Toyota Motor Engineering & Manufacturing North America, Inc.

Hansi Liu

Rui Guo

Hongsheng Lu

Takayuki Shimizu

A method for measuring a distance is provided. The method includes receiving a fine time measurement (FTM) message, extracting channel state information (CSI) from the FTM message, determining with a channel condition classifier a probability that the FTM message is multi-path based on the corresponding CSI, and discarding the FTM message in response to the probability that the FTM message is multi-path is above a threshold level of probability.

Methods, systems, and non-transitory mediums for augmented fine time measurement

A method includes calculating a first adaptive threshold based on uncertainty of a first parameter of a first collaborative perception message (CPM) from a first node and uncertainty of the first parameter of a second CPM from a second node, calculating a second adaptive threshold based on uncertainty of a second parameter of the first CPM and uncertainty of the second parameter of the second CPM, obtaining a first association matrix by filtering out one or more pairs whose score is greater than the first adaptive threshold, obtaining a second association matrix by filtering out one or more pairs whose score is greater than the second adaptive threshold, obtaining a fused association matrix based on the first association matrix and the second association matrix, and implementing a fusion algorithm on the fused associated matrix to obtain correspondence identification among objects.

Systems and methods for matching objects in collaborative perception messages using multiple adaptive thresholds

A method of matching objects in collaborative perception messages is provided. The method includes obtaining a first collaborative perception message (CPM) message from a first node, obtaining a second CPM from a second node, calculating an adaptive threshold based on uncertainty of the first CPM and uncertainty of the second CPM, calculating scores for pairs of objects, each of the pairs of objects including one object in the first CPM and one object in the second CPM, filtering out one or more pairs whose score is greater than the adaptive threshold to obtain a filtered matrix; and implementing a fusion algorithm on the filtered matrix to obtain correspondence identification among objects.

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New Brunswick, NJ, United States of America

Hansi Liu