A computer-implemented method for predicting properties of a plurality of objects in a vicinity of a vehicle includes multiple steps that can be carried out by computer hardware components. The method includes determining a grid map representation of road-users perception data, with the road-users perception data including tracked perception results and/or untracked sensor intermediate detections. The method also includes determining a grid map representation of static environment data based on data obtained from a perception system and/or a pre-determined map. The method further includes determining the properties of the plurality of objects based on the grid map representation of road-users perception data and the grid map representation of static environment data.

This document describes techniques for using occlusion constraints for resolving tracks from multiple types of sensors. In aspects, an occlusion constraint is applied to an association between a radar track and vision track to indicate a probability of occlusion. In other aspects, described are techniques for a vehicle to refrain from evaluating occluded radar tracks and vision tracks collected by a perception system. The probability of occlusion is utilized for deemphasizing pairs of radar tracks and vision tracks with a high likelihood of occlusion and therefore, not useful for tracking. The disclosed techniques may provide improved perception data more closely representing multiple complex data sets for a vehicle for preventing a collision with an occluded object as the vehicle operates in an environment.

In an embodiment, a method includes: receiving first radar data from a millimeter-wave radar sensor; receiving a set of hyperparameters with a radar processing chain; generating a first radar processing output using the radar processing chain based on the first radar data and the set of hyperparameters; updating the set of hyperparameters based on the first radar processing output using a hyperparameter selection neural network; receiving second radar data from the millimeter-wave radar sensor; and generating a second radar processing output using the radar processing chain based on the second radar data and the updated set of hyperparameters.

A technique for tracking objects includes: determining a set of detected measurements based on a received return signal; determining a group that includes a set of group measurements and a set of group tracks; creating a merged factor, including a merged set of track state hypotheses associated with a merged set of existing tracks including a first set of existing tracks and a second set of existing tracks, by calculating the cross-product of a first set of previous track state hypotheses and a second set of previous track state hypotheses; determining a first new factor and a second new factor; calculating a first set of new track state hypotheses for the first new factor based on a first subset of the group measurements; and calculating a second set of new track state hypotheses for the second new factor based on a second subset of the group measurements.

A millimeter wave radar apparatus determining an obstacle on a railway is applied to the railway and the obstacle. The millimeter wave radar apparatus includes a user interface and a millimeter wave radar. The user interface is configured to control the millimeter wave radar. The millimeter wave radar is configured to transmit a radar wave to a predetermined range on the railway. The millimeter wave radar is configured to receive a reflected radar wave reflected from the predetermined range on the railway based on the radar wave. The user interface is configured to determine whether the obstacle is in the predetermined range on the railway based on the reflected radar wave. If the user interface determines that the obstacle is in the predetermined range on the railway, the user interface is configured to provide a warning.

In a general aspect, motion-sensing data are generated based on wireless signals transmitted between respective pairs of wireless communication devices in a wireless communication network. Spatial coordinates are generated for the respective wireless communication devices, and user input is received in response to a graphical representation of a spatial arrangement of the wireless communication devices. The user input indicates a selected group of the wireless communication devices that share a common characteristic. Motion zones in a motion detection system associated with the space are defined. Each of the motion zones represents a distinct region in the space, and the motion zones include a first motion zone representing a region that includes the selected group of the wireless communication devices.

Disclosed herein are systems and methods for estimating target ranges, angles of arrival, and speed using optimization procedures. Target ranges are estimated by performing an optimization procedure to obtain a denoised signal, performing a correlation of a transmitted waveform and the denoised signal, and using a result of the correlation to determine an estimate of a distance between the sensor and at least one target. Target angles of arrival are estimated by determining ranges at which targets are located, and, for each range, constructing an array signal from samples of received echo signals, and using the array signal, performing another optimization procedure to estimate a respective angle of arrival for each target of the at least one target. Doppler shifts may also be estimated using another optimization procedure. Certain of the optimization procedures use atomic norm techniques.

Technologies for calibrating radars and tracking space objects. Some of such technologies enable a technique for calibrating a radar based on using -A- an elemental antenna (308), which can be embedded on a housing hosting a set of antenna elements, or -B- an antenna (146) mounted to a reflector. Some of such technologies enable a radar site containing a first 1D phased array (112) and a second 1D phased array (112), where the first 1D phased array sends a set of signals and receives a set of reflections based on the set of signals, and the second 1D phased array receives the set of reflections.

The invention discloses a golf ball tracking system, which includes a distributed sensor and processor system adapted to simultaneously track the trajectories of multiple golf balls hit by one of more golfers. The system is adapted to keep track of the location of the golfers to enable the allocation of shots to the correct golfer. The system is operated at a golf driving range, where multiple players can hit balls from anywhere within a designated area and/or fixed hitting bay locations. Multilateration is used to determine the location of multiple targets in 3D space, based on the reported range and Doppler from distributed radar sensors.

A system for tracking multiple projectiles includes a first radar device aimed so that a field of view of the first radar device covers at least a portion of a target area into which projectiles are to be launched from a plurality of launch locations and a processor receiving data from the radar and identifying from the data tracks of a plurality of projectiles. The processor determines for each projectile track identified a specific one of the launch locations from which the projectile was launched and provides to the launch location associated with each projectile data corresponding to a trajectory of the projectile.