Validation of surrounding objects percieved by an ads-equipped vehicle

An object validation system for validating perceived surrounding objects to support safety-critical threat assessment governing emergency maneuvering of an Automated Driving System, ADS, on-board a vehicle, the object validation system comprising:

• a sensor data storing unit configured to store, in respective sensor/modality-specific data buffers, respective sensor/modality-specific sensor data obtained one or more of at least during a predeterminable time interval continuously and intermittently from one or more vehicle-mounted surrounding detecting sensors;
• an object data determining unit configured to determine, with support from a perception module configured to generate perception data based on sensor data from one or more vehicle-mounted surrounding detecting sensors, object data of a perceived object valid for the time interval;
• an evaluating unit configured to evaluate one or more of the respective sensor/modality-specific data buffers, separately, in view of the object data;
• and
• a validation determining unit configured to determine that the perceived object is a validated object when the object data matches sensed objects in the one or more respective sensor/modality-specific data buffers according to predeterminable matching criteria, and otherwise is an unvalidated object.

A non-volatile computer readable storage medium having stored thereon a computer program that when executed causes at least one of a computer and a processor to perform a method for validating perceived surrounding objects to support safety-critical threat assessment governing emergency maneuvering of an Automated Driving System, ADS, on-board a vehicle, the method comprising:

• storing in respective sensor/modality-specific data buffers, respective sensor/modality-specific sensor data obtained at least during a predeterminable time interval at least one of continuously and intermittently from one or more vehicle-mounted surrounding detecting sensors;
• determining with support from a perception module configured to generate perception data based on sensor data from one or more vehicle-mounted surrounding detecting sensors, object data of a perceived object valid for the time interval;
• evaluating one or more of the respective sensor/modality-specific data buffers, separately, in view of the object data;
• and
• determining that the perceived object is a validated object when the object data matches sensed objects in the one or more respective sensor/modality-specific data buffers according to predeterminable matching criteria, and otherwise is an unvalidated object.