US 12,377,875 B2
Ego motion estimation on sensor in ambiguous velocity environment
Jessica Bartholdy Sanson, Munich (DE); Kalin Hristov Kabakchiev, Munich (DE); Stefan Andreas Brisken, Munich (DE); and Andre Giere, Oberpframmern (DE)
Assigned to GM CRUISE HOLDINGS LLC, San Francisco, CA (US)
Filed by GM Cruise Holdings LLC, San Francisco, CA (US)
Filed on Apr. 24, 2023, as Appl. No. 18/305,647.
Claims priority of application No. 23169365 (EP), filed on Apr. 24, 2023.
Prior Publication US 2024/0351608 A1, Oct. 24, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 40/10 (2012.01)
CPC B60W 60/001 (2020.02) [B60W 40/10 (2013.01); B60W 2420/408 (2024.01)] 20 Claims
OG exemplary drawing
 
1. A radar sensor system, comprising:
a transmit antenna configured to transmit a radar signal into an environment of the radar sensor system;
a receive antenna configured to receive a return signal from the environment of the radar sensor system responsive to the radar signal; and
radar processing circuitry that is configured to perform acts comprising:
generating a radar frame based on the return signal received from the environment, the radar frame comprises detection points, each of the detection points having a radial velocity value and an azimuth angle value;
concatenating the radar frame with at least one shifted radar frame to form a concatenated radar frame, the shifted radar frame comprises the detection points of the radar frame having respective radial velocity values shifted by a multiple of an unambiguous maximum velocity value of the radar sensor system;
defining windows within the concatenated radar frame;
selecting respective groups of detection points within the windows identified as likely corresponding to one or more static objects in the environment;
generating potential ego motion estimations based on the groups of detection points within the windows; and
selecting one of the potential ego motion estimations as an ego motion estimation of the radar sensor system.