# US 12,181,560 B2 · Method and device for tracking a movable target

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- Number: US 12,181,560 B2
- Document ID: US12181560B2
- Status: Granted
- Kind: B2
- Application number: 16/763,164
- Filed: 2018-11-09
- Published: 2021-12-30
- Granted: 2024-12-31
- Earliest claimed: 2017-11-10
- Assignees: Great Wall Motor Company Limited
- Applicants: Great Wall Motor Company Limited
- Inventors: Shunji Miyahara
- Web page: https://patentgrep.com/patent/US12181560B2

## CPC

- G01S 13/52: Discriminating between fixed and moving objects or between objects moving at different speeds
- G01S 13/931: of land vehicles
- G01S 7/415: {Identification of targets based on measurements of movement associated with the target}
- G01S 13/06: Systems determining position data of a target
- G01S 13/44: Monopulse radar, i.e. simultaneous lobing
- G01S 13/58: Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S 2013/93271: {in the front of the vehicles}
- 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

## Abstract

A method and device for tracking a movable target, relating to the technical field of tracking. In the situation where a tracked movable target travels at a low speed or stops traveling, whether the target is a stationary object or a tracked movable target can still be identified. The method for tracking a movable target comprises: acquiring radar monitoring data of all radar monitoring targets; extracting lateral position data of each radar monitoring target from the radar monitoring data; determining a lateral position change of each radar monitoring target according to the extracted lateral position data; and when the lateral position change of one or more radar monitoring targets from among all the radar monitoring targets is greater than a pre-set threshold value, determining that the one or more radar monitoring targets are tracked movable targets.

## Claims

### Claim 1

A method for tracking a movable target, comprising:
acquiring radar monitoring data of all of a plurality of radar monitoring targets;
extracting lateral position data of each of the plurality of radar monitoring targets from the radar monitoring data, wherein a lateral direction refers to a direction perpendicular to a traveling direction of the radar monitoring target;
determining lateral position changes of each of the plurality of radar monitoring targets according to the extracted lateral position data by:
performing frequency domain transformation on the extracted lateral position data, and
determining an average value of lateral position changes of each of the plurality of radar monitoring targets in multiple preset frequency bands after the frequency domain transformation; and
classifying the radar monitoring targets based on a comparison of the average value of lateral position changes of one or more radar monitoring targets of all the radar monitoring targets with a preset threshold, wherein the radar monitoring targets are classified as:
the movable target when the comparison indicates that the average value of lateral position changes is greater than the preset threshold, and
a stationary object when the comparison indicates that the average value of lateral position changes is not greater than the preset threshold.

### Claim 2 (depends on 1)

A non-transitory machine-readable storage medium storing instructions that when executed by one or more processors causes the one or more processors to collectively execute the method for tracking the movable target according to claim 1.

### Claim 3 (depends on 1)

A computing device, comprising a memory and a processor, wherein the memory is configured to store a program capable of running on the processor, and the processor is configured to execute the program, wherein the program causes the processor to execute the method for tracking the movable target according to claim 1 when executing the program.

### Claim 4 (depends on 3)

A vehicle, comprising the computing device according to claim 3.