US 9,812,008 B2
Vehicle detection and tracking based on wheels using radar and vision
Wei Tong, Troy, MI (US); Shuqing Zeng, Sterling Heights, MI (US); Jinsong Wang, Troy, MI (US); and Wende Zhang, Troy, MI (US)
Assigned to GM Global Technology Operations LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Feb. 19, 2016, as Appl. No. 15/47,959.
Prior Publication US 2017/0243478 A1, Aug. 24, 2017
Int. Cl. G08G 1/04 (2006.01)
CPC G08G 1/04 (2013.01) 15 Claims
OG exemplary drawing
 
1. A method for detecting remote vehicles relative to a host vehicle using wheel detection, the method comprising the steps of:
tracking wheel candidates based on wheel detection data received from a plurality of object detection devices, wherein the wheel detection data includes a kinematic model for each tracked wheel candidate;
comparing select parameters from the kinematic model for each pair of tracked wheel candidates, wherein each pair of tracked wheel candidates include a first tracked wheel candidate and a second tracked wheel candidate, and wherein the comparison of select parameters relate to a set of criteria for a vehicle profile; and
identifying a remote vehicle by determining if a threshold correlation exists between any pair of tracked wheel candidates based on the comparison of the select parameters, wherein the threshold correlation exists by satisfying the set of criteria for the vehicle profile, and wherein the set of criteria includes a threshold relationship between a speed direction of the first and second wheel candidates, a threshold relationship between a speed magnitude of the first and second wheel candidates, a threshold relationship between an alignment of the speed direction with a body direction associated with the vehicle profile, and a threshold relationship of a distance between the first and second wheel candidates.