US 12,072,437 B2
Radar inter-pulse doppler phase generation using performant bounding volume hierarchy micro-step scene interpolation
Joel Gross, Irvine, CA (US); and Michael Hamilton, San Diego, CA (US)
Assigned to GM Cruise Holdings LLC, San Francisco, CA (US)
Filed by GM CRUISE HOLDINGS LLC, San Francisco, CA (US)
Filed on Dec. 18, 2021, as Appl. No. 17/555,414.
Prior Publication US 2023/0194658 A1, Jun. 22, 2023
Int. Cl. G01S 7/40 (2006.01); G01S 7/41 (2006.01)
CPC G01S 7/40 (2013.01) [G01S 7/406 (2021.05); G01S 7/412 (2013.01); G01S 7/415 (2013.01); G01S 7/417 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A computer-implemented method, comprising:
accessing data that associates a first scene with a start time and an end time of the first scene and that associates each respective object of a set of objects in the first scene with a respective starting location and a respective ending location;
generating simulated radar data for each of the set of objects at the start time based on simulated radar energy being reflected off of each of the objects in the set of objects at each of the respective starting locations;
calculating interpolated positions of movement of a first object in the set of objects from the start time to the end time based on an identification that the first object has moved in the first scene from a start location to an end location of the first object, wherein each of the interpolated positions of the movement of the first object are associated with a respective interpolated location of the first object from the start location and the end location of the first object;
generating simulated movement radar data associated with the movement of the first object at each of the interpolated positions; and
generating simulated radar data for each of the objects in the set of objects inclusive of the first object at the end time based on simulated energy being reflected off of each of the objects in the set of objects at each of the respective ending locations.