# US 12,761,318 B2 · Method of removing ghost target due to vehicle radar multi-reflection signal, and system for removing ghost target > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,761,318 B2 - Document ID: US12761318B2 - Status: Granted - Kind: B2 - Application number: 18/418,067 - Filed: 2024-01-19 - Published: 2025-01-16 - Granted: 2026-10-13 - Earliest claimed: 2023-01-20 - Assignees: Hl Klemove Corp. - Applicants: Hl Klemove Corp. - Inventors: Oh Cheol Heo - Web page: https://patentgrep.com/patent/US12761318B2 ## CPC - G01S 7/414: {Discriminating targets with respect to background clutter} - G01S 13/931: of land vehicles - G01S 2013/93272: {in the back 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 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. ## Claims ### Claim 1 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. ### Claim 2 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.