Patent Document ID: 9950683
Application ID: 15526128
Patent Status: 1

Claim One:
1. A vehicle safety system comprising a detection system and at least one control unit, where the detection system is arranged to detect objects ( 20 ), where the detection system includes at least two detectors, where the at least one control unit is configured to: determine that an object that is detected by an initial of the two detectors is classified as a confirmed object for the initial detector in a corresponding initial coverage area which the initial detector is arranged to cover; and an other detector is arranged to cover an adjacent coverage area, where an intermediate low quality confirmed object for the other detector is obtained from at least one detection in an overlapping area between the coverage areas of the two detectors the control unit further is configured to: determine whether at least one detection of the other detector of the two detectors is likely to originate from the same object, and if that is the case to classify a first preliminary detection of the other detector as the intermediate low quality confirmed object for the other detector, where a low quality confirmed object is considered as a more reliable detection than a preliminary detection of the other detection, and where a confirmed object is considered as a more reliable detection than the low quality confirmed object, determine that the other detector has detected the object for a first time at a first time (t 1 ) in the overlapping area, and to then classify the detection as the first preliminary detection, determine that the initial detector and the other detector have detected an object for a consecutive second time at a second time (t 2 ) in the overlapping area, where the detection of the initial detector is classified as a confirmed object and the detection of the other detector is classified as a second preliminary detection, determine whether the detection of the two detectors at the second time (t 2 ) are likely to originate from the same object, and if that is the case to classify the second preliminary detection as a confirmed object for the other detector from the low quality confirmed object and the second preliminary detection, and determine that the present detections from the two detectors are from a classified confirmed object in the overlapping area, and then to classify the present detections as a confirmed fused object.