# US 2023/0054590 A1 · Validation of surrounding objects percieved by an ads-equipped vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0054590 A1 - Document ID: US20230054590A1 - Status: Published application - Kind: A1 - Application number: 17/892,226 - Filed: 2022-08-22 - Published: 2023-02-23 - Earliest claimed: 2021-08-23 - Applicants: Zenseact AB - Inventors: Andrew BACKHOUSE; Daniel SVENSSON; Abu Sajana RAHMATHULLAH; Jacek SZYMONIK; Malin LUNDGREN - Web page: https://patentgrep.com/patent/US20230054590A1 ## CPC - B60W 50/0205: {Diagnosing or detecting failures; Failure detection models} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G05D 1/021: {specially adapted to land vehicles} - 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 - G08G 1/165: {for passive traffic, e.g. including static obstacles, trees} - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - G01S 13/862: {Combination of radar systems with sonar systems} - G01S 13/865: {Combination of radar systems with lidar systems} - G01S 13/867: {Combination of radar systems with cameras} - G01S 13/931: of land vehicles - 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 - 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}) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract An object validation system for validating perceived surrounding objects to support safety-critical threat assessment governing emergency maneuvering of an ADS on-board a vehicle. The system stores in respective sensor/modality-specific data buffers, respective sensor/modality-specific sensor data obtained at least during a predeterminable time interval continuously and/or intermittently from one or more vehicle-mounted surrounding detecting sensors. The system determines 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. The system evaluates one or more of the respective sensor/modality-specific data buffers, separately, in view of the object data. The system also determines 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. ## Claims ### Claim 1 A method performed by 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 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. ### Claim 2 (depends on 1) The method according to claim 1, further comprising: disabling the perceived object from being considered in safety-critical threat assessment when the perceived object is determined an unvalidated object. ### Claim 3 (depends on 2) The method according to claim 2, further comprising: enabling the perceived object to be considered in safety-critical threat assessment when the perceived object is determined a validated object. ### Claim 4 (depends on 1) The method according to claim 1, further comprising: enabling the perceived object to be considered in safety-critical threat assessment when the perceived object is determined a validated object. ### Claim 5 (depends on 1) The method according to claim 1, wherein the matching criteria comprises finding a match for one or more of a predeterminable number of and combination of the one or more respective sensor/modality-specific data buffers. ### Claim 6 (depends on 1) The method according to claim 1, wherein the matching criteria comprises fulfilling predeterminable overlap criteria. ### Claim 7 (depends on 6) The method according to claim 6, wherein the predeterminable overlap criteria stipulates conditions for one or more of object class overlap, object region overlap and object state overlap. ### Claim 8 (depends on 1) The method according to claim 1, wherein the evaluating comprises comparison of error regions deduced from potential sensor measurement errors and error regions deduced from safety requirements associated with the perceived object's states. ### Claim 9 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. ### Claim 10 (depends on 9) The object validation system according to claim 9, further comprising: a disabling unit for disabling the perceived object from being considered in safety-critical threat assessment when the perceived object is determined an unvalidated object. ### Claim 11 (depends on 10) The object validation system according to claim 10, further comprising: an enabling unit configured to enable the perceived object to be considered in safety-critical threat assessment when the perceived object is determined a validated object. ### Claim 12 (depends on 9) The object validation system according to claim 9, further comprising: an enabling unit configured to enable the perceived object to be considered in safety-critical threat assessment when the perceived object is determined a validated object. ### Claim 13 (depends on 9) The object validation system according to claim 9, wherein the matching criteria comprises finding a match for one or more of a predeterminable number of and combination of the one or more respective sensor/modality-specific data buffers. ### Claim 14 (depends on 9) The object validation system according to claim 9, wherein the matching criteria comprises fulfilling predeterminable overlap criteria. ### Claim 15 (depends on 14) The object validation system according to claim 14, wherein the predeterminable overlap criteria stipulates conditions for one or more of object class overlap, object region overlap and object state overlap. ### Claim 16 (depends on 9) The object validation system according to claim 9, wherein the evaluating unit is adapted for comparison of error regions deduced from potential sensor measurement errors and error regions deduced from safety requirements associated with the perceived object's states. ### Claim 17 (depends on 9) The object validation system according to claim 9, wherein the object validation system in comprised in a vehicle. ### Claim 18 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. ### Claim 19 (depends on 18) The non-volatile computer readable storage medium according to claim 18, wherein the method further comprises: disabling the perceived object from being considered in safety-critical threat assessment when the perceived object is determined an unvalidated object. ### Claim 20 (depends on 18) The non-volatile computer readable storage medium according to claim 18, wherein the method further comprises: enabling the perceived object to be considered in safety-critical threat assessment when the perceived object is determined a validated object.