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公开(公告)号：US11921194B2
公开(公告)日：2024-03-05
申请号：US17551666
申请日：2021-12-15
Applicant: GM Global Technology Operations LLC
Inventor： Yuri Owechko , Qin Jiang , Hyukseong Kwon
CPC classification number: G01S13/9029 , G01S13/505 , G01S13/9011 , G01S13/9027 , G06V10/443 , G06V10/62 , G06V10/761
Abstract: A radar anti-spoofing system for an autonomous vehicle includes a plurality of radar sensors that generate a plurality of input detection points representing radio frequency (RF) signals reflected from objects and a controller in electronic communication with the plurality of radar sensors. The one or more controllers execute instructions to determine a signal to noise ratio (SNR) distance ratio for the input detection points generated by the plurality of radar sensors, where a value of the SNR distance ratio is indicative of an object being a ghost vehicle. The one or more controllers also determine an effective particle number indicating a degree of particle degradation for the importance sampling for each variable that is part of the state variable. In response to determining the effective particle number is equal to or less than a predetermined threshold, the one or more controllers estimate a ghost position for the ghost vehicle.
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2.发明公开公开(公告)号：US20230184926A1
公开(公告)日：2023-06-15
申请号：US17551644
申请日：2021-12-15
Applicant: GM Global Technology Operations LLC
Inventor： Yuri Owechko , Qin Jiang
CPC classification number: G01S13/9027 , G01S13/505 , G01S13/9011 , G06V10/762 , G06V10/761 , G06V10/809 , G06V10/62
Abstract: A radar anti-spoofing system for an autonomous vehicle includes a plurality of radar sensors that generate a plurality of input detection points representing radio frequency (RF) signals reflected from objects and a controller in electronic communication with the plurality of radar sensors. The controller executes instructions to determine time-matched clusters that represent objects located in an environment surrounding the autonomous vehicle based on the input detection points from the plurality of radar sensors. The controller determines an adjusted signal to noise (SNR) measure for a specific time-matched cluster by dividing an SNR of the specific time-matched cluster by a range measurement of the specific time-matched cluster. The controller determines a velocity-ratio measure of the time-matched cluster by dividing a motion-based velocity by a Doppler-frequency velocity, and identifies the time-matched cluster as either a ghost object or a real object.
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公开(公告)号：US12092733B2
公开(公告)日：2024-09-17
申请号：US17551644
申请日：2021-12-15
Applicant: GM Global Technology Operations LLC
Inventor： Yuri Owechko , Qin Jiang
CPC classification number: G01S13/9027 , G01S13/505 , G01S13/9011 , G06V10/62 , G06V10/761 , G06V10/762 , G06V10/809
Abstract: A radar anti-spoofing system for an autonomous vehicle includes a plurality of radar sensors that generate a plurality of input detection points representing radio frequency (RF) signals reflected from objects and a controller in electronic communication with the plurality of radar sensors. The controller executes instructions to determine time-matched clusters that represent objects located in an environment surrounding the autonomous vehicle based on the input detection points from the plurality of radar sensors. The controller determines an adjusted signal to noise (SNR) measure for a specific time-matched cluster by dividing an SNR of the specific time-matched cluster by a range measurement of the specific time-matched cluster. The controller determines a velocity-ratio measure of the time-matched cluster by dividing a motion-based velocity by a Doppler-frequency velocity, and identifies the time-matched cluster as either a ghost object or a real object.
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公开(公告)号：US20230184928A1
公开(公告)日：2023-06-15
申请号：US17551666
申请日：2021-12-15
Applicant: GM Global Technology Operations LLC
Inventor： Yuri Owechko , Qin Jiang , Hyukseong Kwon
CPC classification number: G01S13/9029 , G01S13/9011 , G01S13/9027 , G01S13/505 , G06V10/62 , G06V10/761 , G06V10/443
Abstract: A radar anti-spoofing system for an autonomous vehicle includes a plurality of radar sensors that generate a plurality of input detection points representing radio frequency (RF) signals reflected from objects and a controller in electronic communication with the plurality of radar sensors. The one or more controllers execute instructions to determine a signal to noise ratio (SNR) distance ratio for the input detection points generated by the plurality of radar sensors, where a value of the SNR distance ratio is indicative of an object being a ghost vehicle. The one or more controllers also determine an effective particle number indicating a degree of particle degradation for the importance sampling for each variable that is part of the state variable. In response to determining the effective particle number is equal to or less than a predetermined threshold, the one or more controllers estimate a ghost position for the ghost vehicle.
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