US 11,921,194 B2
Radar anti-spoofing systems for an autonomous vehicle that identify ghost vehicles
Yuri Owechko, Newbury Park, CA (US); Qin Jiang, Woodland Hills, CA (US); and Hyukseong Kwon, Thousand Oaks, CA (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Dec. 15, 2021, as Appl. No. 17/551,666.
Prior Publication US 2023/0184928 A1, Jun. 15, 2023
Int. Cl. G01S 13/90 (2006.01); G01S 13/50 (2006.01); G06V 10/44 (2022.01); G06V 10/62 (2022.01); G06V 10/74 (2022.01)
CPC G01S 13/9029 (2013.01) [G01S 13/505 (2013.01); G01S 13/9011 (2013.01); G01S 13/9027 (2019.05); G06V 10/443 (2022.01); G06V 10/62 (2022.01); G06V 10/761 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A radar anti-spoofing system for an autonomous vehicle, the radar anti-spoofing system comprising:
a plurality of radar sensors that generate a plurality of input detection points representing radio frequency (RF) signals reflected from objects; and
one or more controllers in electronic communication with the plurality of radar sensors, wherein the one or more controllers execute instructions to:
determine a signal to noise ratio (SNR) distance ratio for the plurality of input detection points generated by the plurality of radar sensors, wherein a value of the SNR distance ratio is indicative of an object being a ghost vehicle;
determine importance sampling for each variable that is part of a state variable based on the plurality of input detection points and the SNR distance ratio;
weight the importance sampling for each variable that is part of the state variable;
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; and
in response to determining the effective particle number is equal to or less than a predetermined threshold, estimate a ghost position for the ghost vehicle based on the state variable.