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US 12,748,203 B2Granted
Radar detection multipath detector
AssigneeAptiv Technologies AG
InventorNiclas Carlström
Life of this patent
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Abstract
A computer-implemented method for identifying a ghost object observed by a radar sensor used to track objects includes receiving a reflected radar signal from a candidate object and identifying the candidate object as a ghost object in case a set of conditions is met. The method includes, if the candidate object is not a ghost object, identifying the candidate object as a real object.
Claims10
A computer-implemented method for identifying a ghost object observed by a radar sensor mounted on a vehicle and used to track a set of objects, the method comprising:
- receiving a reflected radar signal from a candidate object, wherein the reflected radar signal is indicative of a measured range rate of the candidate object;
- and
- in response to a set of conditions being met, identifying the candidate object as the ghost object, and identifying the candidate object as a real object otherwise, wherein:
- the set of conditions includes:
- a first condition that is met when a first object of the set of objects lies on a path between the radar sensor and the candidate object,
- a second condition that is met when a distance from a second object of the set of objects to the first object is equal to a distance from the candidate object to the first object, and
- a third condition that is met when a difference between the measured range rate of the candidate object and a predicted range rate of the candidate object is below a threshold, and
- the predicted range rate is computed based on (i) a first relative velocity between the radar sensor and the first object and (ii) a second relative velocity between the first object and the second object.
5 more elements
An apparatus comprising:
- a computer-readable medium storing instructions;
- and
- at least one processor configured to execute the instructions, wherein the instructions include:
- receiving information on a reflected radar signal from a candidate object sensed by a radar sensor, wherein the reflected radar signal is indicative of a measured range rate of the candidate object, and
- in response to a set of conditions being met, identifying the candidate object as a ghost object, and otherwise identifying the candidate object as a real object, wherein:
- the set of conditions includes:
- a first condition that is met when a first object of a set of objects that is being tracked by the radar sensor lies on a path between the radar sensor and the candidate object,
- a second condition that is met when a distance from a second object of the set of objects to the first object is equal to a distance from the candidate object to the first object, and
- a third condition that is met when a difference between the measured range rate of the candidate object and a predicted range rate of the candidate object is below a threshold, and
- the predicted range rate is computed based on (i) a first relative velocity between the radar sensor and the first object and (ii) a second relative velocity between the first object and the second object.
7 more elements
Dependencies are inferred from the claim text.