公开(公告)号：US11447063B2

公开(公告)日：2022-09-20

申请号：US16515662

申请日：2019-07-18

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Tzvi Philipp ,  Shahar Villeval ,  Igal Bilik

IPC: B60Q1/08 ,  G06T7/70 ,  G05D25/02 ,  B60Q1/00 ,  G01S13/86 ,  G01S13/60 ,  G01S13/931

Abstract: A scanning and perception system for a vehicle camera having an instantaneous field of view (iFOV) and configured to capture an image of an object at a saturation level in the camera's iFOV. The system also includes a light source configured to illuminate the camera's iFOV. The system additionally includes a radar configured to determine the object's velocity and the object's distance from the vehicle, and a mechanism configured to steer the radar and/or the camera. The system also includes an electronic controller programmed to regulate the mechanism and adjust illumination intensity of the light source in response to the saturation level in the image or the determined distance to the object. The controller is also programmed to merge data indicative of the captured image and data indicative of the determined position of the object and classify the object and identify the object's position in response to the merged data.

公开(公告)号：US20220236409A1

公开(公告)日：2022-07-28

申请号：US17157060

申请日：2021-01-25

Applicant: GM Global Technology Operations LLC

Inventor： Gaston Solodky ,  Ishai Eljarat ,  Igal Bilik ,  Gonen Barkan

IPC: G01S15/89 ,  G01S15/87 ,  G01S15/42 ,  G01S7/539

Abstract: A method includes obtaining an initial point cloud for each of two or more radar systems that share a common field of view. Each initial point cloud results from processing reflected energy at each of the two or more radar systems. Each point of the initial point cloud indicates one or more hypotheses for a range, a Doppler, and a direction of arrival (DOA) to an object that resulted in the reflected energy. A point cloud, obtained from the initial point cloud, has a same number of hypotheses for the range, the Doppler, and the DOA. Resolving ambiguity in the common field of view is based on the point clouds to obtain resolved and unresolved points in the common field of view. A radar image obtained from each of the two or more radar systems is used to control an aspect of operation of a vehicle.

公开(公告)号：US20220128685A1

公开(公告)日：2022-04-28

申请号：US17082533

申请日：2020-10-28

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Oren Longman ,  Igal Bilik

IPC: G01S13/931 ,  G01S13/58 ,  G01S13/92 ,  G01S7/288

Abstract: Methods and systems for estimating vehicle velocity based on radar data. The methods and systems include receiving a set of range-Doppler-beam, RDB, maps from radars located on a vehicle and performing an optimization process that adjusts an estimate of vehicle velocity so as to optimize a correlation score. The optimization process includes iteratively: spatially registering the set of RDB maps based on the current estimate of vehicle velocity, determining the correlation score based on the spatially registered set of RDB maps, and outputting an optimized estimate of vehicle velocity from the optimization process when the correlation score has been optimized. The methods and systems control the vehicle based at least in part on the optimized estimate of vehicle velocity.

公开(公告)号：US11205844B2

公开(公告)日：2021-12-21

申请号：US16504959

申请日：2019-07-08

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Oren Longman ,  Igal Bilik

IPC: H01Q3/34 ,  H01Q1/32 ,  G01S13/931 ,  G01S13/89 ,  G01S7/35

Abstract: An on-vehicle radar system is described, and includes a phased array antenna including a plurality of transmit antennas, and a corresponding plurality of transmitters, wherein each of the transmitters is in communication with a respective one of the transmit antennas. A controller is operatively connected to each of the plurality of transmitters. The controller includes an instruction set that is executable to generate a plurality of Non-Linear Frequency Modulated (NLFM) radar signals corresponding to individual ones of the plurality of transmitters. Each of the NLFM radar signals that is generated for a respective one of the transmitters is determined based upon a desired beam steering angle and a position of the respective one of the transmit antennas of the phased array antenna.

公开(公告)号：US11143753B2

公开(公告)日：2021-10-12

申请号：US16407982

申请日：2019-05-09

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Oren Longman ,  Shahar Villeval ,  Igal Bilik ,  Lior Kissos

IPC: G01S13/34 ,  G01S13/526 ,  G01S13/931

Abstract: A vehicle, radar system of a vehicle and method of extending a range of the radar system. The radar system includes a transmitter antenna, a receiver antenna and a processor. The transmitter antenna transmits a reference signal. The receiver antenna receives an echo signal in response to reflection of the reference signal from an object located at a distance outside of the range limit of the radar system, wherein the range limit indicating a frequency sampling range. The processor generates a frequency peak for the object from the received echo signal, wherein the frequency peak lies outside of the frequency sampling range, shifts the frequency peak to within the frequency sampling range, and determines a range of the object using the frequency-shifted peak.

