A method and apparatus for modeling the environment proximate an autonomous system. The method and apparatus accesses vision data, assigns semantic labels to points in the vision data, processes points that are identified as being a drivable surface (ground) and performs an optimization over the identified points to form a surface model. The model is subsequently used for detecting objects, planning, and mapping.

The invention relates to a method and a motor vehicle comprising a sensor assembly for a 360° detection of the motor vehicle surroundings. The sensor assembly has multiple sensors of the same type, wherein each of the multiple sensors has a specified detection region and the sensors are distributed around the exterior of the motor vehicle such that the detection regions collectively provide a complete detection zone which covers the surroundings in a complete angle about the motor vehicle at a specified distance from the motor vehicle. The sensors are each designed to detect the surroundings in their respective detection region as respective sensor data in respective successive synchronized time increments. The sensor assembly has a pre-processing mechanism which fuses the sensor data of each of the sensors in order to generate a three-dimensional image of the surroundings for a respective identical time increment and provides same in a common database.

Some embodiments include a method of generating an environment reference model for positioning comprising: receiving multiple data sets representing a scanned environment including information about a type of sensor used and data for determining an absolute position of objects or feature points represented by the data sets; extracting one or more objects or feature points from each data set; determining a position of each object or feature point in a reference coordinate system; generating a three-dimensional vector representation of the scanned environment aligned with the reference coordinate system including representation of the objects or feature points at corresponding locations; creating links between the objects or feature points in the three-dimensional vector model with an identified type of sensor by which they can be detected in the environment; and storing the three-dimensional vector model representation and the links in a retrievable manner.

An outside sensor unit includes an outside sensor, a main bracket, a support bracket, a rotation device, and a position adjustment device. The outside sensor detects the outside of a vehicle. The main bracket is attached to a vehicle body. The support bracket supports the outside sensor and is attached to the main bracket. The rotation device has a rotation axis line which is substantially parallel to a roll axis of the vehicle and connects the support bracket and the main bracket together rotatably around the rotation axis line. The position adjustment device is capable of adjusting the relative rotation position between the support bracket and the main bracket around the rotation axis line.

A radar authentication method includes after obtaining output data of a to-be-authenticated radar, a computer device that first invokes a prediction model to obtain predicted data of the to-be-authenticated radar based on the output data of the to-be-authenticated radar, where the prediction model is obtained through training based on output data of a target radar. Then the computer device verifies, based on the predicted data of the to-be-authenticated radar and the output data of the to-be-authenticated radar, whether the to-be-authenticated radar and the target radar are the same radar.

A system for detecting an obstacle includes a detection sensor configured to detect a movement direction or movement speed of a target within a detection range of a vehicle, and form a tracking point for the detected target to track a movement of the target; and a controller configured to extend and track the tracking point based on the movement direction or the movement speed of the target tracked when the tracking point deviates from the detection range.

A system for virtual aperture array radar tracking includes a transmitter that transmits first and second probe signals; a receiver array including a first plurality of radar elements positioned along a first radar axis; and a signal processor that calculates a target range from first and second reflected probe signals, corresponds signal instances of the first reflected probe signal to physical receiver elements of the radar array, corresponds signal instances of the second reflected probe signal to virtual elements of the radar array, calculates a first target angle between a first reference vector and a first projected target vector from the first reflected probe signal, and calculates a position of the tracking target relative to the radar array from the target range and first target angle.

A driving control method is provided in which a processor configured to control driving of a vehicle acquires detection information around a vehicle on the basis of a detection condition that can be set for each point; extracts events which the vehicle encounters, on the basis of the detection information; creates a driving plan in which a driving action is defined for each of the events on the basis of the detection information acquired in the events; executes a driving control instruction for the vehicle in accordance with the driving plan; and determines the detection condition on the basis of the content of the driving action defined for each of the events.

An electronic system for a vehicle includes: a first module including: a first circuit board having a predetermined form factor; a first module on the first circuit board and including a plurality of pins; a first electrical connector disposed on a first surface of the first circuit board and including a plurality of pins; and a plurality of electrical conductors connecting the pins of the first electrical connector with the pins of the first module, respectively; and a second module including: a second circuit board having the predetermined form factor; a second module on the second circuit board and including a plurality of pins; a second electrical connector disposed on a first surface of the second circuit board and including a plurality of pins, the second electrical connector coupled to the first electrical connector.

Aspects of the present disclosure involve systems, methods, and devices for fault detection in a Lidar system. A fault detection system obtains incoming Lidar data output by a Lidar system during operation of an AV system. The incoming Lidar data includes one or more data points corresponding to a fault detection target on an exterior of a vehicle of the AV system. The fault detection system accesses historical Lidar data that is based on data previously output by the Lidar system. The historical Lidar data corresponds to the fault detection target. The fault detection system performs a comparison of the incoming Lidar data with the historical Lidar data to identify any differences between the two sets of data. The fault detection system detects a fault condition occurring at the Lidar system based on the comparison.