Abstract: An example device for detecting objects includes a processing system configured to receive values from one or more sensors of a vehicle; calculate a normalized innovation squared (NIS) value using the values from the one or more sensors and a predicted state formed by an object tracking unit of the vehicle; determine weight values to be used to weight the values from the one or more sensors and the predicted state according to a comparison of the NIS value to one or more thresholds; and apply the weight values to the values from the one or more sensors and the predicted state to determine an updated state of positions of objects near the vehicle. The device may determine the weight values using a Kalman Filter or Covariance Intersection, based on a comparison of the NIS value to the thresholds.

Abstract: A driver assistance apparatus being configured to determine an object position sequence for each of a plurality of objects and generate an object track to approximate each respective object position sequence. The apparatus also sorts the object tracks in to at least one object group according to the value of at least one parameter of each of the object tracks. For each object group, a swarm function is generated to approximate the object position sequences of the object tracks that are members of the respective object group. A swarm lane is generated according to each the swarm function, the swarm lane portion representing a portion of a lane. A corresponding method is also provided.

Abstract: A driver assistance apparatus being configured to determine an object position sequence for each of a plurality of objects and generate an object track to approximate each respective object position sequence. The apparatus also sorts the object tracks in to at least one object group according to the value of at least one parameter of each of the object tracks. For each object group, a swarm function is generated to approximate the object position sequences of the object tracks that are members of the respective object group. A swarm lane is generated according to each the swarm function, the swarm lane portion representing a portion of a lane. A corresponding method is also provided.