公开(公告)号：US20240125921A1

公开(公告)日：2024-04-18

申请号：US18105183

申请日：2023-02-02

申请人： Motional AD LLC

发明人： Ting Wang ,  Yun Lin ,  Ken Power

IPC分类号： G01S13/89 ,  G01S7/288 ,  G01S7/41 ,  G01S13/86

CPC分类号： G01S13/89 ,  G01S7/2883 ,  G01S7/417 ,  G01S13/867 ,  G01S13/931

摘要： Provided are methods for generation of representations of radar data. Some methods described include: receiving ADC raw data of a radar sensor of a vehicle; performing range FFT, Doppler FFT, and azimuth FFT on the ADC raw data; generating a 1D range heat map tensor representing the range FFT, a 2D RD heat map tensor representing a combination of the range FFT and the Doppler FFT, a 2D RA heat map tensor representing a combination of the range FFT and the azimuth FFT, or a 3D RAD matrix tensor representing a combination of the range FFT, the Doppler FFT, and the azimuth FFT; and inputting at least one of the 1D range heat map tensor, the 2D RD heat map tensor, the 2D RA heat map tensor, or the 3D RAD matrix tensor, to a machine learning model for detecting objects on a road network around the vehicle.