公开(公告)号：US20240046656A1

公开(公告)日：2024-02-08

申请号：US17817495

申请日：2022-08-04

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Yonattan Menaker ,  Sharon Ayzik ,  Ido Amit ,  Max Fomin

IPC: G06V20/58 ,  G06V20/56 ,  B60W40/105

CPC classification number: G06V20/58 ,  G06V20/588 ,  B60W40/105 ,  B60W2420/42 ,  B60W2554/4049

Abstract: Systems and methods for controlling a vehicle. The systems and methods receive image data from at least one camera of the vehicle, detect a 2D measurement location of a static object in an image plane of the camera using the image data, receive an input vector of measurements from a sensor system of the vehicle, predict a predicted 3D location of the static object using a Unscented Kalman Filter (UKF) that incorporates a motion model for the vehicle and further using the 2D measurement location of the static object, and the input vector, and control at least one vehicle feature based on the predicted 3D location of the static object.

公开(公告)号：US20210072345A1

公开(公告)日：2021-03-11

申请号：US16561369

申请日：2019-09-05

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Yonattan Menaker ,  Arye Lerner ,  Moshe Shapiro

IPC: G01S7/292 ,  G01S13/50 ,  G01S13/34 ,  G01S13/28 ,  G01S7/40 ,  G01S7/288

Abstract: Method and systems for object detection using a radar module are disclosed. Frames of range and doppler data are received from a radar module at sample time intervals. Doppler zero slice data is extracted from a current frame of the range and doppler data. A prediction of doppler zero slice data is maintained. The prediction of doppler zero slice data is based at least partly on doppler zero slice data from a previous frame of range and doppler data. Standard deviation data is determined based at least partly on prediction error data. The prediction error data relates to a difference between the prediction of doppler zero slice data and the doppler zero slice data. An object detection output is determined based on a comparison of the standard deviation data and an object detection threshold.

公开(公告)号：US11300655B2

公开(公告)日：2022-04-12

申请号：US16561369

申请日：2019-09-05

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Yonattan Menaker ,  Arye Lerner ,  Moshe Shapiro

IPC: G01S7/292 ,  G01S13/50 ,  G01S13/34 ,  G01S7/40 ,  G01S7/288 ,  G01S13/28 ,  G01S13/58 ,  G01S7/35 ,  G01S13/931 ,  G01S7/02 ,  G01S13/02

Abstract: Method and systems for object detection using a radar module are disclosed. Frames of range and doppler data are received from a radar module at sample time intervals. Doppler zero slice data is extracted from a current frame of the range and doppler data. A prediction of doppler zero slice data is maintained. The prediction of doppler zero slice data is based at least partly on doppler zero slice data from a previous frame of range and doppler data. Standard deviation data is determined based at least partly on prediction error data. The prediction error data relates to a difference between the prediction of doppler zero slice data and the doppler zero slice data. An object detection output is determined based on a comparison of the standard deviation data and an object detection threshold.

公开(公告)号：US12293589B2

公开(公告)日：2025-05-06

申请号：US17817495

申请日：2022-08-04

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Yonattan Menaker ,  Sharon Ayzik ,  Ido Amit ,  Max Fomin

IPC: G06V20/58 ,  B60W40/105 ,  G06V20/56

Abstract: Systems and methods for controlling a vehicle. The systems and methods receive image data from at least one camera of the vehicle, detect a 2D measurement location of a static object in an image plane of the camera using the image data, receive an input vector of measurements from a sensor system of the vehicle, predict a predicted 3D location of the static object using a Unscented Kalman Filter (UKF) that incorporates a motion model for the vehicle and further using the 2D measurement location of the static object, and the input vector, and control at least one vehicle feature based on the predicted 3D location of the static object.

公开(公告)号：US11163053B2

公开(公告)日：2021-11-02

申请号：US16181753

申请日：2018-11-06

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shachar Shayovitz ,  Yonattan Menaker ,  Igal Bilik

IPC: G01S13/44 ,  G01S13/931 ,  G01S7/02 ,  G01S13/524 ,  G01S13/89

Abstract: A vehicle, radar system of the vehicle and method of operating the vehicle. A transmit antenna transmits a radio wave and a plurality of receive antennae receive echo radio waves from an object receptive to the transmitted radio wave, wherein the echo radio waves includes short-range interference. A processor generates a plurality of radar data arrays for the return signals, wherein each radar data array represents the return signal received at a corresponding receiver antennae, estimates an amount of short-range interference present in the return signal of each radar data array, subtracts the estimate of short-range interference from each of the radar data array to obtain a plurality of clutter-free radar data arrays, and detects the object using at least the plurality of clutter-free radar data arrays. A navigation system navigates the vehicle based on the detection of the object.