Vehicle radar methods and systems

• US 10,495,732 B2
• Filed: 07/03/2014
• Issued: 12/03/2019
• 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: Olshansky, Inna Stainvas, Bilik, Igal, Gazit, Ran Y.
• Primary Examiner(s): Windrich, Marcus E
• Application Number:
  US15/524,597
• Publication Number:
  US 20170261602A1
• Time in Patent Office: 1,979 Days
• Field of Search: 342 70- 72
• 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 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/66 Radar-tracking systems; Analogous systems
• CPC Class Codes: G01S 13/862 Combination of radar systems with sonar systems
• 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 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 7/411 Identification of targets based on measurements of radar reflectivity G01S7/415 takes precedence
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

Methods and systems are provided for selectively analyzing radar signals of a radar system of a vehicle. A receiver is configured to receive a plurality of radar signals of a radar system of a vehicle. The interface is configured to obtain data from one or more sensors of the vehicle having a modality that is different from the radar system. The processor is coupled to the receiver and to the interface, and is configured to selectively analyze the plurality of radar signals based upon the data.

Claims

1. A method for selectively analyzing radar signals of a radar system of a vehicle, the method comprising the steps of:

receiving, via a receiver, a plurality of radar signals via the radar system as the vehicle is travelling along a road;

obtaining first object data as to a plurality of objects in proximity to the road, as the vehicle is travelling along the road, from one or more first sensors of the vehicle having a first modality that is different from the radar system;

obtaining second object data as to the plurality of objects in proximity to the road, as the vehicle is travelling along the road, from one or more second sensors of the vehicle having a second modality that is different from the first modality and also different from the radar system;

for each of the plurality of objects;

identifying, via a processor, a type of the object via the one or more first sensors;

determining, via the processor, based on the type, whether the object is an object that requires tracking; and

identifying, via the processor a first angle between the vehicle and a fixed object alongside the road using the second object-level data obtained via the one or more second sensors; and

selectively analyzing, via the processor, the plurality of radar signals based upon the data from the one or more first sensors and the one or more second sensors, wherein the selective analyzing comprises, for each particular radar signal of the plurality radar signals;

determining, via the processor, a second angle from which the particular radar signal was reflected to the vehicle;

identifying, via the processor, a particular object of the plurality of objects, corresponding to the particular radar signal, based on a comparison of the second angle with each of the first angles for the plurality of objects;

selectively utilizing, via the processor, the particular radar signal for tracking, when the identified particular object corresponding to the particular radar signal has been determined to require tracking based on its type; and

selectively ignoring, via the processor, the particular radar signal for tracking, when the identified particular object corresponding to the particular radar signal has been determined to not require tracking based on its type.

2. The method of claim 1, further comprising:

identifying, based on the first object data and the second object data, a target on the road that requires tracking by the vehicle;

wherein, for each of the plurality of objects, the step of determining whether the object requires tracking is based on wherein the is likely to interfere with tracking of the target, based on the type of the object, using the first object data and the second object data;

wherein the selective analyzing further comprises tracking the target on the road by analyzing the plurality of radar signals, except for those reflected from an object that is likely to interfere with tracking of the target.

3. The method of claim 1, wherein the receiving the plurality of radar signals, obtaining the data, and selectively analyzing the plurality of radar signals are each performed within the radar system.

4. The method of claim 1, wherein the obtaining the first object data comprises obtaining the data from a camera of the vehicle.

5. The method of claim 1, wherein the obtaining the second object data comprises obtaining the data from a LIDAR system of the vehicle.

7. The radar control system of claim 5, wherein the processor is configured to:

identify, based on the first object data and the second object data, a target on the road that requires tracking by the vehicle;

for each of the plurality of objects, determine whether the object requires tracking is based on wherein the object is likely to interfere with tracking of the target, based on the type of the object, using the first object data and the second object data; and

track the target on the road by analyzing the plurality of radar signals, except for those reflected from objects that are likely to interfere with tracking of the target.

8. The radar control system of claim 5, wherein the interface is configured to obtain the first object data from a camera of the vehicle and to obtain the second object data from sensors of a LIDAR system of the vehicle.

12. The method of claim 1, wherein the step of determining whether the object requires tracking is based upon whether the object comprises another vehicle.

13. The method of claim 1, wherein the step of determining whether the object requires tracking is based upon whether the object is moving.

14. The method of claim 1, wherein the step of determining whether the object requires tracking is based upon whether the object is disposed within a path in which the vehicle is moving.

15. The method of claim 2, wherein the step of determining whether the object requires tracking is based upon whether the object is determined to be likely to create a ghost target with respect to the target that is being tracked.

