Vehicle cognitive radar methods and systems

• US 10,429,503 B2
• Filed: 07/03/2014
• Issued: 10/01/2019
• Est. Priority Date: 07/03/2014
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Bilik, Igal, Gazit, Ran Y.
• Primary Examiner(s): McGue, Frank J
• Application Number:
  US15/524,602
• Publication Number:
  US 20180284265A1
• Time in Patent Office: 1,916 Days
• Field of Search: 342146
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G01S 13/347 using more than one modulation frequency
• CPC Class Codes: G01S 13/72 for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 7/41 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

Methods and systems for a vehicle cognitive radar are provided. The system includes a transmitter is configured to transmit a first plurality of transmittal signals for a cognitive radar system of a vehicle, the cognitive radar system having at least a first modality. An interface is configured to receive sensor data from one or more sensors having a second modality that is different from the first modality. A processor is coupled to the interface, and is configured to select an adjusted waveform for a second plurality of transmittal signals for the cognitive radar system using the sensor data.

Claims

1. A method for controlling transmissions of a cognitive radar system, the method comprising the steps of:

transmitting a first plurality of transmittal signals by a cognitive radar system of a vehicle, the cognitive radar system having at least a first modality;

receiving sensor data from one or more sensors having a second modality that is different from the first modality;

identifying, via a processor, an object for tracking based on the sensor data;

determining, via the processor, a classification as to a type of the object based on the sensor data;

selecting, via the processor, an adjusted waveform for a second plurality of transmittal signals for transmission by the cognitive radar system, based on the determined type of the object using the sensor data; and

tracking the object, via the processor, using the adjusted waveform for the second plurality of transmittal signals transmitted by the cognitive radar system based on the determined type of the object as determined using the sensor data.

2. The method of claim 1, wherein the selecting the adjusted waveform comprises selecting an adjusted frequency for the adjusted waveform based on the determined type of the object as determined using the sensor data.

3. The method of claim 1, wherein the selecting the adjusted waveform comprises selecting an adjusted amplitude for the adjusted waveform based on the determined type of the object as determined using the sensor data.

4. The method of claim 1, further comprising:

receiving a plurality of cognitive radar return signals from the first plurality of transmittal signals;

wherein the step of determining the classification comprises determining, via the processor, the classification as to the type of the object based on both the plurality of cognitive radar return signals and the sensor data;

wherein the selecting the adjusted waveform comprises selecting the adjusted waveform based on the determined type of the object as determined using the plurality of cognitive radar return signals and the sensor data.

5. The method of claim 4, wherein:

the step of receiving the sensor data comprises;

receiving first sensor data with respect to the object, after one or more of the cognitive radar return signals have been reflected from the object, from one or more first sensors having the second modality that is different from the first modality; and

receiving second sensor data with respect to the object, after one or more of the cognitive radar return signals have been reflected from the object, from one or more second sensors having a third modality that is different from both the first modality and the second modality;

the step of identifying the object comprises identifying the object for tracking, via the processor, based on both the first sensor data and the second sensor data;

the step of selecting the adjusted waveform comprises selecting the adjusted waveform for the second plurality of transmittal signals for transmission by the cognitive radar system, via the processor, based on the determined type of the object using the first sensor data and the second sensor data; and

the step of tracking the object comprises tracking the object using the adjusted waveform for the second plurality of transmittal signals transmitted by the cognitive radar system, via the processor, based on the determined type of the object as determined using the first sensor data and the second sensor data.

6. The method of claim 5, wherein:

the one or more first sensors comprise one or more cameras; and

the one or more second sensors comprise one or more lidar sensors.

7. The method of claim 1, further comprising:

selecting, via the processor, an optimal tracking algorithm for tracking the object based on the determined type of object using the sensor data;

wherein;

the step of selecting the adjusted waveform comprises selecting, via the processor, the adjusted waveform corresponding to the selected optimal tracking algorithm; and

the step of tracking the object comprises tracking the object, via the processor, using the adjusted waveform with the selected optimal tracking algorithm.

8. The method of claim 7, wherein:

the step of selecting the optimal tracking algorithm comprises selecting, via the processor;

a first optimal tracking algorithm, having a first adjusted waveform, when the target object is determined to be a pedestrian; and

a second optimal tracking algorithm that is different from the first optimal tracking algorithm and having a second adjusted waveform that is different than the first adjusted waveform, when the target object is determined to be a motorized vehicle; and

the step of tracking the object comprises tracking the object, via the processor, using;

the first adjusted waveform with the first optimal tracking algorithm, when the target is determined to be a pedestrian; and

the first adjusted waveform with the first optimal tracking algorithm, when the target is determined to be a motorized vehicle.

9. The method of claim 8, wherein:

the step of selecting the optimal tracking algorithm further comprises selecting, via the processor, a third optimal tracking algorithm that is different from both the first optimal tracking algorithm and the second optimal tracking algorithm, and having a third first adjusted waveform that is different from both the first adjusted waveform and the second adjusted waveform, when the target object is determined to be a bicycle; and

the step of tracking the object further comprises tracking the object, via the processor, using the third adjusted waveform with the third optimal tracking algorithm when the target is determined to be a bicycle.

