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公开(公告)号：US11835624B2
公开(公告)日：2023-12-05
申请号：US17451852
申请日：2021-10-22
Applicant: Waymo LLC
Inventor： Timothy Campbell
IPC: G01S13/931 , G01S13/30 , G05D1/00 , G05D1/02 , G01S13/00
CPC classification number: G01S13/931 , G01S13/30 , G05D1/0088 , G05D1/0257
Abstract: In an example method, a vehicle configured to operate in an autonomous mode could have a radar system used to aid in vehicle guidance. The method could include transmitting at least two signal pulses. The method further includes, for each transmitted signal pulse, receiving a reflection signal associated with reflection of the respective transmitted signal pulse. Each reflection signal may be received when the apparatus is in a different respective location. Additionally, the method includes processing the received reflection signals to determine target information relating to one or more targets in an environment of the vehicle. Also, the method includes correlating the target information with at least one object of a predetermined map of the environment of the vehicle to provide correlated target information. Yet further, the method includes storing the correlated target information for the at least one object in an electronic database.
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公开(公告)号：US11726174B1
公开(公告)日：2023-08-15
申请号：US17134793
申请日：2020-12-28
Applicant: Waymo LLC
Inventor： Timothy Campbell , Edwin Lim
IPC: G01S7/40 , G01S13/931 , G01S7/35
CPC classification number: G01S7/4008 , G01S7/354 , G01S7/40 , G01S13/931
Abstract: Example embodiments described herein involve techniques for removing transmit phase noise. A system may cause a printed circuit board (PCB) to supply a signal enabling the transmission line to couple the signal to the radar unit and the delay line to couple the signal to the quadrature coupler. The radar unit may use the signal to transmit a radar signal on a radio channel having a centered radio frequency while the quadrature coupler uses the signal to produce an output from the quadrature coupler. The system may estimate phase noise relative to the radio channel having the centered RF based on the output from the quadrature coupler, receive, from the radar unit, a radar reflection corresponding to the radar signal, and determine information representative of one or more objects in an environment based on the radar reflection and the phase noise.
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公开(公告)号：US20230017983A1
公开(公告)日：2023-01-19
申请号：US17379696
申请日：2021-07-19
Applicant: Waymo LLC
Inventor： Clayton Kunz , Timothy Campbell
IPC: G01S7/292 , G01S13/86 , G01S13/931 , G01S13/58 , G01S7/295
Abstract: Example embodiments relate to radar reflection filtering using a vehicle sensor system. A computing device may detect a first object in radar data from a radar unit coupled to a vehicle and, responsive to determining that information corresponding to the first object is unavailable from other vehicle sensors, use the radar data to determine a position and a velocity for the first object relative to the radar unit. The computing device may also detect a second object aligned with a vector extending between the radar unit and the first object. Based on a geometric relationship between the vehicle, the first object, and the second object, the computing device may determine that the first object is a self-reflection of the vehicle caused at least in part by the second object and control the vehicle based on this determination.
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公开(公告)号：US11531353B2
公开(公告)日：2022-12-20
申请号：US17112332
申请日：2020-12-04
Applicant: Waymo LLC
Inventor： L. Donnie Smith , Timothy Campbell
IPC: G05D1/02 , G01S13/60 , G01S13/931 , B60W10/04 , B60W10/18 , B60W10/20 , G01S7/06 , G01S13/52 , B60W50/14 , G05D1/00 , G08G1/16 , B62D6/00 , B62D15/02 , B62D6/02
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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公开(公告)号：US11460569B2
公开(公告)日：2022-10-04
申请号：US17135106
申请日：2020-12-28
Applicant: Waymo LLC
Inventor： Timothy Campbell , Matthew 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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Patent Agency Ranking
公开(公告)号：US20210088647A1
公开(公告)日：2021-03-25
申请号：US17110762
申请日：2020-12-03
Applicant: Waymo LLC
Inventor： Benjamin Ingram , Edward McCloskey , Timothy Campbell , Pierre-Yves Droz
IPC: G01S13/86 , G01S13/931 , G01S17/86 , G01S17/931
Abstract: The present disclosure relates to systems and methods that facilitate active sensor systems. An example method includes receiving information indicative of an operating context of a vehicle, wherein at least one Light Detection and Ranging (LIDAR) sensor or at least one radar sensor are coupled to the vehicle. The method also includes selecting, from a plurality of sensor power configurations, a desired sensor power configuration based on the operating context of the vehicle. The method further includes causing at least one of: the at least one LIDAR sensor to emit light pulses according to the desired sensor power configuration or the at least one radar sensor to emit radar energy according to the desired sensor power configuration.
