Patent application EP17170139A (EP), filed 2017-05-09
Publication number: EP3401182A1
Title: APPARATUS FOR LANE DETECTION
Abstract: [0001]    An apparatus for a motor vehicle driver assistance system is provided. The apparatus is configured to optimise object clusters, where each object cluster includes a sequence of position measurements for at least one object in the vicinity of the vehicle. Initially, in a pre-clustering phase, the assignment of the measured object positions to the object clusters may be based on the relative proximity of the measured object positions. The apparatus identifies a rogue object cluster on the basis of a first diagnostic, and a rogue object track from the measurements within the rogue object cluster. The position measurements from the rogue object track are removed from the clusters, and remaining position measurements in the rogue object cluster are reassigned to the other object clusters. The rogue object cluster is removed. Thus the object clusters are optimised.
IPC codes: G08G   1/    01            A I
G08G   1/    04            A I
B60W  30/    10            A I
B60W  30/    12            A I
B60W  40/    04            A I
B60W  40/    06            A I
G06K   9/    00            A I
G08G   1/    16            A I
Claims: number: 1
text: An apparatus for a motor vehicle driver assistance system, the apparatus being operable to initialise and optimise a plurality of object clusters,
each of the object clusters including at least one object track, wherein each object track includes a plurality of sequential measurements of the position of a respective object located in the vicinity of the motor vehicle, and each object track has a track length,
the apparatus being configured to perform the following steps:
number: 2
text: An apparatus according to claim 1, further configured to repeat steps b) to g) until no rogue object cluster is identified.
number: 3
text: An apparatus according to claim 1 or claim 2, further configured to, in step b), determine whether or not each object cluster is confluent with each other object cluster.
number: 4
text: An apparatus according to any preceding claim, further configured to determine, for each object cluster in the collection, whether said each object cluster is an inner object cluster or an external object cluster.
number: 5
text: An apparatus according to claim 4, wherein the value of the first diagnostic for each inner object cluster is the number of other inner object clusters with which it is confluent, and;
wherein the value of the first diagnostic for each external object cluster is set to zero.
number: 6
text: An apparatus according to any preceding claim, wherein the rogue object cluster is the object cluster having the highest unique value of the first diagnostic.
number: 7
text: An apparatus according to any preceding claim, further configured to, in the event that two object clusters have identical values of the first diagnostic, calculate a value for a second diagnostic for at least each object cluster having the identical value of the first diagnostic, and wherein the identification of the rogue object cluster is further based on the value of the second diagnostic.
number: 8
text: An apparatus according to claim 7, wherein the value of a second diagnostic for each object cluster is equal to the number of contacts of it with the other object clusters.
number: 9
text: An apparatus according to claim 8, wherein the rogue object cluster is identified as the object cluster having the highest unique value of the second diagnostic.
number: 10
text: An apparatus according to claim 9, further configured to, in the event that two object clusters have identical values of the second diagnostic, calculate a value for a third diagnostic for at least each object cluster having the identical value of the second diagnostic, and wherein the identification of the rogue object cluster is further based on the value of the third diagnostic.
number: 11
text: An apparatus according to claim 10, wherein a value of the third diagnostic for each object cluster is equal to the number of parallelisms of it with the other object clusters.
number: 12
text: An apparatus according to claim 11, wherein the rogue object cluster is identified as the object cluster having the lowest unique value of the third diagnostic.
number: 13
text: A method for a motor vehicle driver assistance system, the method for initialising and optimising a plurality of object clusters,
each of the object clusters including at least one object track, wherein each object cluster includes a plurality of sequential measurements of the position of respective object located in the vicinity of the motor vehicle, and each object track has a track length,
the method including the following steps:
Office action: search_report, dated 2018-11-14
Rejection reasons: novelty_epc_54
Prior art cited: ref_id: WO2016090571A1
ref_type: patent
severity: background
ref_id: US2014358321A1
ref_type: patent
severity: background
ref_id: US2015025789A1
ref_type: patent
severity: background
ref_id: US2014358321
ref_type: patent
severity: background
ref_id: US2015025789
ref_type: patent
severity: background
ref_id: WO2016090571
ref_type: patent
severity: novelty_destroying
Final disposition: pending (2018-11-14)