US 12,032,060 B2
Ambiguity mitigation based on common field of view of radar systems
Gaston Solodky, Kfar Saba (IL); Ishai Eljarat, Raanana (IL); Igal Bilik, Rehovot (IL); and Gonen Barkan, Lehavim (IL)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Jan. 25, 2021, as Appl. No. 17/157,060.
Prior Publication US 2022/0236409 A1, Jul. 28, 2022
Int. Cl. G01S 15/89 (2006.01); G01S 7/539 (2006.01); G01S 15/42 (2006.01); G01S 15/87 (2006.01)
CPC G01S 15/89 (2013.01) [G01S 7/539 (2013.01); G01S 15/42 (2013.01); G01S 15/87 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining an initial point cloud for each of two or more radar systems that share a common field of view, wherein each initial point cloud results from processing reflected energy at each of the two or more radar systems and 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;
obtaining a point cloud from the initial point cloud for each of the two or more radar systems, wherein each point of the point cloud for each of the two or more radar systems has a same number of hypotheses for the range as other points of the point cloud, a same number of hypotheses for the Doppler as other points of the point cloud, and a same number of hypotheses for the DOA as other points of the point cloud;
resolving ambiguity in the common field of view based on the point cloud for each of the two or more radar systems to obtain resolved and unresolved points in the common field of view, wherein the resolved points indicate one value for the range, one value for the Doppler, and one value of the DOA;
obtaining a radar image from each of the two or more radar systems based on the resolved and unresolved points in the common field of view, wherein the radar images are used to control an aspect of operation of a vehicle;
controlling an aspect of operation of a vehicle using the radar image to avoid collision with the object.