US 12,122,415 B2
Multiple frequency fusion for enhanced point cloud formation
Daniel Flores Tapia, Fairfield, CA (US)
Assigned to GM Cruise Holdings LLC, San Francisco, CA (US)
Filed by GM Cruise Holdings LLC, San Francisco, CA (US)
Filed on Jun. 9, 2022, as Appl. No. 17/836,065.
Prior Publication US 2023/0399009 A1, Dec. 14, 2023
Int. Cl. B60W 60/00 (2020.01); G01S 13/18 (2006.01)
CPC B60W 60/001 (2020.02) [G01S 13/18 (2013.01); B60W 2420/408 (2024.01)] 20 Claims
OG exemplary drawing
 
1. A method for processing radar data, the method comprising:
performing a downsampling function on a first set of preprocessed radar data when generating a first updated dataset, the first set of preprocessed radar data generated from a first set of received radar signals of a first frequency, wherein the first updated data set includes less data than the first set of preprocessed data based on the performance of the downsampling function;
performing an upsampling function on a second set of preprocessed radar data when generating a second updated dataset, the second set of preprocessed radar data generated from a second set of received radar signals of a second frequency, wherein:
the second updated dataset includes more data than the second set of preprocessed data based on the performance of the upsampling function, and
the first frequency of the first set of radar signals is greater than the second frequency of the second set of radar signals;
performing a range cross-correlation function on the first updated dataset;
generating target signatures and ranges to associate with one or more objects based on the performance of the range cross-correlation function;
performing a Doppler cross-correlation function on the second updated dataset; and
generating velocity data to associate with the target signatures and the ranges associated with the one or more objects based on the performance of the Doppler cross-correlation function.