Patent Document ID: 10139833
Application ID: 15597994
Patent Status: 1

Claim One:
1. A vehicle, comprising: at least one control system configured to control the vehicle; and a six-dimensional point cloud system, comprising: a multiple input multiple output radar system; a memory; and a processor communicatively connected to the multiple input multiple output radar system and the memory, the processor configured to: receive, from the multiple input multiple output radar system, a current data frame comprising a point cloud, the point cloud including three-dimensional position information and Doppler data corresponding to an object detected by the multiple input multiple output radar system at each point in the point cloud; calculate, for each point in the point cloud, a three-dimensional velocity of the respective point in the point cloud based upon the three-dimensional position information and Doppler data associated with the point in the current data frame and data from a previous data frame stored in them memory; segment each point in the point cloud into one or more clusters of points based upon the three-dimensional position information associated with each respective point and the calculated three-dimensional velocity of each respective point; compute a kinematic state of each of the one or more clusters of points, the kinematic state including a center of mass for the respective cluster of points, a reference velocity for the respective cluster of points, an angular velocity for the respective cluster of points, and contour points for the respective cluster of points; determine an object type associated with each of the one or more cluster; and determine a threat level and a response command based upon the determined object type and the kinematic state of each of the one or more clusters of points, wherein the response command causes the at least one control system to control the vehicle.