Radar detection prioritization based on downstream feedback
Methods and systems are described that enable radar detection prioritization based on downstream feedback. As a vehicle is traveling in a travel corridor, radar detections are received by a processor and feedback related to a downstream function is received from another processor that is executing the downstream function. For the radar detections that are determined to be within the travel corridor, respective priorities are assigned based on locations of the radar detections and the feedback related to the downstream function. The radar detections with the assigned priorities are then stored in a detection buffer along with indications of their respective assigned priorities. In this way, the detection buffer may be optimized for the downstream function by filtering out certain detections and prioritizing others. Consequently, computational loads on the downstream function are reduced while ensuring that important detections are received by the downstream function early.
1. A method comprising:
receiving, by a processor of a vehicle, radar detections as the vehicle is traveling in a travel corridor, the radar detections having associated locations relative to the vehicle;
receiving, from another processor of the vehicle, feedback related to a downstream function executed by the other processor as the vehicle is traveling in the travel corridor;
determining, based on the locations of the radar detections and the feedback related to the downstream function, whether any of the radar detections are within the travel corridor; and
for at least one of the radar detections that are within the travel corridor:
assigning, by the processor, a priority to the respective radar detection based on at least one Frenet coordinate of the respective radar detection; and
storing, by the processor, in a detection buffer, the respective radar detection along with an indication of the assigned priority; and
providing the at least one of the radar detections along with the respective indications of assigned priority to the downstream function.
2. The method of claim 1 , further comprising:
determining, by the processor, whether the respective radar detection is stationary,
wherein assigning the priority to the respective radar detection is based further on whether the respective radar detection is stationary.
3. The method of claim 1 , wherein assigning the priority to the respective radar detection is based further on one or more radar sensor limits or one or more calibration constants.
4. The method of claim 1 , wherein the travel corridor comprises a portion of a roadway that corresponds to a direction the vehicle is traveling.
5. The method of claim 1 , further comprising, for at least one of the radar detections that are not within the travel corridor, refraining from storing, in the detection buffer, the at least one of the radar detections that are not within the travel corridor.
6. The method of claim 1 , further comprising removing, by the processor, the indications of the assigned priority from the radar detections that are in the detection buffer after a predetermined time.
7. The method of claim 1 :
wherein the locations are received in Cartesian coordinates;
further comprising converting, by the processor, the Cartesian coordinates to Frenet coordinates based on the feedback.
8. The method of claim 7 , wherein the feedback comprises a plurality of coefficients and one or more constants.
9. The method of claim 8 , wherein:
the plurality of coefficients correspond to a polynomial representation of the travel corridor;
the one or more constants correspond to lateral offsets that define extents of the travel corridor;
the coefficients are used to convert the Cartesian coordinates to the Frenet coordinates; and
the constants are used to determine whether any of the radar detections are within the travel corridor.
10. A system configured to be implemented in a vehicle, the system comprising:
a processor;
computer-readable storage media comprising instructions that, when executed by the processor, cause the processor to:
receive radar detections as the vehicle is traveling in a travel corridor, the radar detections having associated locations relative to the vehicle;
receive from another processor of the vehicle, feedback related to a downstream function executed by the other processor as the vehicle is traveling in the travel corridor;
determine, based on the locations of the radar detections and the feedback related to the downstream function, whether any of the radar detections are within the travel corridor; and
for at least one of the radar detections that are within the travel corridor:
assign a priority to the respective radar detection based on at least one Frenet coordinate of the respective radar detection; and
store, in a detection buffer, the respective radar detection along with an indication of the assigned priority; and
provide the at least one of the radar detections along with the respective indications of assigned priority to the downstream function.
11. The system of claim 10 , wherein:
the instructions further cause the processor to determine whether the respective radar detection is stationary; and
assigning the priority to the respective radar detection is based further on whether the respective radar detection is stationary.
12. The system of claim 10 , wherein assigning the priority to the respective radar detection is based further on one or more radar sensor limits or one or more calibration constants.
13. The system of claim 10 , wherein the travel corridor comprises a portion of a roadway that corresponds to a direction the vehicle is traveling.
14. The system of claim 10 , wherein the instructions further cause the processor to, for at least one of the radar detections that are not within the travel corridor, refrain from storing, in the detection buffer, the at least one of the radar detections that is not within the travel corridor.
15. The system of claim 10 , wherein the instructions further cause the processor to remove the indications of the assigned priority from the radar detections that are in the detection buffer after a predetermined time.
16. The system of claim 10 , wherein:
the locations are received in Cartesian coordinates;
the instructions further cause the processor to convert the Cartesian coordinates to Frenet coordinates based on the feedback.
17. The system of claim 16 , wherein the feedback comprises a plurality of coefficients and one or more constants.
18. The system of claim 17 , wherein:
the plurality of coefficients correspond to a polynomial representation of the travel corridor;
the one or more constants correspond to lateral offsets that define extents of the travel corridor;
the coefficients are used to convert the Cartesian coordinates to the Frenet coordinates; and
the constants are used to determine whether any of the radar detections are within the travel corridor.
19. The method of claim 2 , wherein assigning the priority to the respective radar detection comprises selecting an equation for calculating the priority from a plurality of equations based on whether the respective radar detection is stationary.
20. The system of claim 11 , wherein assigning the priority to the respective radar detection comprises selecting an equation for calculating the priority from a plurality of equations based on whether the respective radar detection is stationary.