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Abstract

This application discloses a computing system to implement pre-tracking sensor event detection and fusion in an assisted or automated driving system of a vehicle. The computing system can receive an environmental model including sensor measurement data from different types of sensors in the vehicle. The computing system can identify, on a per-sensor type basis, patterns in the sensor measurement data indicative of possible objects proximate to the vehicle. The computing system can associate the patterns in the sensor measurement data from different types of the sensors to identify detection events corresponding to the possible objects proximate to the vehicle. The computing system also can generate values and confidence levels corresponding to properties of the detection events. The computing system can utilize the detection events and corresponding values and confidence levels to pre-classify, identify, and track objects in the environment model.

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