Object velocity vector estimation by multiple radars with different observation angles
AssigneeGM Global Technology Operations LLC
InventorsOded Bialer, Amnon Jonas, Tom Tirer
Life of this patent
Estimating the term…
Abstract
A vehicle, system and method of estimating a velocity of an object with respect to the vehicle is disclosed. The system includes a plurality of radars associated with the vehicle and a processor. The plurality of radars provide a coarse estimate of the velocity. The processor obtains a plurality of velocity hypotheses based on the coarse estimate of the velocity of the object, determines a likelihood for each of the plurality of velocity hypotheses, and chooses a velocity hypothesis having as the estimate of velocity based on the determined likelihood.
Claims20
A method of estimating a velocity of an object, comprising:
- obtaining a plurality of velocity hypotheses based on a coarse estimate of the velocity of the object;
- determining a likelihood for each of the plurality of velocity hypotheses;
- and
- choosing a velocity hypothesis from the plurality of velocity hypotheses as the estimate of velocity based on the determined likelihood.
A system for estimating a velocity of an object with respect to a vehicle, comprising:
- a plurality of radars associated with the vehicle for providing a coarse estimate of the velocity;
- a processor configured to:
- obtain a plurality of velocity hypotheses based on the coarse estimate of the velocity of the object;
- determine a likelihood for each of the plurality of velocity hypotheses;
- and
- choose a velocity hypothesis as the estimate of velocity based on the determined likelihood.
A vehicle, comprising:
- a plurality of radars associated with the vehicle;
- and
- a processor configured to:
- generate a search grid based on the coarse estimate of the velocity of the object obtained using the plurality of radars;
- determine a likelihood for a plurality of velocity hypotheses within the search grid;
- and
- choose a velocity hypothesis from the plurality of velocity hypotheses as the estimate of velocity based on the determined likelihood of the velocity hypothesis.
Dependencies are inferred from the claim text.