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公开(公告)号：US20190277962A1
公开(公告)日：2019-09-12
申请号：US15917184
申请日：2018-03-09
Applicant: Waymo LLC
Inventor： Benjamin Ingram , Edward McCloskey , Timothy Campbell , Pierre-Yves Droz
Abstract: The present disclosure relates to systems and methods that facilitate active sensor systems. An example method includes receiving information indicative of an operating context of a vehicle, wherein at least one Light Detection and Ranging (LIDAR) sensor or at least one radar sensor are coupled to the vehicle. The method also includes selecting, from a plurality of sensor power configurations, a desired sensor power configuration based on the operating context of the vehicle. The method further includes causing at least one of: the at least one LIDAR sensor to emit light pulses according to the desired sensor power configuration or the at least one radar sensor to emit radar energy according to the desired sensor power configuration.
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公开(公告)号：US20190120935A1
公开(公告)日：2019-04-25
申请号：US16221990
申请日：2018-12-17
Applicant: Waymo LLC
Inventor： Timothy Campbell , Larry Smith
Abstract: The present application describes a method including transmitting at least two radar signals by a radar unit of a vehicle, where a first signal is transmitted from a first location and a second signal is transmitted from a second location. The method also includes receiving a respective reflection signal associated with each of the transmitted signals. Additionally, the method includes determining, by a processor, at least one stationary object that caused a reflection. Further, the method includes based on the determined stationary object, determining, by the processor, an offset for the radar unit. The method yet further includes operating the radar unit based on the determined offset. Furthermore, the method includes controlling an autonomous vehicle based on the radar unit being operated with the determined offset.
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公开(公告)号：US10126418B1
公开(公告)日：2018-11-13
申请号：US14847579
申请日：2015-09-08
Applicant: Waymo LLC
Inventor： Timothy Campbell
Abstract: Disclosed herein are embodiments that relate to crossing target dynamics for a radar system. In one aspect, the present application describes a method for use with a radar system. The method includes transmitting at least one signal pulse. The method also includes receiving a signal associated with reflection of the at least one transmitted signal pulse. Further, the method may also include processing the received signal to determine a cross-range rate. The processing may include determining a Doppler bandwidth based on the received signal. Additionally, the processing may include determining a range based on the received signal. Yet further, the processing may include determining a cross-range extent based on the received signal. Additionally, the processing may include determining the cross-range rate for the target object based on the determined Doppler bandwidth, range, and cross-range extent. An autonomous vehicle may be controlled based on the determined cross-range rate.
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公开(公告)号：US20220209415A1
公开(公告)日：2022-06-30
申请号：US17136393
申请日：2020-12-29
Applicant: Waymo LLC
Inventor： Edwin Lim , Timothy Campbell , Matthew Markel
Abstract: Example embodiments relate to low elevation side lobe antennas with fan-shaped beams. An example radar unit may include a radiating plate having a first side and a second side with an illuminator, a waveguide horn, a waveguide opening, and a radiating sleeve extending into the first side of the radiating plate. The waveguide opening is positioned on the first end of the first side and the radiating sleeve is positioned on the second end of the first side. The radar unit also includes a metallic cover coupled to the first side of the radiating plate such that the metallic cover and the radiating plate form waveguide structures. The waveguide horn is configured to receive, from an external source, electromagnetic energy provided through the waveguide opening via a first waveguide and provide a portion of the electromagnetic energy to the illuminator via a second waveguide such that the portion of the electromagnetic energy radiates off the illuminator and through the radiating sleeve into an environment of the radar unit as one or more radar signals.
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