# US 2024/0201359 A1 · Determining the radial velocity of objects in vehicle environments

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- Number: US 2024/0201359 A1
- Document ID: US20240201359A1
- Status: Published application
- Kind: A1
- Application number: 18/541,178
- Filed: 2023-12-15
- Published: 2024-06-20
- Earliest claimed: 2022-12-16
- Assignees: Aptiv Technologies AG
- Applicants: Aptiv Technologies AG
- Inventors: Marco BRAUN; Adrian BECKER; Simon ROESLER; Mirko MEUTER
- Web page: https://patentgrep.com/patent/US20240201359A1

## CPC

- G01S 13/589: {measuring the velocity vector}
- G01S 7/412: {based on a comparison between measured values and known or stored values}
- G01S 7/417: {involving the use of neural networks}
- G01S 7/418: {Theoretical aspects}
- G01S 13/583: {using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets}
- G01S 13/584: {adapted for simultaneous range and velocity measurements}
- G01S 13/585: {processing the video signal in order to evaluate or display the velocity value}
- G01S 13/931: of land vehicles
- G01S 7/356: {involving particularities of FFT processing}
- G01S 13/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46)
- G01S 13/86: Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S 2013/9314: {Parking operations}
- G01S 2013/9315: {Monitoring blind spots}
- G01S 2013/9322: {using additional data, e.g. driver condition, road state or weather data}
- G01S 2013/93271: {in the front of the 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

The present disclosure relates to a computer-implemented method for determining a radial velocity of an object in a surrounding of a vehicle, the method comprising the steps of: obtaining measurement data from a radar, the measurement data comprising signal data indicative of a measured radial velocity of the object, mapping the measured radial velocity of the object to a plurality of radial velocity intervals, determining, using an artificial intelligence (AI) engine, a probability value for each interval of the plurality of radial velocity intervals based on supplemental measurement data, and determining the radial velocity of the object by selecting an interval of the plurality of radial velocity intervals based on the probability value. The disclosure further relates to a corresponding apparatus, computer program and vehicle.

## Claims

### Claim 1

A computer-implemented method for determining a radial velocity of an object in a surrounding of a vehicle, the method comprising the steps of:
obtaining measurement data from a radar, the measurement data comprising signal data indicative of a measured radial velocity of the object;
mapping the measured radial velocity of the object to a plurality of radial velocity intervals;
determining, using an artificial intelligence, AI, engine, a probability value for each interval of the plurality of radial velocity intervals based on supplemental measurement data; and
determining the radial velocity of the object by selecting an interval of the plurality of radial velocity intervals based on the probability value.

### Claim 2 (depends on 1)

The method according to claim 1, wherein determining the probability value is based on one or more of the following values, included in the supplemental measurement data:
reflection angle data associated with the object;
environmental context data; and
the signal data indicative of a measured radial velocity of the object.

### Claim 3 (depends on 2)

The method according to claim 2, wherein selecting the interval further comprising:
estimating a radial velocity value of the object based on the supplemental measurement data, preferably included in the measurement data; and
considering the estimated radial velocity value for determining the probability value assigned to each interval of the plurality of radial velocity intervals.

### Claim 4 (depends on 1)

The method according to claim 1, wherein the radial velocity of the object is determined by selecting the interval of the plurality of radial velocity intervals having the highest probability value.

### Claim 5 (depends on 1)

The method according to claim 1, wherein determining the radial velocity of the object further comprises:
defining the measured radial velocity mapped to the selected interval as the radial velocity of the object.

### Claim 6 (depends on 1)

The method according to claim 1, further comprising:
generating the plurality of radial velocity intervals by shifting one unambiguous radial velocity interval to form at least one ambiguous radial velocity interval;
wherein each mapped measured radial velocity interval represents a potential radial velocity of the object.

### Claim 7 (depends on 3)

The method according to claim 3, further comprising:
deriving the probability value assigned to each interval based on a difference between the potential measured radial velocities and the estimated radial velocity value.

### Claim 8 (depends on 7)

The method according to claim 7, wherein a smallest difference between the potential measured radial velocity and the estimated radial velocity values corresponds to the highest probability value.

### Claim 9 (depends on 1)

The method according to claim 1, wherein the intervals are allocated adjacent to each other in the Doppler velocity dimension.

### Claim 10 (depends on 1)

The method according to claim 1, wherein the intervals have a common width in the Doppler velocity dimension, wherein, preferably, the common width depends on characteristics of the radar.

### Claim 11 (depends on 1)

The method according to claim 1, wherein during a training process of the AI engine, the AI engine maps feature embeddings of the environmental context data, the reflection angle data and measured radial velocities to the probability values assigned to each interval of the plurality of radial velocity intervals.

### Claim 12 (depends on 1)

The method according to claim 1, further comprising:
determining an operating instruction for the vehicle based on the determined velocity of the object affecting a function of a vehicle assistance system, wherein the function comprises at least one of:
displaying the object and preferably the velocity of the object on a display of the vehicle;
conducting a vehicle path planning;
triggering a warning;
affecting control of the vehicle during a parking process and/or during driving.

### Claim 13 (depends on 1)

An apparatus comprising means configured to perform the method of claim 1.

### Claim 14 (depends on 13)

A vehicle comprising an apparatus according to claim 13.

### Claim 15 (depends on 1)

A non-transitory computer readable medium storing computer executable instructions, which, when executed by a computing system, cause the computing system to perform the method of claim 1.