US 12,422,545 B2
Detection and localization of non-line-of-sight objects using multipath radar reflections and map data
Branka Jokanovic, Agoura HIlls, CA (US); William Snyder, Westlake Village, CA (US); Mohamed A. Moawad, Westfield, IN (US); and Michael H. Laur, Mission Viejo, CA (US)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on May 17, 2022, as Appl. No. 17/663,710.
Claims priority of provisional application 63/276,180, filed on Nov. 5, 2021.
Prior Publication US 2023/0144600 A1, May 11, 2023
Int. Cl. G01S 13/931 (2020.01)
CPC G01S 13/931 (2013.01) 13 Claims
OG exemplary drawing
 
1. A radar system installed in a host vehicle, the radar system comprising:
one or more processors configured to:
identify, using electromagnetic (EM) energy reflected by one or more objects and received by a receiver of the radar system, a detection of an object;
determine, using the received EM energy and assuming a direct-path reflection, a direct-path azimuth angle and a direct-path range associated with the detection;
determine, using map data, the direct-path azimuth angle, and the direct-path range, whether the direct-path reflection associated with the detection is located within a roadway corresponding to a travel path of the host vehicle;
responsive to a determination that the direct-path reflection associated with the detection is not located within the roadway, determine, using the received EM energy and assuming a multipath reflection, a multipath azimuth angle, a multipath range, and a multipath cross-range associated with the detection;
determine whether the multipath reflection associated with the detection is located within the roadway and not within a direct line-of-sight of the radar system by identifying, based on the map data, whether the multipath range, the multipath cross-range, and the multipath azimuth angle are located within the roadway and not within the direct line-of-sight of the radar system;
responsive to a determination that the multipath reflection associated with the detection is located within the roadway and not within the direct line-of-sight of the radar system, determine that the detection corresponds to a non-line-of-sight (NLOS) object; and
provide an indication of the NLOS object, including the multipath range, the multipath cross-range, and the multipath azimuth angle, as an input to an autonomous-driving system or an assisted-driving system.