Abstract: Provided is method for determining free space surrounding a device, the method comprising: acquiring radar data regarding each of one or more radar antennas, the acquired radar data comprising range data and range rate data; extracting, from the acquired radar data, a specific set of radar data having values equal to or below a noise-based threshold; and determining a free space around the device based on the extracted specific set of radar data.

Abstract: A method of determining an uncertainty estimate of an estimated velocity of an object includes, determining the uncertainty with respect to a first estimated coefficient and a second estimated coefficient of the velocity profile equation of the object. The first estimated coefficient being assigned to a first spatial dimension of the estimated velocity and the second estimated coefficient being assigned to a second spatial dimension of the estimated velocity. The velocity profile equation represents the estimated velocity in dependence of the first estimated coefficient and the second estimated coefficient. The method also includes determining the uncertainty with respect to an angular velocity of the object, a first coordinate of the object in the second spatial dimension, and a second coordinate of the object in the first spatial dimension.

Abstract: Disclosed herein are methods of determining a layout for a parking area. In an aspect, a method includes determining environmental information about a surrounding environment of a vehicle moving in a parking area from sensing data provided by a sensing system of the vehicle; extracting parameters associated with parking slots identified from the environmental information; determining layout models for the parking area based at least on the extracted parameters, each layout model including an underlaying parking slot template; assigning to each of the determined layout models a confidence score; and selecting the layout model of the parking area having the highest confidence score as a current layout model used to determine the layout, the selected layout model is updated over time based on the confidence scores assigned to the layout models generated from sensing data collected while the vehicle is moving.

Abstract: This disclosure describes a radar system configured to estimate a yaw-rate and an over-the-ground (OTG) velocity of extended targets in real-time based on raw radar detections. This disclosure further describes techniques for determining instantaneous values of lateral velocity, longitudinal velocity, and yaw rate of points of a rigid body in a radar field-of-view (FOV) of the radar system.

Abstract: This disclosure describes a radar system configured to estimate a yaw-rate and an over-the-ground (OTG) velocity of extended targets in real-time based on raw radar detections. This disclosure further describes techniques for determining instantaneous values of lateral velocity, longitudinal velocity, and yaw rate of points of a rigid body in a radar field-of-view (FOV) of the radar system.

Abstract: This disclosure describes a radar system configured to estimate a yaw-rate and an over-the-ground (OTG) velocity of extended targets in real-time based on raw radar detections. This disclosure further describes techniques for determining instantaneous values of lateral velocity, longitudinal velocity, and yaw rate of points of a rigid body in a radar field-of-view (FOV) of the radar system.

Abstract: A computer-implemented method for determining awareness data includes determining occlusion information related to a surrounding of a vehicle, determining a viewing direction of an occupant of the vehicle, and determining awareness data representing the occupant's awareness of the surrounding based on the occlusion information and the viewing direction.

Abstract: A method of determining an uncertainty estimate of an estimated velocity of an object includes, determining the uncertainty with respect to a first estimated coefficient and a second estimated coefficient of the velocity profile equation of the object. The first estimated coefficient being assigned to a first spatial dimension of the estimated velocity and the second estimated coefficient being assigned to a second spatial dimension of the estimated velocity. The velocity profile equation represents the estimated velocity in dependence of the first estimated coefficient and the second estimated coefficient. The method also includes determining the uncertainty with respect to an angular velocity of the object, a first coordinate of the object in the second spatial dimension, and a second coordinate of the object in the first spatial dimension.

Abstract: The present invention relates to a method of estimating a velocity magnitude of a moving target in a horizontal plane using radar signals received by a radar detection system, the radar detection system being configured to resolve multiple dominant points of reflection, i.e. to receive a plurality of radar signals from the moving target in a single measurement instance of a single, wherein each of the resolved points of reflection is described by data relating to a range, an azimuth angle and a raw range rate of the points of reflection in said single radar measurement instance. The invention further relates to a radar detection system.

Abstract: A method of determining an uncertainty estimate of an estimated velocity of an object includes, determining the uncertainty with respect to a first estimated coefficient and a second estimated coefficient of the velocity profile equation of the object. The first estimated coefficient being assigned to a first spatial dimension of the estimated velocity and the second estimated coefficient being assigned to a second spatial dimension of the estimated velocity. The velocity profile equation represents the estimated velocity in dependence of the first estimated coefficient and the second estimated coefficient. The method also includes determining the uncertainty with respect to an angular velocity of the object, a first coordinate of the object in the second spatial dimension, and a second coordinate of the object in the first spatial dimension.

Abstract: Provided is method for determining free space surrounding a device, the method comprising: acquiring radar data regarding each of one or more radar antennas, the acquired radar data comprising range data and range rate data; extracting, from the acquired radar data, a specific set of radar data having values equal to or below a noise-based threshold; and determining a free space around the device based on the extracted specific set of radar data.

Abstract: A computer-implemented method for determining awareness data includes determining occlusion information related to a surrounding of a vehicle, determining a viewing direction of an occupant of the vehicle, and determining awareness data representing the occupant's awareness of the surrounding based on the occlusion information and the viewing direction.