10. A cognitive radar control system comprising:

a transmitter configured to transmit a first plurality of transmittal signals for a cognitive radar system of a vehicle, the cognitive radar system having at least a first modality;

an interface configured to receive sensor data from one or more sensors having a second modality that is different from the first modality; and

a processor coupled to the interface and configured to;

identify an object for tracking based on the sensor data;

determine a classification as to a type of the object based on the sensor data;

select an adjusted waveform for a second plurality of transmittal signals for the cognitive radar system, based on the determined type of the object using the sensor data; and

track the object, via the processor, using the adjusted waveform for the second plurality of transmittal signals transmitted by the cognitive radar system based on the determined type of the object as determined using the sensor data.

11. The cognitive radar control system of claim 10, wherein the processor is configured to select an adjusted frequency for the adjusted waveform based on the determined type of the object as determined using the sensor data.

12. The cognitive radar control system of claim 10, wherein the processor is configured to select an adjusted amplitude for the adjusted waveform based on the determined type of the object as determined using the sensor data.

13. The cognitive radar control system of claim 10, further comprising:

a receiver configured to receive a plurality of cognitive radar return signals from the first plurality of transmittal signals;

wherein the processor is configured to;

determine the classification as to the type of the object based on both the plurality of cognitive radar return signals and the sensor data; and

select the adjusted waveform based on the determined type of the object as determined using the plurality of cognitive radar return signals and the sensor data.

14. A vehicle comprising:

one or more sensor units having a first modality; and

a cognitive radar system having at least a second modality that is different from the first modality, the cognitive radar system including;

a transmitter configured to transmit a first plurality of transmittal signals;

an interface configured to receive sensor data from the one or more sensor units; and

a processor coupled to the interface and configured to;

identify an object for tracking based on the sensor data;

determine a classification as to a type of the object based on the sensor data;

select an adjusted waveform for a second plurality of transmittal signals for the cognitive radar system, based on the determined type of the object using the sensor data; and

track the object, via the processor, using the adjusted waveform for the second plurality of transmittal signals transmitted by the cognitive radar system based on the determined type of the object as determined using the sensor data.

15. The vehicle of claim 14, wherein:

the cognitive radar system further comprises a receiver configured to receive a plurality of cognitive radar return signals from the first plurality of transmittal signals; and

the processor is configured to select the adjusted waveform based on the determined type of the object as determined using the plurality of cognitive radar return signals and the sensor data.

16. The vehicle of claim 15, wherein:

the one or more sensor units comprise;

one or more first sensors, having the second modality that is different from the first modality, and that are configured to generate first sensor data with respect to the object, after one or more of the cognitive radar return signals have been reflected from the object; and

one or more second sensors, having a third modality that is different from both the first modality and the second modality, and that are configured to generate second sensor data with respect to the object, after one or more of the cognitive radar return signals have been reflected from the object; and

the processor is further configured to;

identify the object for tracking, based on both the first sensor data and the second sensor data;

select the adjusted waveform for the second plurality of transmittal signals for transmission by the cognitive radar system, based on the determined type of the object using the first sensor data and the second sensor data; and

track the object using the adjusted waveform for the second plurality of transmittal signals transmitted by the cognitive radar system, based on the determined type of the object as determined using the first sensor data and the second sensor data.

17. The vehicle of claim 16, wherein:

the one or more first sensors comprise one or more first cameras; and

the one or more second sensors comprise one or more lidar sensors.

18. The vehicle of claim 14, wherein the processor is further configured to:

select an optimal tracking algorithm for tracking the object based on the determined type of object using the sensor data;

select the adjusted waveform corresponding to the selected optimal tracking algorithm; and

track the object using the adjusted waveform with the selected optimal tracking algorithm.

19. The vehicle of claim 18, wherein the processor is further configured to:

select;

a first optimal tracking algorithm, having a first adjusted waveform, when the target object is determined to be a pedestrian; and

a second optimal tracking algorithm that is different from the first optimal tracking algorithm and having a second adjusted waveform that is different than the first adjusted waveform, when the target object is determined to be a motorized vehicle; and

track the object, using;

the first adjusted waveform with the first optimal tracking algorithm, when the target is determined to be a pedestrian; and

the first adjusted waveform with the first optimal tracking algorithm, when the target is determined to be a motorized vehicle.

20. The vehicle of claim 19, wherein the processor is further configured to:

select a third optimal tracking algorithm that is different from both the first optimal tracking algorithm and the second optimal tracking algorithm, and having a third first adjusted waveform that is different from both the first adjusted waveform and the second adjusted waveform, when the target object is determined to be a bicycle; and

track the object, using the third adjusted waveform with the third optimal tracking algorithm when the target is determined to be a bicycle.