# US 12,762,846 B2 · Method for collecting data for subsequent training of an object detection model > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,762,846 B2 - Document ID: US12762846B2 - Status: Granted - Kind: B2 - Application number: 18/816,624 - Filed: 2024-08-27 - Published: 2025-03-06 - Granted: 2026-10-13 - Earliest claimed: 2024-08-27 - Assignees: Zenseact AB - Applicants: Zenseact AB - Inventors: Olle Månsson; Willem Verbeke - Web page: https://patentgrep.com/patent/US12762846B2 ## CPC - G06V 10/774: Generating sets of training patterns; Bootstrap methods, e.g. bagging or boosting - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - G08G 1/0125: {Traffic data processing} - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract The present invention relates to a method for collecting data for subsequent training of an object detection model of an automated driving system. The method includes, in response to detecting an evasive maneuver of the vehicle or a further road user, obtaining sensor data pertaining to a scene at which the evasive maneuver was detected; determining by the object detection model, whether an object is detected in the scene based on the sensor data; and in response to no object being detected, storing the sensor data for subsequent training of the object detection model. The present invention further relates to a method performed in a server. ## Claims ### Claim 1 A method for collecting data for subsequent training of an object detection model of an automated driving system, the method being performable by a vehicle, comprising the steps of: in response to detecting an evasive maneuver of the vehicle or a further road user, obtaining sensor data pertaining to a scene at which the evasive maneuver was detected; determining, by the object detection model, whether an object is detected in the scene based on the sensor data; and in response to no object being detected, storing the sensor data for subsequent training of the object detection model. ### Claim 2 (depends on 1) The method according to claim 1, further comprising: obtaining additional sensor data pertaining to the scene at which the evasive maneuver was detected; and storing said additional sensor data as additional data for subsequent training of the object detection model. ### Claim 3 (depends on 1) The method according to claim 1, wherein the evasive maneuver is a maneuver deviating from an expected trajectory of the vehicle or the further road user. ### Claim 4 (depends on 3) The method according to claim 3, wherein the expected trajectory is formed based on a lane estimation model. ### Claim 5 (depends on 1) The method according to claim 1, wherein detecting the evasive maneuver is based on a lateral movement of the vehicle or the further road user. ### Claim 6 (depends on 1) The method according to claim 1, further comprising transmitting the sensor data pertaining to the scene at which the evasive maneuver was detected to a server. ### Claim 7 (depends on 1) The method according to claim 1, further comprising storing a geographical location of the scene at which the evasive maneuver was detected. ### Claim 8 (depends on 1) A non-transitory computer readable storage medium storing instructions, which when the program is executed by a computing device, causes the computing device to carry out the method according to claim 1. ### Claim 9 A method for collecting data for subsequent training of an object detection model of an automated driving system, the method being performable by a server, comprising the steps of: receiving, from a vehicle, data indicative of having detected an evasive maneuver of the vehicle or a further road user, despite no object being detected by the object detection model in a scene at which the evasive maneuver was detected; receiving sensor data pertaining to the scene at which the evasive maneuver was detected; storing the sensor data for subsequent training of the object detection model. ### Claim 10 (depends on 9) The method according to claim 9, wherein the sensor data pertaining to the scene at which the evasive maneuver was detected is received in response to transmitting a request for the sensor data to the vehicle. ### Claim 11 (depends on 10) The method according to claim 10, wherein the data indicative of having detected an evasive maneuver of the vehicle or the further road user further comprises a geographical location at which the evasive maneuver was detected, wherein transmitting request for the sensor data is performed in response to a number of evasive maneuvers detected at geographic locations within a defined geographic area exceeds a threshold value. ### Claim 12 (depends on 9) The method according to claim 9, further comprising assigning annotation data to the sensor data; wherein storing the sensor data for subsequent training of the object detection model is performed in response to the annotation data being indicative of an object being present in the scene; and wherein, in response to the annotation data being indicative of no object being present in the scene, the method further comprises storing the sensor data for subsequent training of a lane estimation model of the automated driving system. ### Claim 13 (depends on 9) A non-transitory computer readable storage medium storing instructions, which when the program is executed by a computing device, causes the computing device to carry out the method according to claim 9. ### Claim 14 A vehicle enabled for collecting data for subsequent training of an object detection model configured to detect objects in a surrounding environment of a vehicle, the vehicle comprising: one or more sensors; and control circuitry configured to: in response to detecting an evasive maneuver of the vehicle or a further road user, obtain sensor data pertaining to a scene at which the evasive maneuver was detected; determine, by the object detection model, whether an object is detected in the scene based on the sensor data; and in response to no object being detected, store the sensor data for subsequent training of the object detection model. ### Claim 15 A server for collecting data for subsequent training of an object detection model of an automated driving system, the server comprising control circuitry configured to: receive, from a vehicle, data indicative of having detected an evasive maneuver by the vehicle or a further road user, despite no object being detected by the object detection model in a scene at which the evasive maneuver was detected; receive sensor data pertaining to the scene at which the evasive maneuver was detected; and store the sensor data for subsequent training of the object detection model.