Patent ID: 11921194
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 16:
17. A radar anti-spoofing system for an autonomous vehicle, the radar anti-spoofing system comprising:
a plurality of radar sensors that generate a plurality of input detection points representing RF signals reflected from objects; and
one or more controllers in electronic communication with the plurality of radar sensors, wherein the one or more controllers execute instructions to:
determine an SNR deviation factor for an object based on the plurality of input detection points from the plurality of radar sensors;
modify an innovation covariance matrix of a Kalman filter by combining a measurement noise covariance matrix with an SNR deviation factor; and
determine a spoofing detection measure that quantifies a relationship between an updated state covariance matrix determined by the Kalman filter and a detected distance measured between the autonomous vehicle and the object, wherein a value of the spoofing detection measure changes with respect to time when the object is a ghost vehicle.