Rivian IP Holdings, LLC

Sowmya Gade

Gary Fay

Aziz Umit Batur

Systems and methods for asynchronous late-fusion of measurements. State information and intermediate values may be calculated as measurements arrive and are stored. When late sensor measurements arrive out of the temporal order in which the measurements were generated, the late measurements are stored in temporal order rather than the order in which measurements arrive. State information is then recalculated to account for the late-arriving sensor measurement, with state outputs propagated forward in temporal order using the previously computed intermediate values to speed up computation. In this manner, more accurate revised state information is efficiently generated, accounting for any late-arriving measurements. This modular processing framework also enables sensors to be added or changed, which may cause measurements to arrive asynchronously, without having to reprogram the processing framework.

Modular architecture for asynchronous late-fusion of objects

A sensor fusion system and method are disclosed. One or more processors are operable to receive a plurality of object detection measurements from a plurality of sensors. Each of the plurality of object detection measurements are associated with a potential object detection track. A plurality of sensor confidence values associated with each of the plurality of sensors are received. A track confidence value is determined for each of the potential object detection tracks based on the received plurality of object detection measurements and the received plurality of sensor confidence values. An object detection for a potential object detection track that has a determined track confidence value meeting a predetermined detection threshold is then determined, or confirmed, and stored in a memory for subsequent use, and is relatively unaffected by a measurement from a sensor that has a field of view that omits or is occluded with respect to the given object detection track.

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Redwood City, CA, United States of America

Sowmya Gade