Fusion activity shall publish Fused objects output within 50 ms after receiving camera, lidar, and radar observations whose capture-time spread does not exceed 50 ms and whose age does not exceed 100 ms.
Supply camera, lidar, and radar observations with capture-time spread of at most 50 ms and age of at most 100 ms. A fused-object list must be published within 50 ms after the complete input set is received.
Fusion activity shall publish position, relative velocity, confidence, and time to collision for every forward object correlated from observations of at least two sensors.
Provide correlated observations of a forward object from at least two sensors. Each such published object must contain position, relative velocity, confidence, and time to collision.
Supply an observation older than 100 ms. It must not contribute to the fused-object list, and fusion health must be published as degraded within 50 ms.
Fusion activity shall set Fusion health output to degraded and publish only objects supported by both remaining sensors within 50 ms if exactly one sensor is unavailable and the other two sensor inputs remain valid.
Make one sensor unavailable while the other two remain valid. Within 50 ms, fusion health must be degraded and the fused-object list must contain only objects supported by both remaining sensors; an object seen by only one of them must be absent.
Fusion activity shall not publish an object with confidence of at least 90 percent unless two sensor observations agree within 1.5 m position difference and 2 m/s relative-velocity difference.
Provide observations differing by more than 1.5 m in position, then separately by more than 2 m/s in relative velocity. No object based only on either disagreeing pair may be published with confidence of 90 percent or greater.