Abstract: Methods and systems for multi-hypothesis object tracking for automated driving systems. One system includes an electronic processor configured to receive environment information and generate pseudo-measurement data associated with an object within an environment of the vehicle. The electronic processor is also configured to determine, based on the environment information and the pseudo-measurement data, a set of association hypotheses regarding the object. The electronic processor is also configured to determine, based on the set of association hypotheses, an object state of the object. The electronic processor is also configured to control the vehicle based on the determined object state.

Abstract: A system for a reliability of objects for a driver assistance or automated driving of a vehicle includes a plurality of sensors that include one or more sensor modalities for providing sensor data for the objects. An electronic tracking unit is configured to receive the sensor data to determine a detection probability (p_D) for each of the plurality of sensors for each of the objects, to determine an existence probability (p_ex) for each of the plurality of sensors for each of the objects, and to provide vectors for each of the objects based on the existence probability (p_ex) for each contributing one of the plurality of sensors for the specific object. The vectors are provided by the electronic tracking unit for display as an object interface on a display device. The vectors are independent from the sensor data from the plurality of sensors.

Abstract: Redundant environment perception tracking for automated driving systems. One example embodiment provides a surveillance system, the system including a plurality of sensors, a memory, and an electronic processor. The electronic processor is configured to receive, from the plurality of sensors, environmental information of a common field of view, generate, based on the environmental information, a plurality of hypotheses regarding an object within the common field of view, the plurality of hypotheses including at least one set of hypotheses excluding the environmental information from at least one sensor of a first sensor type, determine, based on a subset of the plurality of hypotheses, an object state of the object, wherein the subset includes the at least one set of hypotheses excluding the environmental information from the at least one sensor of the first sensor type, and track the object based on the object state that is determined.

Abstract: Methods and systems for controlling an autonomous vehicle. The method includes receiving sensor data from a plurality of sensors, determining, a plurality of probability hypotheses based upon the sensor data, and receiving metadata from at least one sensor of the plurality of sensors. An integrity level of at least one of the plurality of probability hypotheses is determined based upon the received metadata and at least one action is determined based upon the determined integrity level and at least one probability hypothesis of the plurality of probability hypotheses. The at least one action is then initiated by an electronic controller for the vehicle.

Abstract: Redundant environment perception tracking for automated driving systems. One example embodiment provides a surveillance system, the system including a plurality of sensors, a memory, and an electronic processor. The electronic processor is configured to receive, from the plurality of sensors, environmental information of a common field of view, generate, based on the environmental information, a plurality of hypotheses regarding an object within the common field of view, the plurality of hypotheses including at least one set of hypotheses excluding the environmental information from at least one sensor of a first sensor type, determine, based on a subset of the plurality of hypotheses, an object state of the object, wherein the subset includes the at least one set of hypotheses excluding the environmental information from the at least one sensor of the first sensor type, and track the object based on the object state that is determined.

Abstract: Redundant environment perception tracking for automated driving systems. One example embodiment provides an automated driving system for a vehicle, the system including a plurality of sensors, a memory, and an electronic processor. The electronic processor is configured to receive, from the plurality of sensors, environmental information of a common field of view, generate, based on the environmental information, a plurality of hypotheses regarding an object within the common field of view, the plurality of hypotheses including at least one set of hypotheses excluding the environmental information from at least one sensor of a first sensor type, determine, based on a subset of the plurality of hypotheses, an object state of the object, wherein the subset includes the at least one set of hypotheses excluding the environmental information from the at least one sensor, and perform a vehicular maneuver based on the object state that is determined.

Abstract: Methods and systems for controlling an autonomous vehicle. The method includes receiving sensor data from a plurality of sensors, determining, a plurality of probability hypotheses based upon the sensor data, and receiving metadata from at least one sensor of the plurality of sensors. An integrity level of at least one of the plurality of probability hypotheses is determined based upon the received metadata and at least one action is determined based upon the determined integrity level and at least one probability hypothesis of the plurality of probability hypotheses. The at least one action is then initiated by an electronic controller for the vehicle.

Abstract: Methods and systems for multi-hypothesis object tracking for automated driving systems. One system includes an electronic processor configured to receive environment information and generate pseudo-measurement data associated with an object within an environment of the vehicle. The electronic processor is also configured to determine, based on the environment information and the pseudo-measurement data, a set of association hypotheses regarding the object. The electronic processor is also configured to determine, based on the set of association hypotheses, an object state of the object. The electronic processor is also configured to control the vehicle based on the determined object state.

Abstract: Redundant environment perception tracking for automated driving systems. One example embodiment provides an automated driving system for a vehicle, the system including a plurality of sensors, a memory, and an electronic processor. The electronic processor is configured to receive, from the plurality of sensors, environmental information of a common field of view, generate, based on the environmental information, a plurality of hypotheses regarding an object within the common field of view, the plurality of hypotheses including at least one set of hypotheses excluding the environmental information from at least one sensor of a first sensor type, determine, based on a subset of the plurality of hypotheses, an object state of the object, wherein the subset includes the at least one set of hypotheses excluding the environmental information from the at least one sensor, and perform a vehicular maneuver based on the object state that is determined.

Abstract: A system for a reliability of objects for a driver assistance or automated driving of a vehicle includes a plurality of sensors that include one or more sensor modalities for providing sensor data for the objects. An electronic tracking unit is configured to receive the sensor data to determine a detection probability (p_D) for each of the plurality of sensors for each of the objects, to determine an existence probability (p_ex) for each of the plurality of sensors for each of the objects, and to provide vectors for each of the objects based on the existence probability (p_ex) for each contributing one of the plurality of sensors for the specific object. The vectors are provided by the electronic tracking unit for display as an object interface on a display device. The vectors are independent from the sensor data from the plurality of sensors.