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US 12,761,318 B2Granted
Method of removing ghost target due to vehicle radar multi-reflection signal, and system for removing ghost target
AssigneeHl Klemove Corp.
InventorOh Cheol Heo
Life of this patent
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Abstract
Provided is a method of removing a ghost target due to a vehicle radar multi-reflection signal. More specifically, the method includes determining the presence or absence of an occluded target, and when a condition is satisfied, determining the target as a ghost target due to a multi-reflection signal and removing the target.
Claims2
A method of removing a ghost target due to a vehicle radar multi-reflection signal, the method comprising the steps of:
- (First step) recognizing a presence of a first target and a second target, which are located at a rear of a vehicle on which a system and a sensor are mounted, the system having a method of removing the ghost target due to a vehicle radar multi-reflection signal;
- (Second step) setting an occlusion region of the second target;
- (Third step) recognizing a target present within the occlusion region of the second target as a third target;
- (Fourth step) comparing information about the first target with information about the third target;
- and
- (Fifth step) determining whether the third target is the ghost target,
- wherein the second step comprises
- setting, to the occlusion region of the second target, an area between two outermost external lines from among straight lines passing through a reference point, at which the sensor provided in the vehicle is positioned, and corner points of a planar geometry of the second target,
- wherein, in the fourth step, information to be compared comprises at least one of:
- a longitudinal position of the first target and a longitudinal position of the third target;
- a transverse position of the first target and a transverse position of the third target;
- and
- estimated speeds of the first target and the third target,
- wherein the longitudinal position of the first target and the longitudinal position of the third target have a position of the sensor mounted on the vehicle as a longitudinal reference point,
- wherein the longitudinal position of the first target and the transverse position of the third target are based on a reflective surface,
- and the reflective surface comprises a transverse surface located closest to the sensor mounted on the vehicle from among transverse surfaces having shapes constituting a planar geometry of the second target,
- wherein, in the fifth step, based on a condition which is satisfied, the third target is determined as the ghost target,
- and the condition is that
- the longitudinal position of the first target and the longitudinal position of the third target are similar to each other,
- the transverse position of the first target and the transverse position of the third target are similar to each other, and
- the estimated speed of the first target and the estimated speed of the third target are similar to each other,
- wherein the third target is determined as the ghost target generated by a multi-reflection signal,
- wherein the method further comprises removing the third target determined as the ghost target generated by a multi-reflection signal.
20 more elements
A system for removing a ghost target due to a vehicle radar multi-reflection signal,
- wherein the system comprises an algorithm for:
- recognizing a first target and a second target, which are located at a rear of a vehicle on which the system is mounted;
- setting an occlusion region of the second target;
- and
- comparing information about a third target present within the occlusion region of the second target with information about the first target and determining whether the third target is the ghost target,
- wherein the occlusion region of the second target comprises an area between two outermost external lines from among straight lines passing through a reference point, at which a sensor mounted in the vehicle is positioned, and corner points of a planar geometry of the second target,
- wherein information to be compared comprises at least one of:
- a longitudinal position of the first target and a longitudinal position of the third target;
- a transverse position of the first target and a transverse position of the third target;
- and
- estimated speeds of the first target and the third target,
- wherein the longitudinal position of the first target and the longitudinal position of the third target have a position of the sensor mounted on the vehicle as a longitudinal reference point,
- wherein the longitudinal position of the first target and the transverse position of the third target are based on a reflective surface,
- and the reflective surface comprises a transverse surface located closest to the sensor mounted on the vehicle from among transverse surfaces having shapes constituting a planar geometry of the second target,
- wherein determining whether the third target is the ghost target comprises determining the third target as the ghost target based on a condition which is satisfied,
- and the condition is that
- the longitudinal position of the first target and the longitudinal position of the third target are similar to each other,
- the transverse position of the first target and the transverse position of the third target are similar to each other, and
- the estimated speed of the first target and the estimated speed of the third target are similar to each other
- wherein the algorithm further comprises removing the third target determined as the ghost target generated by a multi-reflection signal.
17 more elements
Dependencies are inferred from the claim text.