# US 12,222,418 B2 · Automotive radar for mapping and localization > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,222,418 B2 - Document ID: US12222418B2 - Status: Granted - Kind: B2 - Application number: 17/520,581 - Filed: 2021-11-05 - Published: 2023-05-11 - Granted: 2025-02-11 - Earliest claimed: 2021-11-05 - Assignees: GM Cruise Holdings LLC - Applicants: GM Cruise Holdings LLC - Inventors: Stefan Andreas Brisken - Web page: https://patentgrep.com/patent/US12222418B2 ## CPC - G01S 13/90: using synthetic aperture techniques {, e.g. synthetic aperture radar [SAR] techniques} - G01S 7/2955: {Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system (G01S7/24 takes precedence; sighting devices adapted for indirect laying of fire F41G3/16; inertial navigation G01C21/16)} - G01S 13/58: Velocity or trajectory determination systems; Sense-of-movement determination systems - G01S 13/931: of land vehicles - G01S 13/9029: {specially adapted for moving target detection within a single SAR image or within multiple SAR images taken at the same time} - G01S 2013/932: {using own vehicle data, e.g. ground speed, steering wheel direction} - G01S 2013/93274: {on the side 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 vehicle (AV) includes a radar sensor and a hardware logic component. The radar sensor receives a radar return from a driving environment of the vehicle and outputs radar data that is indicative of the return to the hardware logic component. The hardware logic component further receives data indicative of a velocity of the vehicle from a sensor mounted on the vehicle. The hardware logic component is configured to employ synthetic aperture radar (SAR) techniques to compute a three-dimensional position of a point on a surface of an object in the driving environment of the vehicle based upon the radar data and the velocity of the vehicle. ## Claims ### Claim 1 A vehicle comprising: a radar antenna array configured to receive radar returns from a driving environment of the vehicle, wherein the radar antenna array has a field-of-view (FOV) pointed in a direction that is offset at an angle from a direction of travel of the vehicle, wherein the radar antenna array includes a first radar antenna; a second radar antenna that is not included in the radar antenna array, wherein the second radar antenna is horizontally offset from the first antenna; and a hardware logic component configured to receive radar data that is indicative of the radar returns received by the radar antenna array over a period of time and generate a three-dimensional point cloud based upon the radar data through use of synthetic aperture radar (SAR) techniques, wherein use of the SAR techniques comprises: computing, based upon the radar data and a velocity of the vehicle during the period of time, a position of a point on a surface of an object in the driving environment; and updating a three-dimensional map of the driving environment based upon the computed position such that the three-dimensional map indicates that an object is present at the computed position; computing, based upon the radar data and the velocity of the vehicle during the period of time, a position of a second point in the driving environment; computing, based upon a portion of the radar data representative of a radar return received by the first radar antenna and second radar data that is indicative of a radar return received by the second radar antenna, a position of a third point in the driving environment; determining that the second point and the third point are representative of a moving object in the driving environment; and responsive to determining that the second point and the third point are representative of the moving object, failing to include the second point and the third point in the three-dimensional map of the driving environment. ### Claim 2 (depends on 1) The vehicle of claim 1, wherein computing the position of the point comprises computing an azimuth angle of the point relative to a center of the FOV of the antenna array. ### Claim 3 (depends on 2) The vehicle of claim 2, wherein computing the azimuth angle comprises: computing, based upon the radar data, a radial velocity of the point with respect to the radar antenna array; and computing the azimuth angle based upon the velocity of the vehicle and the radial velocity of the point with respect to the radar antenna array. ### Claim 4 (depends on 2) The vehicle of claim 2, wherein computing the position of the point further comprises: computing an elevation angle of the point relative to the center of the FOV of the radar antenna array; and computing a range of the point relative to the radar antenna array. ### Claim 5 (depends on 4) The vehicle of claim 4, wherein computing the position of the point further comprises transforming the range, elevation angle, and azimuth angle of the point to an absolute coordinate system. ### Claim 6 (depends on 1) The vehicle of claim 1, wherein the radar antenna array comprises a plurality of vertically aligned antennas. ### Claim 7 (depends on 6) The vehicle of claim 6, wherein the plurality of vertically aligned antennas includes at least 8 antennas. ### Claim 8 (depends on 1) The vehicle of claim 1, wherein the FOV of the radar antenna array is pointed in a direction orthogonal to the direction of travel of the vehicle. ### Claim 9 (depends on 1) The vehicle of claim 1, wherein the radar antenna array is configured for frequency-modulated continuous wave (FMCW) operation. ### Claim 10 (depends on 1) The vehicle of claim 1, wherein the velocity of the vehicle employed by the hardware logic component in connection with computing the position of the point is a velocity indicated by one of a speedometer of the vehicle or an odometer of the vehicle. ### Claim 11 (depends on 1) The vehicle of claim 1, wherein the velocity of the vehicle during the period of time is greater than or equal to 10 miles per hour.