16. The method of claim 2, wherein the step of determining whether the object requires tracking is based on each of the following:

whether the object is another vehicle;

whether the object is moving;

whether the object is disposed within a path in which the vehicle is moving; and

whether the object is determined to be likely to create a ghost target with respect to the target that is being tracked.

17. The method of claim 1, wherein:

the one or more first sensors comprise a camera that is configured to generate the first object data; and

the one or more second sensors comprise sensors from a LIDAR system of the vehicle that are configured to generate the second object data.

18. The radar control system of claim 7, wherein the processor is configured to determine whether the object requires tracking based upon whether the object is determined to be likely to create a ghost target with respect to the target that is being tracked.

6. A radar control system comprising:

a receiver configured to receive a plurality of radar signals of a radar system of a vehicle as the vehicle is travelling along a road;

an interface configured to obtain;

first object data as to a plurality of objects in proximity to the road, as the vehicle is travelling along the road, from one or more first sensors of the vehicle having a first modality that is different from the radar system; and

second object data as to the plurality of objects in proximity to the road, as the vehicle is travelling along the road, from one or more second sensors of the vehicle having a second modality that is different from the first modality and also different from the radar system;

a processor coupled to the receiver and to the interface and configured to;

for each of the plurality of objects;

identify a type of the object via the one or more first sensors;

determine, based on the type, whether the object is an object that requires tracking; and

identify a first angle between the vehicle and a fixed object alongside the road using the second object-level data obtained via the one or more second sensors; and

selectively analyze the plurality of radar signals based upon the data received from the one or more first sensors and the one or more second sensors, by, for each particular radar signal of the plurality radar signals;

determining a second angle from which the particular radar signal was reflected to the vehicle;

identifying a particular object of the plurality of objects, corresponding to the particular radar signal, based on a comparison of the second angle with each of the first angles for the plurality of objects;

selectively utilizing the particular radar signal for tracking, when the identified particular object corresponding to the particular radar signal has been determined to require tracking based on its type; and

selectively ignoring the particular radar signal for tracking, when the identified particular object corresponding to the particular radar signal has been determined to not require tracking based on its type.

9. A vehicle, comprising:

a radar system comprising a receiver configured to receive a plurality of radar signals as the vehicle is travelling along a road;

one or more first sensors disposed on or within the body and having a first modality that is different from the radar system, the one or more first sensors configured to generate first object data as to a plurality of objects in proximity to the road, as the vehicle is travelling along the road;

one or more second sensors disposed on or within the body and having a second modality that is different from the radar system and that is also different from the first modality, the one or more second sensors configured to generate second object data as to the plurality of objects in proximity to the road, as the vehicle is travelling along the road;

an interface configured to obtain the first object data from the one or more first sensors and to obtain the second object data from the one or more second sensors; and

a processor coupled to the receiver and to the interface and configured to;

for each of the plurality of objects;

identify a type of the object via the one or more first sensors;

determine, based on the type, whether the object is an object that requires tracking; and

identify a first angle between the vehicle and a fixed object alongside the road using the second object-level data obtained via the one or more second sensors; and

selectively analyze the plurality of radar signals based upon the data received from the one or more first sensors and the one or more second sensors, by, for each particular radar signal of the plurality radar signals;

determining a second angle from which the particular radar signal was reflected to the vehicle;

identifying a particular object of the plurality of objects, corresponding to the particular radar signal, based on a comparison of the second angle with each of the first angles for the plurality of objects;

selectively utilizing the particular radar signal for tracking, when the identified particular object corresponding to the particular radar signal has been determined to require tracking based on its type; and

selectively ignoring the particular radar signal for tracking, when the identified particular object corresponding to the particular radar signal has been determined to not require tracking based on its type.

10. The vehicle of claim 9, wherein the processor is configured to:

identify, based on the first object data and the second object data, a target on the road that requires tracking by the vehicle;

for each of the plurality of objects, determine whether the object requires tracking is based on wherein the object is likely to interfere with tracking of the target, based on the type of the object, using the first object data and the second object data; and

track the target on the road by analyzing the plurality of radar signals, except for those reflected from objects that are likely to interfere with tracking the target.

11. The vehicle of claim 9, wherein:

the one or more first sensors comprises a camera of the vehicle; and

the one or more second sensors comprise sensors from a LIDAR system of the vehicle.

19. The vehicle of claim 10, wherein the processor is configured to determine whether the object requires tracking based upon whether the object is determined to be likely to create a ghost target with respect to the target that is being tracked.

20. The vehicle of claim 10, wherein the processor is configured to determine whether the object requires tracking based upon each of the following:

whether the object is another vehicle;

whether the object is moving;

whether the object is disposed within a path in which the vehicle is moving; and

whether the object is determined to be likely to create a ghost target with respect to the target that is being tracked.