Patent ID: 11937153
Assignee: ROBERT BOSCH GMBH
Field: Computer technology (Electrical engineering)
Classification: CPC H  G | IPC G  H

Claim 0:
1. A method for improving an estimation of an existence probability of a plurality of objects that are detected using a plurality of sensors, the sensors being installed in a vehicle and/or infrastructure components, the method comprising the following steps:
a) estimating, by a tracker of each sensor of the sensors and/or by trackers of a group of sensors, a status of an object of the plurality of objects and its existence probability using a detection probability model;
b) merging the plurality of objects in a fusion list, and each object of the plurality of objects is assigned a state and the existence probability;
c) assigning each object of the fusion list sensor-specific or sensor-group-specific existence probabilities, which are respectively exhibited by the sensor and/or the sensor group;
d) assigning each object of the fusion list information indicating which sensor and/or which sensor group detected the respective object in a last measuring cycle;
e) comparing at least the sensor-specific and/or sensor-group-specific existence probabilities of fused existence probabilities and a sensor detection probability within a crosscheck, and ascertaining false negative cases and false positive cases for each sensor and/or sensor group;
f) storing the false negative cases and the false positive cases of each sensor or the sensor group ascertained according to step e) in accordance with a spatial position of the sensor or the sensor group in the fusion list according to step b) on a map specific to the sensor or the sensor group; and
g) using the false negative cases and the false positive cases stored in f), adapting a modeling of a detection and clutter probabilities via at least one feedback branch.