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

Claim 11:
12. A method for detecting and tracking ghost vehicles by a radar anti-spoofing system, the method comprising:
determining, by one or more controllers, a SNR distance ratio for input detection points generated by a plurality of radar sensors, wherein a value of the SNR distance ratio is indicative of an object being a ghost vehicle;
determining, by the one or more controllers, importance sampling for each variable that is part of a state variable based on the plurality of input detection points and the SNR distance ratio;
weighting the importance sampling for each variable that is part of the state variable;
determining an effective particle number indicating a degree of particle degradation for the importance sampling for each variable that is part of the state variable; and
in response to determining the effective particle number is equal to or less than a predetermined threshold, estimating a ghost position for the ghost vehicle based on the state variable.