US 11,807,271 B2
Method, system, and computer program product for resolving level ambiguity for radar systems of autonomous vehicles
Yinguang Li, Pittsburgh, PA (US); and Xiufeng Song, Pittsburgh, PA (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by FORD GLOBAL TECHNOLOGIES, LLC, Dearborn, MI (US)
Filed on Jul. 30, 2021, as Appl. No. 17/390,069.
Prior Publication US 2023/0030172 A1, Feb. 2, 2023
Int. Cl. B60W 60/00 (2020.01); G08G 1/16 (2006.01); G01S 13/931 (2020.01); B60W 30/095 (2012.01); B60W 30/09 (2012.01); G01S 13/72 (2006.01)
CPC B60W 60/0015 (2020.02) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); G01S 13/72 (2013.01); G01S 13/931 (2013.01); G08G 1/167 (2013.01); B60W 2420/52 (2013.01); B60W 2552/53 (2020.02)] 19 Claims
OG exemplary drawing
 
1. A method for resolving level ambiguity for radar systems of autonomous vehicles, comprising:
detecting, with at least one processor, a plurality of detected objects with a radar system of an autonomous vehicle;
associating, with the at least one processor, each first detected object of at least one first detected object of the plurality of detected objects with a respective existing tracked object of at least one existing tracked object based on a first position of each first detected object;
storing, with the at least one processor, first tracked object data based on a first height determined for each first detected object associated with each respective existing tracked object, the first height of each first detected object being determined by:
querying, with the at least one processor, a tile map based on the first position of the first detected object to provide a plurality of ground heights; and
determining, with the at least one processor, a first ground height of the plurality of ground heights closest to an existing height of the respective existing tracked object as the first height of the first detected object; and
issuing, with the at least one processor, a command to cause the autonomous vehicle to perform at least one autonomous driving operation, the command being based on the first-height of each first detected object.