US 12,434,695 B2
Phantom objects in sensor data
Christopher Pontisakos, Allen Park, MI (US); Rajiv Sithiravel, Scarborough (CA); Alex Maurice Miller, Canton, MI (US); and Yuhao Liu, Canton, MI (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Apr. 27, 2023, as Appl. No. 18/307,870.
Prior Publication US 2024/0359685 A1, Oct. 31, 2024
Int. Cl. B60W 30/095 (2012.01); G01S 13/52 (2006.01); G01S 13/931 (2020.01)
CPC B60W 30/095 (2013.01) [G01S 13/52 (2013.01); B60W 30/0956 (2013.01); B60W 2420/408 (2024.01); B60W 2554/4049 (2020.02); G01S 13/931 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A computer comprising a processor and a memory, the memory storing instructions executable by the processor to:
receive range data from a ranging sensor of a vehicle, the range data including a stationary object and a first apparent moving object;
determine that a path of the first apparent moving object is within a threshold distance of the stationary object;
upon determining that the path is within the threshold distance of the stationary object, discard the first apparent moving object;
determine that a difference between a first time for a second apparent moving object to reach the vehicle and a second time for a third apparent moving object to reach the vehicle is less than a time threshold;
upon determining that the difference is less than the time threshold, discard the third apparent moving object; and
in response to discarding the first apparent moving object, refrain from actuating the vehicle based on the first apparent moving object.