Long-term object tracking supporting autonomous vehicle navigation
AssigneeMotional AD LLC
InventorsHamed Kiani GALOOGAHI, Caglayan DICLE
Life of this patent
Estimating the term…
Abstract
This disclosure relates in general to systems and methods for tracking objects proximate an autonomous vehicle. In particular, an object tracking system capable of re-identifying objects it has temporarily lost line of sight to is described. Re-identification of the objects allows earlier object detections to be used more effectively to predict motion likely to be taken by the objects.
Claims20
A method, comprising:
- capturing sensor data using a sensor of an autonomous vehicle;
- detecting, using a processing circuit, an object from the sensor data, wherein detecting the object includes creating detection data;
- associating, using the processing circuit, the detection data with first tracking data;
- obtaining, using the processing circuit, second tracking data that meets a stale-track criteria;
- comparing, using the processing circuit, the first tracking data to the second track data;
- and
- in accordance with a determination that the comparison of the first tracking data and the second tracking data meets matching criteria:
- associating, using the processing circuit, the second tracking data with the first tracking data;
- and
- navigating, using a control circuit, the autonomous vehicle based at least in part on the second tracking data.
A non-transitory computer-readable storage medium storing instructions configured to be executed by one or more circuits of a computing device that cause the computing device to carry out steps that include:
- capturing sensor data using a sensor of an autonomous vehicle;
- detecting, using a processing circuit, an object from the sensor data, wherein detecting the object includes creating detection data;
- associating, using the processing circuit, the detection data with first tracking data;
- obtaining, using the processing circuit, second tracking data that meets a stale-track criteria;
- comparing, using the processing circuit, the first tracking data to the second track data;
- and
- in accordance with a determination that the comparison of the first tracking data and the second tracking data meets a matching criteria:
- associating, using the processing circuit, the second tracking data with the first tracking data;
- and
- navigating, using a control circuit, the autonomous vehicle based at least in part on the second tracking data.
An autonomous vehicle, comprising:
- a sensor;
- a processing circuit;
- a control circuit;
- and
- memory storing one or more programs configured to be executed by the circuits of the autonomous vehicle, the one or more programs including instructions for:
- capturing sensor data using the sensor;
- detecting, using the processing circuit, an object from the sensor data, wherein detecting the object includes creating detection data;
- associating, using the processing circuit, the detection data with first tracking data;
- obtaining, using the processing circuit, second tracking data that meets a stale-track criteria;
- comparing, using the processing circuit, the first tracking data to the second track data;
- and
- in accordance with a determination that the comparison of the first tracking data and the second tracking data meets a matching criteria:
- associating, using the processing circuit, the second tracking data with the first tracking data;
- and
- navigating, using the control circuit, the autonomous vehicle based at least in part on the second tracking data.
Dependencies are inferred from the claim text.