US 12,110,013 B2
Prediction of pedestrian road crossing with vehicle sensor
Oded Bialer, Petah Tivak (IL); and Siddhartha Gupta, Rochester Hills, MI (US)
Assigned to GM Global Technology Operations LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Oct. 7, 2022, as Appl. No. 17/961,885.
Prior Publication US 2024/0116503 A1, Apr. 11, 2024
Int. Cl. B60W 30/00 (2006.01); B60W 30/095 (2012.01); G01S 7/41 (2006.01); G01S 13/52 (2006.01); G01S 13/86 (2006.01); G01S 13/931 (2020.01)
CPC B60W 30/0956 (2013.01) [G01S 7/415 (2013.01); G01S 13/52 (2013.01); G01S 13/867 (2013.01); G01S 13/931 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/4029 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/801 (2020.02); B60W 2556/40 (2020.02); B60W 2720/106 (2013.01); B60W 2720/24 (2013.01); G01S 2013/9318 (2020.01); G01S 2013/93185 (2020.01)] 20 Claims
OG exemplary drawing
 
1. A system of controlling operation of a vehicle, the system comprising:
one or more sensors operatively connected to the vehicle and configured to obtain respective data of a scene, the one or more sensors including a radar unit;
a command unit adapted to receive the respective data, the command unit including a processor and tangible, non-transitory memory on which instructions are recorded;
wherein the command unit is configured to:
determine an orientation angle of a pedestrian in the scene based in part on the respective data, the orientation angle being based on a heading of the pedestrian relative to a direction of a road;
determine a Doppler frequency of the pedestrian and a distance of the pedestrian from a border of the road based in part on the respective data; and
designate a status of the pedestrian as either crossing or not crossing based on the distance, the orientation angle and the Doppler frequency of the pedestrian.