US 12,007,503 B2 · Method and apparatus for rear cross collision warning

Abstract

A method with rear cross collision warning includes: dividing a surrounding area of a host vehicle into a plurality of cells arranged in lateral and longitudinal directions; creating a grid map on which cells, among the plurality of cells, corresponding to positions where a stationary object around the host vehicle is viewed are classified as occupied cells; determining a position of a reflective structure reflecting radar signals based on a positional relationship between the occupied cells on the grid map; and determining, based on the determined position of the reflective structure and either one of a position of a tracking target viewed by the radar and moving direction of the tracking target, whether the tracking target is a ghost tracking target.

Claims17

Dependent claims

A method for providing a rear cross collision warning,

comprising:
dividing an area around a host vehicle into a plurality of cells arranged in lateral and longitudinal directions;
creating a grid map on which cells, among the plurality of cells, corresponding to positions where a stationary object around the host vehicle is viewed are classified as occupied cells;
determining a position, with respect to the host vehicle, of a reflective structure reflecting radar signals based on a positional relationship between the occupied cells on the grid map;
and
determining, based on the determined position of the reflective structure and a moving direction and velocity of the tracking target, whether the tracking target is a ghost tracking target.

3 more elements

An apparatus with rear cross collision warning, comprising:

a radar configured to view an object in a surrounding area of a host vehicle;
and
a controller configured to:
divide a surrounding area of the host vehicle into a plurality of cells in lateral and longitudinal directions, and create a grid map on which cells, among the plurality of cells, corresponding to positions where a stationary object around the host vehicle is viewed are classified as occupied cells;
determine a position of a reflective structure, with respect to the host vehicle, reflecting radar signals of the radar, based on a positional relationship between the occupied cells on the grid map;
and
determine, based on the determined position of the reflective structure and a moving direction and velocity of a tracking target viewed by the radar, whether the tracking target is a ghost tracking target.

4 more elements

Dependencies are inferred from the claim text.

Method and apparatus for rear cross collision warning

Life of this patent

Method and apparatus for rear cross collision warning

Life of this patent

Abstract

Claims17