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Part 1:  1  2  3  4  5  6          Part 2:  A  B  C  D  E 
International application No. Applicant's or agent's file reference
PCT/US2019/063849 QC190548WO
International filing date (day/month/year) (Earliest) Priority Date (day/month/year)
29 November 2019 30 November 2018
FOR FURTHER ACTION: See Form PCT/ISA/220 as well as, where applicable, item 5 below.
This international search report has been prepared by this International Searching Authority and is transmitted to the applicant according to Article 18. A copy is being transmitted to the International Bureau.
It is also accompanied by a copy of each prior art document cited in this report.
1. Basis of the report
a. With regard to the language, the international search was carried out on the basis of:
the international application in the language in which it was filed.
a translation of the international application into                                          which is the language of a translation furnished for the purposes of international search (Rules 12.3(a) and 23.1(b)).
This international search report has been established taking into account the rectification of an obvious mistake authorized by or notified to this Authority under Rule 91 (Rule 43.6bis(a)).
With regard to any nucleotide and/or amino acid sequence disclosed in the international application, the international search was carried out on the basis of a sequence listing:
2. Certain claims were found unsearchable
3. Unity of invention is lacking
This International Searching Authority found multiple inventions in this international application, as follows:
1. claims: 1-3, 16, 25
Deep learning or neural network for radar object recognition. Problem solved: self/machine-learning object recognition.
1.1. claim: 16
Radar and lidar raw data fusion / concatenation prior to neural network action of radar frames. Problem solved: complement sensor/coverage data, see description, [0082] (radar for long range, lidar for short range).
2. claims: 4-6, 9, 10, 26, 27
Use of local spatial convolution applying different weights, of shallow neural network, of explicit transformation on each weight, or of only key frames. Problem solved: reduce computational load, see description [0063-0065, 0071].
3. claims: 7, 8
Suppression of bounding boxes with respective uncertainty estimation. Problem solved: Object tracking / grouping in multi-object environments, see description, [0066-0067], Fig. 6.
4. claims: 11, 28
Using separate feature extraction layers of the neural network for each of a set of slices comprising a range-azimuth slice, a range-Doppler slice, and an azimuth-Doppler slice. Problem solved: Dimension reduction or improved performance for object classification and detection at the compute back-end, see description [0072].
5. claims: 12, 18-24, 29, 30
Coordinate transformation ego / world or polar / Cartesian. Problem solved: Ego motion compensation, see description, [0073-0076], Fig. 9.
6. claims: 13, 17
Neural network is trained using annotations from lidar and or camera data for subset of radar frames; also two separate branches of neural net may be used for radar and lidar prior to concatenation of these data. Problem solved: mutual sensor calibration/cross-check, see description [0079-0081, 0083], Fig. 11.
7. claims: 14, 15
Normalizing  the radar frames prior to execution of the neural network. Problem solved: Gain in radar data accuracy (approximately 1%), see description, [0059].
As all required additional search fees were timely paid by the applicant, this international search report covers all searchable claims.
As all searchable claims could be searched without effort justifying additional fees, this Authority did not invite payment of additional fees.
As only some of the required additional search fees were timely paid by the applicant, this international search report covers only those claims for which fees were paid, specifically claims Nos.:
No required additional search fees were timely paid by the applicant. Consequently, this international search report is restricted to the invention first mentioned in the claims; it is covered by claims Nos.: 1-3, 16, 25
Remark on Protest
The additional search fees were accompanied by the applicant’s protest and, where applicable, the payment of a protest fee.
The additional search fees were accompanied by the applicant’s protest but the applicable protest fee was not paid within the time limit specified in the invitation.
No protest accompanied the payment of additional search fees.
4. Title of the invention
The text is approved as submitted by the applicant.
The text has been established by this Authority to read as follows:
5. Abstract
The text is approved as submitted by the applicant.
The text has been established, according to Rule 38.2, by this Authority as it appears in Box No. IV. The applicant may, within one month from the date of mailing of this international search report, submit comments to this Authority.
6. Drawings
The figure of the drawings to be published with the abstract is Figure No.     15    
as suggested by the applicant.
as selected by this Authority, because the applicant failed to suggest a figure.
as selected by this Authority, because this figure better characterizes the invention.
none of the figures is to be published with the abstract.


     G01S 7/41 (2006.01)i; G01S 13/86 (2006.01)i; G01S 13/89 (2006.01)i; G01S 13/931 (2020.01)i; G01S 17/89 (2020.01)i; G01S 17/931 (2020.01)i; G06N 3/02 (2006.01)i; G06K 9/00 (2006.01)n; G06N 3/04 (2006.01)n
According to International Patent Classification (IPC) or to both national classification and IPC


Minimum documentation searched (classification system followed by classification symbols):
     G01S; G06N; G06K
Documentation searched other than minimum documentation to the extent that such documents are included in the fields searched:
Electronic data base consulted during the international search (name of data base and, where practicable, search terms used):
EPO-Internal, WPI Data


Category* Citation of document, with indication, where appropriate, of the relevant passages Relevant to claim No.
ANGELOV ALEKSANDAR ET AL, "Practical classification of different moving targets using automotive radar and deep neural networks", IET RADAR SONAR NAVIGATION, THE INSTITUTION OF ENGINEERING AND TECHNOLOGY, UK,Vol. 12, No. 10, 01 October 2018 (2018-10-01), page 1082-1089,
the whole document
DE 102017207442 A1 (SCANIA CV AB) 08 November 2018 (2018-11-08)
paragraphs [0006], [0028], [0032]; figures 1,2
WO 0113141 A2 (AUTOMOTIVE SYSTEMS LAB [US]) 22 February 2001 (2001-02-22)
page 10, line 21 - page 16, line 5; figures 2, 6, 7, 9
Special categories of cited documents:
document defining the general state of the art which is not considered to be of particular relevance
document cited by the applicant in the international application
earlier application or patent but published on or after the international filing date
document which may throw doubts on priority claim(s) or which is cited to establish the publication date of another citation or other special reason (as specified)
document referring to an oral disclosure, use, exhibition or other means
document published prior to the international filing date but later than the priority date claimed
later document published after the international filing date or priority date and not in conflict with the application but cited to understand the principle or theory underlying the invention
document of particular relevance; the claimed invention cannot be considered novel or cannot be considered to involve an inventive step when the document is taken alone
document of particular relevance; the claimed invention cannot be considered to involve an inventive step when the document is combined with one or more other such documents, such combination being obvious to a person skilled in the art
document member of the same patent family


Patent document cited in search report Publication date
Patent family member(s) Publication date
DE 102017207442 A1
08 November 2018
DE 102017207442 A1
WO 2018202552 A1
08 November 2018
08 November 2018
WO 0113141 A2
22 February 2001
DE 60032573 T2
EP 1121608 A1
JP 2003507716 A
US 6366236 B1
WO 0113141 A2
04 October 2007
08 August 2001
25 February 2003
02 April 2002
22 February 2001
Name and mailing address of the ISA/:
European Patent Office
P.B. 5818, Patentlaan 2, 2280 HV Rijswijk,
Telephone No. (+31-70)340-2040
Facsimile No. (+31-70)340-3016
Date of the actual completion of the international search:
11 February 2020
Date of mailing of the international search report:
25 June 2020
Authorized officer:
Schmelz, Christian
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