Patent Document ID: 10160448
Application ID: 15346210
Patent Status: 1

Claim One:
1. A method comprising performing, by a vehicle controller: providing a plurality of sensors in data communication with the vehicle controller; receiving, from the plurality of sensors, a plurality of sensor outputs; detecting a first feature in a first output of the plurality of outputs received from a first sensor of the plurality of sensors; creating a tracklet corresponding to the first feature, the tracklet having a location and a trajectory determined according to the first output; detecting a second feature in a second output of the plurality of outputs received from a second sensor of the plurality of sensors; (a) determining that a second location of the second feature determined according to the second output corresponds to the location and the trajectory of the tracklet; in response to (a) updating the location and the trajectory of the tracklet according to the second output and increasing a probability associated with the tracklet according to the second output; detecting a third feature in a third output of the plurality of outputs received from the first sensor of the plurality of sensors after receiving the first output from the first sensor; (b) determining that a third location of the third feature determined according to the third output corresponds to the location and the trajectory of the tracklet; in response to (b) updating the location and the trajectory of the tracklet according to the third output and increasing the probability associated with the tracklet according to the third output; determining that the probability is sufficiently high to perform collision avoidance with respect to the tracklet; and actuating at least one of a steering actuator, an accelerator actuator, and a brake actuator effective to avoid the object in response to determining that the probability is sufficiently high to perform collision avoidance with respect to the tracklet.