# US 11,079,488 B2 · DBSCAN parameters as function of sensor suite configuration > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,079,488 B2 - Document ID: US11079488B2 - Status: Granted - Kind: B2 - Application number: 15/978,693 - Filed: 2018-05-14 - Published: 2019-11-14 - Granted: 2021-08-03 - Earliest claimed: 2018-05-14 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: Ishai Eljarat; Gonen Barkan; Igal Bilik - Web page: https://patentgrep.com/patent/US11079488B2 ## CPC - G01S 13/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46) - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - G01S 7/411: {Identification of targets based on measurements of radar reflectivity (G01S7/415 takes precedence)} - G01S 13/582: {adapted for simultaneous range and velocity measurements} - G01S 13/726: {Multiple target tracking} - G01S 13/878: {Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S13/874 takes precedence)} - G01S 13/931: of land vehicles - G06F 18/23: Clustering techniques - G01S 13/867: {Combination of radar systems with cameras} - G01S 15/66: Sonar tracking systems - G01S 15/931: of land vehicles - G01S 17/931: of land vehicles - G01S 2013/9324: {Alternative operation using ultrasonic waves} - G01S 2013/93271: {in the front of the vehicles} - G01S 2015/935: {for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space} - G06F 18/2321: using statistics or function optimisation, e.g. modelling of probability density functions - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A vehicle, radar system and method of detecting an object is disclosed. The radar system includes plurality of sensors a plurality of sensors, wherein a field of view of one of the plurality of sensors overlaps a field of view of at least another of the plurality of sensors at a region, and a processor. The processor is receives from the plurality of sensors a detection from the region, the detection related to an object, determines an overlap value for the region, adjusts a density parameter of a clustering criterion based on the overlap value, and determines a valid clustering of the detection with a neighboring detection using the adjusted density parameter. ## Claims ### Claim 1 A system suitable for operating a vehicle, comprising: a plurality of sensors, wherein a field of view of one of the plurality of sensors overlaps a field of view of at least another of the plurality of sensors at a region; and a processor configured to: receive from the plurality of sensors a plurality of detections related to an object in a region; determine an overlap value for the region; adjust a density parameter of a clustering criterion based on the overlap value; select a detection from the plurality of detections; group the selected detection and at least one neighboring detection as a cluster using the adjusted density parameter; determine a parameter of the object from the cluster; and navigate the vehicle with respect to the object using the parameter. ### Claim 2 (depends on 1) The radar system of claim 1, wherein the processor is further configured to adjust the density parameter by adjusting at least one of a gate size of a clustering algorithm and a minimum points requirement of the clustering algorithm. ### Claim 3 (depends on 2) The method of claim 2, wherein the processor is further configured to adjust the gate size and minimum points requirement by multiplying the gate size and minimum points requirement by the overlap value for the region. ### Claim 4 (depends on 2) The method of claim 2, wherein the processor is further configured to adjust the at least one of a gate size and the minimum points requirement by a sensor alignment score. ### Claim 5 (depends on 1) The method of claim 1, wherein the processor is further configured to reduce a number of false noise signals from the clustering algorithm. ### Claim 6 (depends on 1) The radar system of claim 1, wherein the density parameter includes a gate size and a minimum points requirement and the processor is further configured to group the selected detection and the at least one neighboring detection as a cluster when a number of the selected detection and the at least one neighboring detection with a circle or sphere defined by the gate size is greater than the minimum points requirement. ### Claim 7 A vehicle, comprising: a plurality of radar sensors, wherein a field of view of one of the plurality of radar sensors overlaps a field of view of at least another of the plurality of radar sensors at a region; a processor configured to: receive from the plurality of radar sensors a plurality of detections related to an object in a region; determine an overlap value for the region; adjust a density parameter of a clustering criterion based on the overlap value; select a detection from the plurality of detections; group the selected detection and at least one neighboring detection as a cluster using the adjusted density parameter; determine a parameter of the object from the cluster; and navigate the vehicle with respect to the object using the parameter. ### Claim 8 (depends on 7) The vehicle of claim 7, wherein the processor is further configured to adjust the density parameter by adjusting at least one of a gate size of a clustering algorithm and a minimum points requirement of the clustering algorithm. ### Claim 9 (depends on 8) The vehicle of claim 8, wherein the processor is further configured to adjust the gate size and minimum points requirement by multiplying the gate size and minimum points requirement by the overlap value for the region. ### Claim 10 (depends on 8) The vehicle of claim 8, wherein the processor is further configured to adjust the at least one of a gate size and the minimum points requirement by a sensor alignment score. ### Claim 11 (depends on 7) The vehicle of claim 7, wherein the processor is further configured to reduce a number of false noise signals from the clustering algorithm. ### Claim 12 (depends on 7) The vehicle of claim 7, wherein the density parameter includes a gate size and a minimum points requirement and the processor is further configured to group the selected detection and the at least one neighboring detection as a cluster when a number of the selected detection and the at least one neighboring detection with a circle or sphere defined by the gate size is greater than the minimum points requirement.