Aptiv Technologies Limited

Aptiv Technologies Ag

Kumar Vishwajeet

Jan Konried Schiffmann

Wenbing Dang

Keerthi Raj Nagaraja

Franz P Schiffmann

David Aaron Schwartz

Bin Jia

Susan Chen

Sana Sarfraz

This document describes techniques, apparatuses, and systems for a grid-based road model with multiple layers. An example road-perception system generates a roadway grid representation that includes multiple cells. The road-perception system uses data from multiple information sources to generate a road model that includes multiple layers. Each layer represents a roadway attribute of each cell in the grid and includes one or more layer hypotheses. In this way, the described techniques and systems can provide an accurate and reliable road model and quantify uncertainty therein.

Grid-based road model with multiple layers

An illustrative example method of tracking an object includes detecting one or more points on the object over time to obtain a plurality of detections, determining a position of each of the detections, determining a relationship between the determined positions, and determining an estimated heading angle of the object based on the relationship.

Heading angle estimation for object tracking

An illustrative example method of classifying a detected object includes detecting an object, determining that an estimated velocity of the object is below a preselected threshold velocity requiring classification, determining a time during which the object has been detected, determining a first distance the object moves during the time determining a speed of the object from the first distance and the time, determining a second distance that a centroid of the detected object moves during the time, and classifying the detected object as a slow moving object or a stationary object based on a relationship between the first and second distances and a relationship between the estimated velocity and the speed.

Radar based tracking of slow moving objects

An illustrative example method of tracking a detected object comprises determining that a tracked object is near a host vehicle, determining an estimated velocity of the tracked object, and classifying the tracked object as frozen relative to stationary ground when the estimated velocity is below a preselected object threshold and a speed of the host vehicle is below a preselected host threshold.

Classifying potentially stationary objects tracked by radar

An illustrative example method of tracking a moving object includes determining an initial pointing angle of the object from a tracking device, determining an estimated position of a selected feature on the object based upon the initial pointing angle, determining a velocity vector at the estimated position, determining a lateral acceleration at the estimated position based upon the velocity vector and a yaw rate of the object, determining a sideslip angle of the selected feature based on the lateral acceleration, and determining a refined pointing angle of the object from the determined sideslip angle.

Method and system for determining the pointing angle of a moving object

An illustrative example method of tracking a moving object includes determining a heading angle of a centroid of the object from a tracking sensor, determining a raw difference value corresponding to a difference between a pointing angle of a selected feature on the object and the heading angle, wherein the raw difference is based on a trajectory curvature of the centroid from the tracking sensor and a distance between the centroid and the selected feature, determining a filtered difference between the pointing angle and the heading angle using a low pass filter, and determining the pointing angle by subtracting the filtered difference from the heading angle.

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Pasadena, CA, United States of America

Kumar Vishwajeet