公开(公告)号：US11796633B2

公开(公告)日：2023-10-24

申请号：US16715448

申请日：2019-12-16

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Brett Coon ,  Filip Perich

IPC: G01S7/40 ,  G01S13/931 ,  G01S7/00 ,  G01S7/35

CPC classification number: G01S7/40 ,  G01S7/003 ,  G01S7/352 ,  G01S13/931 ,  G01S2013/93273 ,  G01S2013/93274

Abstract: A method and a radar system are provided in the present disclosure. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signal and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides for operation of the radar system. The radar system also includes a radar processor. The radar processor is configured to cause transmission of radar signals by the antenna array based on the radar channel parameters. The radar processor is also configured to process received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.

公开(公告)号：US11714190B1

公开(公告)日：2023-08-01

申请号：US17316991

申请日：2021-05-11

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Irving Chung

IPC: G01S13/931 ,  G01S7/40 ,  G01S13/86 ,  G01S13/00

CPC classification number: G01S13/931 ,  G01S7/4004 ,  G01S13/865 ,  G01S13/867

Abstract: Example embodiments relate to techniques for hardware-in-the-loop testing with continuous integration for radar testing and development. A computing device may receive a target output for radar operation parameters undergoing development tests and determine whether a first output produced by a field programmable gate array (FPGA) based on the radar operation parameters differs from the target output less than a first threshold difference. When the output from the FPGA passes the comparison, the computing device may then cause a radar unit to transmit radar signals toward a target according to the radar operation parameters, which produces a second output that can also be compared to the target output. The FPGA may process signals for the radar unit. In some cases when the second output differs from the target output less than a second threshold difference, the computing device may provide the radar operation parameters as a radar software update to vehicles.

公开(公告)号：US11327153B2

公开(公告)日：2022-05-10

申请号：US16589271

申请日：2019-10-01

Applicant: Waymo LLC

Inventor： Timothy Campbell ,  Kevin Duncklee

IPC: G01S7/40 ,  G01S13/931

Abstract: In another example, a method is provided that includes transmitting a first radar signal by a first channel of a plurality of channels of a radar unit. The method also includes receiving first radar reflections of the first radar signal by at least one reception antenna of the radar unit. Additionally, the method includes transmitting a second radar signal by the first channel. The method further includes receiving second radar reflections of the second radar signal by at least one reception antenna. Yet further, the method includes processing the received radar reflections from the first and second radar reflections to determine a platform movement parameter. Additionally, a virtual array may be constructed and radar signals received at common location of the virtual array may be used to determine a platform movement parameter. Moreover, the method includes operating the radar unit based on an offset determined from the platform movement parameter.

公开(公告)号：US20240004029A1

公开(公告)日：2024-01-04

申请号：US18468312

申请日：2023-09-15

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Brett Coon ,  Filip Perich

IPC: G01S7/40 ,  G01S13/931 ,  G01S7/00 ,  G01S7/35

CPC classification number: G01S7/40 ,  G01S13/931 ,  G01S7/003 ,  G01S7/352 ,  G01S2013/93274 ,  G01S2013/93273

Abstract: A method and a radar system are provided in the present disclosure. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signal and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides for operation of the radar system. The radar system also includes a radar processor. The radar processor is configured to cause transmission of radar signals by the antenna array based on the radar channel parameters. The radar processor is also configured to process received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.

公开(公告)号：US20210096214A1

公开(公告)日：2021-04-01

申请号：US16589271

申请日：2019-10-01

Applicant: Waymo LLC

Inventor： Timothy Campbell ,  Kevin Duncklee

IPC: G01S7/40 ,  G01S13/93

Abstract: In another example, a method is provided that includes transmitting a first radar signal by a first channel of a plurality of channels of a radar unit. The method also includes receiving first radar reflections of the first radar signal by at least one reception antenna of the radar unit. Additionally, the method includes transmitting a second radar signal by the first channel. The method further includes receiving second radar reflections of the second radar signal by at least one reception antenna. Yet further, the method includes processing the received radar reflections from the first and second radar reflections to determine a platform movement parameter. Additionally, a virtual array may be constructed and radar signals received at common location of the virtual array may be used to determine a platform movement parameter. Moreover, the method includes operating the radar unit based on an offset determined from the platform movement parameter.

公开(公告)号：US20250085389A1

公开(公告)日：2025-03-13

申请号：US18963234

申请日：2024-11-27

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Brett Coon ,  Filip Perich

IPC: G01S7/40 ,  G01S7/00 ,  G01S7/35 ,  G01S13/931

Abstract: A method and a radar system are provided in the present disclosure. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signal and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides for operation of the radar system. The radar system also includes a radar processor. The radar processor is configured to cause transmission of radar signals by the antenna array based on the radar channel parameters. The radar processor is also configured to process received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.

公开(公告)号：US12196883B2

公开(公告)日：2025-01-14

申请号：US18468312

申请日：2023-09-15

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Brett Coon ,  Filip Perich

IPC: G01S7/40 ,  G01S7/00 ,  G01S7/35 ,  G01S13/931

Abstract: A method and a radar system are provided in the present disclosure. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signal and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides for operation of the radar system. The radar system also includes a radar processor. The radar processor is configured to cause transmission of radar signals by the antenna array based on the radar channel parameters. The radar processor is also configured to process received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.

公开(公告)号：US20210181302A1

公开(公告)日：2021-06-17

申请号：US16715448

申请日：2019-12-16

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Brett Coon ,  Filip Perich

IPC: G01S7/40 ,  G01S13/931 ,  G01S7/35 ,  G01S7/00

Abstract: A method and a radar system are provided in the present disclosure. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signal and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides for operation of the radar system. The radar system also includes a radar processor. The radar processor is configured to cause transmission of radar signals by the antenna array based on the radar channel parameters. The radar processor is also configured to process received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.