US 12,140,666 B2
Ghost object detection
Yu Wang, Troy, MI (US); Zixin Liu, Auburn Hills, MI (US); and Yang Wang, Novi, MI (US)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Feb. 21, 2022, as Appl. No. 17/651,859.
Claims priority of provisional application 63/266,937, filed on Jan. 19, 2022.
Prior Publication US 2023/0243960 A1, Aug. 3, 2023
Int. Cl. G01S 13/931 (2020.01); G01S 7/41 (2006.01); G01S 13/06 (2006.01); G01S 13/58 (2006.01); G01S 13/72 (2006.01)
CPC G01S 13/931 (2013.01) [G01S 7/411 (2013.01); G01S 13/06 (2013.01); G01S 13/584 (2013.01); G01S 13/72 (2013.01); G01S 2013/9317 (2013.01); G01S 2013/9325 (2013.01); G01S 2013/9329 (2020.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving information about a plurality of objects proximate a host vehicle, the objects comprising two or more moving objects and one or more stationary objects;
determining one or more moving object pairs of the moving objects; and
for each of the moving object pairs:
determining a reflection line that is:
perpendicular to a connection line connecting a first object and a second object of the respective moving object pair, and
between the first object and the second object;
detecting one or more of the stationary objects within an area of an intersection of the connection line and the reflection line;
determining whether one or more of the one or more of the detected stationary objects are within a distance of a reflection point that is at an intersection of a signal line between the second object and the host vehicle and the reflection line;
determining, based on the first object and the reflection line, an expected velocity of the second object;
determining whether a velocity of the second object is within a differential speed of the expected velocity;
determining, based on the velocity of the second object being within the differential speed of the expected velocity, whether the second object is a ghost object; and
outputting, based on the determination that the second object is a ghost object, an indication that the second object is a ghost object.