Abstract: A method to determine the heading or orientation of a target vehicle by a host vehicle, said host vehicle equipped with a lidar or radar system, said system including a sensor unit adapted to receive signals emitted from said host vehicle and reflected by said target vehicle, comprising: a) determining at least one reference angle being an initial estimate of target heading or orientation (?); b) emitting a signal from said system and determining a plurality of point radar or lidar detections belonging to said a target vehicle, said point detections having co-ordinates in the horizontal plane; c) formulating an initial rectangular boundary box from said point detections, where the bounding box is formulated such that such that two edges of the boundary box are drawn parallel to the reference angle and two sides are perpendicular to the reference angle and such that all the detections are either on the bounding box sides or lay within the bounding box and each edge has at least one detection point on it; d) fo

Abstract: A method of determining the de-aliased range rate of a target in a horizontal plane by a host vehicle equipped with a radar system, said radar system including a radar sensor unit adapted to receive signals emitted from said host vehicle and reflected by said target, comprising: emitting a radar signal at a single time-point instance and determining from a plurality (m) of point radar detections measurements therefrom captured from said radar sensor unit, the values for each point detection of, azimuth and range rate; [?i, {dot over (r)}i]; for each point detection determining a range rate compensated value ({dot over (r)}i,cmp); c) determining a plurality (j) of velocity profile hypotheses; for each (j-th) hypothesis determining modified compensated hypothesis range rates ({dot over (r)}i,j,cmp) in respect of each point detection on the target, based on the values of range rate compensated ({dot over (r)}i,cmp); for each j-th hypothesis, determining values of the longitudinal and lateral components of the ra

Abstract: A method of determining an uncertainty estimate of an estimated velocity of an object includes, determining the uncertainty with respect to a first estimated coefficient and a second estimated coefficient of the velocity profile equation of the object. The first estimated coefficient being assigned to a first spatial dimension of the estimated velocity and the second estimated coefficient being assigned to a second spatial dimension of the estimated velocity. The velocity profile equation represents the estimated velocity in dependence of the first estimated coefficient and the second estimated coefficient. The method also includes determining the uncertainty with respect to an angular velocity of the object, a first coordinate of the object in the second spatial dimension, and a second coordinate of the object in the first spatial dimension.

Abstract: The present invention relates to a method of estimating a velocity magnitude of a moving target in a horizontal plane using radar signals received by a radar detection system, the radar detection system being configured to resolve multiple dominant points of reflection, i.e. to receive a plurality of radar signals from the moving target in a single measurement instance of a single, wherein each of the resolved points of reflection is described by data relating to a range, an azimuth angle and a raw range rate of the points of reflection in said single radar measurement instance. The invention further relates to a radar detection system.

Abstract: A method to determine the heading or orientation of a target vehicle by a host vehicle, said host vehicle equipped with a lidar or radar system, said system including a sensor unit adapted to receive signals emitted from said host vehicle and reflected by said target vehicle, comprising: a) determining at least one reference angle being an initial estimate of target heading or orientation (?); b) emitting a signal from said system and determining a plurality of point radar or lidar detections belonging to said a target vehicle, said point detections having co-ordinates in the horizontal plane; c) formulating an initial rectangular boundary box from said point detections, where the bounding box is formulated such that such that two edges of the boundary box are drawn parallel to the reference angle and two sides are perpendicular to the reference angle and such that all the detections are either on the bounding box sides or lay within the bounding box and each edge has at least one detection point on it; d) fo

Abstract: A method of determining the de-aliased range rate of a target in a horizontal plane by a host vehicle equipped with a radar system, said radar system including a radar sensor unit adapted to receive signals emitted from said host vehicle and reflected by said target, comprising: emitting a radar signal at a single time-point instance and determining from a plurality (m) of point radar detections measurements therefrom captured from said radar sensor unit, the values for each point detection of, azimuth and range rate; [?i, {dot over (r)}i]; for each point detection determining a range rate compensated value ({dot over (r)}i,cmp); c) determining a plurality (j) of velocity profile hypotheses; for each (j-th) hypothesis determining modified compensated hypothesis range rates ({dot over (r)}i,j,cmp) in respect of each point detection on the target, based on the values of range rate compensated ({dot over (r)}i,cmp); for each j-th hypothesis, determining values of the longitudinal and lateral components of the ra

Abstract: A method of determining the yaw rate ({circumflex over (?)}t) of a target vehicle in a horizontal plane by a host vehicle equipped with a radar system, said radar system including a radar sensor unit adapted to receive signals emitted from said host vehicle by said target, comprising: emitting a radar signal at a single time-point instance and determining from a plurality (m) of point radar detections measurements captured from said target vehicle by said radar sensor unit in said single radar measurement instance, the values for each point detection of range, azimuth and range rate; [ri, ?i, {dot over (r)}i]; determining the values of the longitudinal and lateral components of the range rate equation of the target (ct, st) from the results ({dot over (r)}i, ?i,) and the sensor unit or host vehicle longitudinal velocity and vs is the sensor unit or host vehicle lateral velocity; determining the orientation angle of the target (?t,scs); determining the target center (xt and yt) from the results (ri, ?i); deter