Prioritized Sensor Data Processing Using Map Information For Automated Vehicles
An object-detection system for an automated vehicle includes an object-detector, a digital-map, and a controller. The object-detector is used to observe a field-of-view proximate to a host-vehicle. The digital-map is used to indicate a roadway-characteristic proximate to the host-vehicle. The controller is configured to define a region-of-interest within the field-of-view based on the roadway-characteristic, and preferentially-process information from the object-detector that corresponds to the region-of-interest.
1 . An object-detection system for an automated vehicle, said system comprising:
an object-detector used to observe a field-of-view proximate to a host-vehicle;
a digital-map used to indicate a roadway-characteristic proximate to the host-vehicle; and
a controller configured to define a region-of-interest within the field-of-view based on the roadway-characteristic, and preferentially-process information from the object-detector that corresponds to the region-of-interest.
2 . The system in accordance with claim 1 , wherein the system includes a vehicle sensor used to indicate a speed of the host-vehicle, and the controller is further configured to define the region-of-interest based on the speed of the host-vehicle.
3 . The system in accordance with claim 1 , wherein the system includes a vehicle sensor used to indicate a yaw-rate of the host-vehicle, and the controller is further configured to define the region-of-interest based on the yaw-rate.
4 . The system in accordance with claim 1 , wherein the system is configured to determine which of a plurality of object-tests is used to identify an object in the region-of-interest based on the roadway-characteristic.
5 . The system in accordance with claim 1 , wherein the object-detector includes a plurality of sensors, and the controller is further configured to vary an update-rate of a sensor based on the roadway-characteristic.
6 . The system in accordance with claim 1 , wherein the object-detector includes a plurality of sensors, and the controller is further configured to select which of the plurality of sensors to use based on the roadway-characteristic.
7 . The system in accordance with claim 1 , wherein the object-detector includes a plurality of sensors, and the controller is further configured to vary an angular-resolution of a sensor based on the roadway-characteristic.
8 . The system in accordance with claim 1 , wherein the object-detector includes a plurality of sensors, and the controller is further configured to extend a range of a sensor based on the roadway-characteristic.
9 . The system in accordance with claim 1 , wherein the object-detector includes a plurality of sensors, and the controller is further configured to increase a signal-to-noise of a sensor measurement based on the roadway-characteristic.
10 . The system in accordance with claim 1 , wherein the object-detector includes a camera, and the controller is further configured to vary the field-of-view of the camera based on the roadway-characteristic.