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11.发明授权公开(公告)号：US12117520B1
公开(公告)日：2024-10-15
申请号：US17370285
申请日：2021-07-08
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Filip Perich , Timothy Campbell
CPC classification number: G01S13/89 , G01S7/415 , G06T7/246 , G06T7/97 , B60W60/001 , B60W2420/408 , B60W2520/14 , G06T2207/10044 , G06T2207/30248
Abstract: Example embodiments relate to radar image video compression techniques using per-pixel Doppler measurements, which can involve initially receiving radar data from a radar unit to generate a radar representation that represents surfaces in the environment. Based on Doppler scores in the radar representation, a range rate can be determined for each pixel that indicates a radial direction motion for a surface represented by the pixel. The range rates and backscatter values can then be used to estimate a radar representation prediction for subsequent radar data received from the radar unit, which enables a generation of a compressed radar data file that represents the difference between the radar representation prediction and the actual representation determined for the subsequent radar data. The compressed radar data file can be stored in memory, transmitted to other devices, and decompressed and used to train models via machine learning.
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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.
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公开(公告)号：US11280897B2
公开(公告)日：2022-03-22
申请号：US16371080
申请日：2019-03-31
Applicant: Waymo LLC
Inventor： Clayton Kunz , Larry Smith , Timothy Campbell
IPC: G01S13/86 , G01S7/40 , G01S13/931
Abstract: Disclosed are systems and methods that may be used for determining areas free of objects around a vehicle. The systems and methods include receiving first sensor data from a first sensor having a first field of view and a first range. The systems and methods also include receiving second sensor data from a second sensor having a second field of view and a second range. The systems and methods also include determining, by a processor, a first-sensor occlusion in the first field of view. The systems and methods further include determining, by the processor, an occlusion free-region of the first field of view based on data from the second sensor. Additionally, the systems and methods include operating, by the processor, the vehicle in an autonomous mode based on determining the occlusion free-region.
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公开(公告)号：US20210255301A1
公开(公告)日：2021-08-19
申请号：US17135106
申请日：2020-12-28
Applicant: Waymo LLC
Inventor： Timothy Campbell , Matt Markel
Abstract: Example embodiments described herein involve techniques for orthogonal Doppler coding for a radar system. An example method may involve causing, by a computing system coupled to a vehicle, a radar unit to transmit a plurality of radar signals into an environment of the vehicle using a two-dimensional (2D) transmission antenna array, wherein the radar unit is configured to use time division multiple access (TDMA) to isolate transmit channels along a horizontal direction of the 2D transmission antenna array and Doppler coding to isolate transmit channels along a vertical direction of the 2D transmission antenna array. The method may further involve receiving, by the computing system and from the radar unit, radar reflections corresponding to the plurality of radar signals, determining information representative of the environment based on the radar reflections, and providing control instructions to the vehicle based on the information representative of the environment.
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公开(公告)号：US20210096238A1
公开(公告)日：2021-04-01
申请号：US17072523
申请日：2020-10-16
Applicant: Waymo LLC
Inventor： Jamal Izadian , Russell Smith , Timothy Campbell , Adam Brown
IPC: G01S13/86 , G01S13/90 , G01S13/931 , H01Q21/00 , H01Q1/32 , H01Q13/06 , H01P5/12 , H01P5/18 , H01Q21/06
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.
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Patent Agency Ranking
公开(公告)号：US20210080539A1
公开(公告)日：2021-03-18
申请号：US16952328
申请日：2020-11-19
Applicant: Waymo LLC
Inventor： Timothy Campbell , Brett Coon
IPC: G01S7/292 , G01S13/931 , G01S13/42
Abstract: Examples relate to near-field radar filters that can enhance measurements near a radar unit. An example may involve receiving a first set of radar reflection signals at a radar unit coupled to a vehicle and determining a filter configured to offset near-field effects of radar reflection signals received at the radar unit. In some instances, the filter depends on an azimuth angle and a distance for surfaces in the environment causing the first set of radar reflection signals. The example may also involve receiving, at the radar unit, a second set of radar reflection signals and determining, using the filter, an azimuth angle and a distance for surfaces in the environment causing the second set of radar reflection signals. The vehicle may be controlled based in part on the azimuth angle and the distance for the surfaces causing the second plurality of radar reflection signals.
