article, comprising: a non-transitory storage medium having computer-readable instructions stored thereon that are executable by at least one processing circuit of a computing system of a vehicle to: generate a first set of data elements, wherein each data element of the first set of data elements comprises a plurality of values, derived at least in part from sensor signals and/or sensor signal packets obtained from one or more sensors of the vehicle, wherein the plurality of values respectively pertain to points within a spatial coordinate system; before the first set of data elements is sorted: check one or more local invariant parameter values of each data element of the first set of data elements, and generate a first set of global invariant parameter values for the first set of data elements independent of order of individual data elements; sort the first set of data elements in accordance with one or more specified parameters to generate a sorted set of data elements; after the first set of data elements is sorted, generate a second set of global invariant parameter values for the sorted first set of data elements; verify that the sorted set of data elements has been generated in accordance with the one or more specified parameters; verify (i) that each data element of the first set of data elements is included in the sorted set of data elements, (ii) that each data element of the sorted set of data elements is identical to respective data elements of the first set of data elements and (iii) that no additional data elements have been introduced into the sorted set of data elements, by: a comparison between the first set of global invariant parameter values and the second set of global invariant parameter values, and a verification of the one or more local invariant parameter values for the first set of data elements against respective data elements of the sorted set of data elements after the sorting; update a particle filter based at least in part on the sorted and verified set of data elements; and affect one or more autonomous functions of the vehicle based at least in part on the updated particle filter.