公开(公告)号：US10082570B1

公开(公告)日：2018-09-25

申请号：US15054540

申请日：2016-02-26

Applicant: Waymo LLC

Inventor： Jamal Izadian ,  Russell Smith ,  Tim Campbell ,  Adam Brown

IPC: G01S13/86 ,  G01S13/90 ,  G01S13/93 ,  H01Q21/00 ,  H01Q1/32

CPC classification number: G01S13/86 ,  G01S13/90 ,  G01S13/931 ,  H01P1/182 ,  H01P5/12 ,  H01P5/182 ,  H01Q1/3233 ,  H01Q13/06 ,  H01Q21/0037 ,  H01Q21/064

Abstract: A radar system includes a split-block assembly unit comprising a first portion and second portion, where the first portion and the second portion form a seam. The radar system further includes a plurality of ports located on a bottom side of the second portion opposite the seam. Additionally, the radar system includes a plurality of radiating elements located on a top side of the first portion opposite the seam. The plurality of radiating elements is arranged in a plurality of arrays. The plurality of arrays includes a set of multiple-input multiple-output (MIMO) transmission arrays, a set of synthetic aperture radar (SAR) transmission arrays, and at least one reception array. Further, the radar system includes a set of waveguides configured to couple each array to a port.

公开(公告)号：US09841498B1

公开(公告)日：2017-12-12

申请号：US14548807

申请日：2014-11-20

Applicant: Waymo LLC

Inventor： Tim Campbell ,  Russell Leigh Smith

IPC: G01S13/02 ,  G01S7/41

CPC classification number: G01S13/02 ,  G01S7/023 ,  G01S7/41 ,  G01S13/343 ,  G01S13/426 ,  G01S13/931 ,  G01S2013/9378 ,  G01S2013/9385 ,  G01S2013/9396

Abstract: Disclosed herein are embodiments that relate to phase coded linear frequency modulation for a radar system. Embodiments include transmitting at least two signal pulses. The transmitting includes transmitting a first pulse with a first phase modulation and a first chip rate, and transmitting a second pulse with a second phase modulation and a second chip rate. The second chip rate may be different than the first chip rate. Embodiments also include receiving a signal that includes at least two reflection signals associated with reflection of the at least two transmitted signal pulses. Embodiments further include processing the received signal to determine target information. The processing includes filtering the received signal to time-align the at least two reflection signals. The filtering includes applying a frequency-dependent time delay to one or more of the at least two reflection signals. Additionally, embodiments include removing phase code modulations from the time-aligned reflection signals.

公开(公告)号：US20220128681A1

公开(公告)日：2022-04-28

申请号：US17570466

申请日：2022-01-07

Applicant: Waymo LLC

Inventor： Brandon Douglas Luders ,  Tim Campbell ,  Nathaniel Fairfield

IPC: G01S13/86 ,  G01S17/10 ,  G01S17/42 ,  G01S17/87 ,  G01S13/87 ,  G01S17/04 ,  G01S17/86 ,  G01S17/931 ,  G01S7/40 ,  G01S7/497 ,  G01S13/04 ,  G01S13/931

Abstract: A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.

公开(公告)号：US20190018131A1

公开(公告)日：2019-01-17

申请号：US16143316

申请日：2018-09-26

Applicant: Waymo LLC

Inventor： Brandon Douglas Luders ,  Tim Campbell ,  Nathaniel Fairfield

IPC: G01S13/86 ,  G01S17/42 ,  G01S7/497 ,  G01S13/04 ,  G01S13/87 ,  G01S13/93 ,  G01S17/93 ,  G01S17/87 ,  G01S7/40 ,  G01S17/10 ,  G01S17/02

Abstract: A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.

公开(公告)号：US11249182B2

公开(公告)日：2022-02-15

申请号：US16143316

申请日：2018-09-26

Applicant: Waymo LLC

Inventor： Brandon Douglas Luders ,  Tim Campbell ,  Nathaniel Fairfield

IPC: G01S13/04 ,  G01S13/86 ,  G01S17/10 ,  G01S17/42 ,  G01S17/87 ,  G01S13/87 ,  G01S17/04 ,  G01S17/86 ,  G01S17/931 ,  G01S7/40 ,  G01S7/497 ,  G01S13/931

Abstract: A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.

公开(公告)号：US10267908B2

公开(公告)日：2019-04-23

申请号：US14919667

申请日：2015-10-21

Applicant: Waymo LLC

Inventor： Brandon Douglas Luders ,  Tim Campbell ,  Nathaniel Fairfield

IPC: G01S13/04 ,  G01S13/86 ,  G01S7/40 ,  G01S7/497 ,  G01S13/93 ,  G01S17/02 ,  G01S17/93 ,  G01S17/10 ,  G01S17/42 ,  G01S17/87 ,  G01S13/87

Abstract: A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.