Beamvector filtering and disambiguation using velocity profile pattern for low-level radar ego-motion
AssigneeAptiv Technologies AG
InventorStephanie Lessmann
Life of this patent
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Abstract
Disclosed is a method for processing radar data of a vehicle. The method includes acquiring radar data from each of one or more radar antennas. The acquired radar data includes range rate (Doppler) data. The method includes determining beamvectors from the acquired radar data. The method includes filtering the beamvectors. The filtering includes removing, from the beamvectors, at least one of features corresponding to one or more moving targets or features corresponding to ambiguous range rate data, to determine filtered beamvectors. The method includes determining a characteristic of at least one of an environment of the vehicle or of the vehicle itself based on the filtered beamvectors.
Claims14
A method for controlling an advanced driver-assistance system (ADAS) of a vehicle, the method comprising:
- acquiring radar data from each of one or more radar antennas, wherein:
- the acquired radar data includes range rate (Doppler) data, and
- the one or more radar antennas are mounted on the vehicle;
- determining beamvectors from the acquired radar data;
- filtering the beamvectors, wherein:
- the filtering includes determining filtered beamvectors by removing, from the beamvectors, at least one of features corresponding to one or more moving targets or features corresponding to ambiguous range rate data, and
- the filtering is based on minimal and maximal values for each of a lateral velocity, a longitudinal velocity, and a yaw rate of the vehicle;
- determining, based on the filtered beamvectors, a characteristic of at least one of an environment of the vehicle or of the vehicle itself, wherein the determined characteristic includes information on at least one stationary target;
- and
- controlling the ADAS based on the determined characteristic.
A data processing apparatus, comprising:
- at least one processor, and
- memory storing instructions for execution by the at least one processor, wherein the instructions include:
- acquiring radar data from each of one or more radar antennas, wherein:
- the acquired radar data includes range rate (Doppler) data, and
- the one or more radar antennas are mounted on a vehicle;
- determining beamvectors from the acquired radar data;
- filtering the beamvectors, wherein:
- the filtering includes removing, from the beamvectors, at least one of features corresponding to one or more moving targets or features corresponding to ambiguous range rate data, to determine filtered beamvectors, and
- the filtering is based on minimal and maximal values for each of a lateral velocity, a longitudinal velocity, and a yaw rate of the vehicle;
- determining a characteristic of at least one of an environment of the vehicle or of the vehicle itself based on the filtered beamvectors, wherein the determined characteristic includes information on at least one stationary target;
- and
- controlling an advanced driver-assistance system (ADAS) of the vehicle based on the determined characteristic.
A non-transitory computer-readable medium comprising instructions including:
- acquiring radar data from each of one or more radar antennas, wherein:
- the acquired radar data includes range rate (Doppler) data, and
- the one or more radar antennas are mounted on a vehicle;
- determining beamvectors from the acquired radar data;
- filtering the beamvectors, wherein:
- the filtering includes removing, from the beamvectors, at least one of features corresponding to one or more moving targets or features corresponding to ambiguous range rate data, to determine filtered beamvectors, and
- the filtering is based on minimal and maximal values for each of a lateral velocity, a longitudinal velocity, and a yaw rate of the vehicle;
- determining a characteristic of at least one of an environment of the vehicle or of the vehicle itself based on the filtered beamvectors, wherein the determined characteristic includes information on at least one stationary target;
- and
- controlling an advanced driver-assistance system (ADAS) of the vehicle based on the determined characteristic.
Dependencies are inferred from the claim text.