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公开(公告)号：US20200309942A1
公开(公告)日：2020-10-01
申请号：US16371080
申请日：2019-03-31
Applicant: Waymo LLC
Inventor： Clayton Kunz , Larry Smith , Timothy Campbell
Abstract: Disclosed are systems and methods that may be used for determining areas free of objects around a vehicle. The systems and methods include receiving first sensor data from a first sensor having a first field of view and a first range. The systems and methods also include receiving second sensor data from a second sensor having a second field of view and a second range. The systems and methods also include determining, by a processor, a first-sensor occlusion in the first field of view. The systems and methods further include determining, by the processor, an occlusion free-region of the first field of view based on data from the second sensor. Additionally, the systems and methods include operating, by the processor, the vehicle in an autonomous mode based on determining the occlusion free-region.
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公开(公告)号：US20190094878A1
公开(公告)日：2019-03-28
申请号：US15713500
申请日：2017-09-22
Applicant: Waymo LLC
Inventor： Timothy Campbell , L. Donnie Smith
Abstract: Examples relating to vehicle motion detection using radar technology are described. An example method may involve a computing system receiving, from a radar sensor mounted on an autonomous vehicle, radar data representative of an environment of the vehicle. The method may involve the computing system, based on the radar data, detecting at least one scatterer present in the environment. The method may involve the computing system making a determination of a likelihood that the at least one scatterer is stationary with respect to the vehicle. The method may involve the computing system, based on the determination being that the likelihood is at least equal to a predefined confidence threshold, determining an indication that the vehicle is stationary. And the method may involve the computing system controlling movement of the vehicle based on the determined indication.
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公开(公告)号：US20190094877A1
公开(公告)日：2019-03-28
申请号：US15713499
申请日：2017-09-22
Applicant: Waymo LLC
Inventor： L. Donnie Smith , Timothy Campbell
IPC: G05D1/02 , G01S7/06 , G01S13/60 , G01S13/93 , G08G1/16 , B62D6/00 , B62D15/02 , B60W10/04 , B60W10/18 , B60W10/20
Abstract: Examples relating to vehicle velocity calculation using radar technology are described. An example method performed by a computing system may involve, while a vehicle is moving on a road, receiving, from two or more radar sensors mounted at different locations on the vehicle, radar data representative of an environment of the vehicle. The method may involve, based on the data, detecting at least one scatterer in the environment. The method may involve making a determination of a likelihood that the at least one scatterer is stationary with respect to the vehicle. The method may involve, based on the determination being that the likelihood is at least equal to a predefined confidence threshold, calculating a velocity of the vehicle based on the data from the sensors. The calculated velocity may include an angular and linear velocity. Further, the method may involve controlling the vehicle based on the calculated velocity.
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20.发明申请公开(公告)号：US20250004126A1
公开(公告)日：2025-01-02
申请号：US18885049
申请日：2024-09-13
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Filip Perich , Timothy Campbell
Abstract: Example embodiments relate to radar image video compression techniques using per-pixel Doppler measurements, which can involve initially receiving radar data from a radar unit to generate a radar representation that represents surfaces in the environment. Based on Doppler scores in the radar representation, a range rate can be determined for each pixel that indicates a radial direction motion for a surface represented by the pixel. The range rates and backscatter values can then be used to estimate a radar representation prediction for subsequent radar data received from the radar unit, which enables a generation of a compressed radar data file that represents the difference between the radar representation prediction and the actual representation determined for the subsequent radar data. The compressed radar data file can be stored in memory, transmitted to other devices, and decompressed and used to train models via machine learning.
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