公开(公告)号：US11099268B2

公开(公告)日：2021-08-24

申请号：US16225784

申请日：2018-12-19

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Michael Dikshtein ,  Igal Bilik ,  Shahar Villeval ,  Oren Longman

IPC: G01S13/32 ,  G01S13/58 ,  G01S7/282 ,  G01S7/292

Abstract: A vehicle, radar system for the vehicle and method of operating the vehicle is disclosed. The radar system includes a transmitter, a receiver and a processor. The transmitter transmits a source signal into a region proximate the vehicle. The receiver receives a reflected signal formed by reflection of the source signal from an object in the region. The processor obtains non-linear terms of a phase from the reflected signal and resolves a Doppler ambiguity of the object using the non-linear terms. A navigation system navigates the vehicle with respect to the object based on the resolved Doppler ambiguity.

公开(公告)号：US11079488B2

公开(公告)日：2021-08-03

申请号：US15978693

申请日：2018-05-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Ishai Eljarat ,  Gonen Barkan ,  Igal Bilik

IPC: G01S13/931 ,  G06K9/62 ,  G01S7/41 ,  B60W30/09

Abstract: A vehicle, radar system and method of detecting an object is disclosed. The radar system includes plurality of sensors a plurality of sensors, wherein a field of view of one of the plurality of sensors overlaps a field of view of at least another of the plurality of sensors at a region, and a processor. The processor is receives from the plurality of sensors a detection from the region, the detection related to an object, determines an overlap value for the region, adjusts a density parameter of a clustering criterion based on the overlap value, and determines a valid clustering of the detection with a neighboring detection using the adjusted density parameter.

公开(公告)号：US11047973B2

公开(公告)日：2021-06-29

申请号：US16126197

申请日：2018-09-10

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Oded Bialer ,  Igal Bilik

IPC: G01S13/68 ,  G01S13/931 ,  G01S13/02 ,  G01S7/40 ,  G01S7/35

Abstract: A vehicle, radar system and method of determining an angle of arrival of an object is disclosed. A radar array generates a linear frequency modulated source signal and includes a first channel and a second channel for receiving a reflection of the source signal from the object. A processor obtains a channel response for the first radar channel and for the second radar channel over a bandwidth of the source signal, partitions the frequency band into a plurality of frequency sub-bands, determines a variation between the first and second channel responses for a selected frequency sub-band, receives a reflection of the source signal at the first channel and at the second channel, corrects at least the second channel within the frequency sub-band using the determined variation, and determines an angle of arrival for the object based on the correction within the frequency sub-band.

公开(公告)号：US10972075B2

公开(公告)日：2021-04-06

申请号：US15776179

申请日：2015-12-11

Applicant: GM Global Technology Operations LLC

Inventor： Hsuanyu Pan ,  Alexandros Margomenos ,  Hasan Sharifi ,  Igal Bilik

IPC: H03K3/012

Abstract: An active quadrature generation circuit configured to provide an in-phase output signal and a quadrature output signal based on an input signal and a method of fabricating the active quadrature generation circuit on an integrated circuit are described. The circuit includes an input node to receive the input signal and a first transistor including a collector connected to a power supply pin. The circuit also includes a second transistor including a base connected to the power supply pin, the second transistor differing in size from the first transistor by a factor of K, wherein the in-phase output signal and the quadrature output signal are generated based on an inherent phase difference of 90 degrees between a current at a collector of the first transistor and a current at a base of the second transistor.

公开(公告)号：US10962636B2

公开(公告)日：2021-03-30

申请号：US16101870

申请日：2018-08-13

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Oren Longman ,  Shahar Villeval ,  Igal Bilik

IPC: G01S13/58 ,  G01S7/295

Abstract: A vehicle, radar system for a vehicle, and method of determining a radial velocity of an object via the radar system. The radar system includes a transmitter, receiver and processor. The transmitter transmits a source signal towards an object, and the receiver for receives a reflection of the source signal from the object. The processor obtains a Doppler measurement related to a radial velocity of the object, wherein the Doppler measurement includes a Doppler ambiguity, obtains a range walk rate for the radial velocity of the object, and resolves the Doppler ambiguity of the Doppler measurement using the range walk rate to obtain the radial velocity of the object.