US 12,092,733 B2
Radar anti-spoofing system for identifying ghost objects created by reciprocity-based sensor spoofing
Yuri Owechko, Newbury Park, CA (US); and Qin Jiang, Woodland Hills, 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. 17/551,644.
Prior Publication US 2023/0184926 A1, Jun. 15, 2023
Int. Cl. G01S 13/90 (2006.01); G01S 13/50 (2006.01); G06V 10/62 (2022.01); G06V 10/74 (2022.01); G06V 10/762 (2022.01); G06V 10/80 (2022.01)
CPC G01S 13/9027 (2019.05) [G01S 13/505 (2013.01); G01S 13/9011 (2013.01); G06V 10/62 (2022.01); G06V 10/761 (2022.01); G06V 10/762 (2022.01); G06V 10/809 (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 actual targets; and
one or more controllers in electronic communication with the plurality of radar sensors, wherein the one or more controllers execute instructions to:
determine time-matched clusters that represent objects located in an environment surrounding the autonomous vehicle based on the plurality of input detection points from the plurality of radar sensors;
determine 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;
determine a motion-based velocity of the time-matched cluster based on a motion vector of the time-matched cluster;
determine a Doppler-frequency velocity of the time-matched cluster;
determine a velocity-ratio measure of the time-matched cluster by dividing the motion-based velocity by the Doppler-frequency velocity; and
identify the time-matched cluster as either a ghost object or a real object by a thresholding technique based on the values of the adjusted SNR measure and the velocity-ratio measure, wherein the thresholding technique includes selecting a threshold range of values for the adjusted SNR measure that capture a mismatch between an SNR and the range measurement that is created by the ghost object, and wherein the ghost object is produced by reciprocity-based spoofing where the RF signals are reflected from the actual targets but were originally emitted by a spoofer.