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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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公开(公告)号：US11275174B2
公开(公告)日：2022-03-15
申请号：US16554500
申请日：2019-08-28
Applicant: Waymo LLC
Inventor： Larry Smith , Filip Perich , Timothy Campbell , Michael Marx
IPC: G01S13/931 , G01S7/02 , G06K9/00 , G01S13/00
Abstract: A method is provided that includes a vehicle receiving data from an external computing device indicative of at least one other vehicle in an environment of the vehicle. The vehicle may include a sensor configured to detect the environment of the vehicle. The at least one other vehicle may include at least one sensor. The method also includes determining a likelihood of interference between the at least one sensor of the at least one other vehicle and the sensor of the vehicle. The method also includes initiating an adjustment of the sensor to reduce the likelihood of interference between the sensor of the vehicle and the at least one sensor of the at least one other vehicle responsive to the determination.
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公开(公告)号：US11016174B2
公开(公告)日：2021-05-25
申请号：US16221990
申请日：2018-12-17
Applicant: Waymo LLC
Inventor： Timothy Campbell , Larry Smith
IPC: G01S7/40 , G01S13/931
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：US20210089047A1
公开(公告)日：2021-03-25
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 , G08G1/16 , B62D6/00 , B62D15/02 , B60W10/04 , B60W10/18 , B60W10/20 , G01S7/06 , B62D6/02 , G01S13/52
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：US20210063566A1
公开(公告)日：2021-03-04
申请号：US16554500
申请日：2019-08-28
Applicant: Waymo LLC
Inventor： Larry Smith , Filip Perich , Timothy Campbell , Michael Marx
Abstract: A method is provided that includes a vehicle receiving data from an external computing device indicative of at least one other vehicle in an environment of the vehicle. The vehicle may include a sensor configured to detect the environment of the vehicle. The at least one other vehicle may include at least one sensor. The method also includes determining a likelihood of interference between the at least one sensor of the at least one other vehicle and the sensor of the vehicle. The method also includes initiating an adjustment of the sensor to reduce the likelihood of interference between the sensor of the vehicle and the at least one sensor of the at least one other vehicle responsive to the determination.
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Patent Agency Ranking
公开(公告)号：US10884115B2
公开(公告)日：2021-01-05
申请号：US15917184
申请日：2018-03-09
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：US10386480B1
公开(公告)日：2019-08-20
申请号：US15013233
申请日：2016-02-02
Applicant: Waymo LLC
Inventor： Timothy Campbell
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：US20180364348A1
公开(公告)日：2018-12-20
申请号：US16111996
申请日：2018-08-24
Applicant: Waymo LLC
Inventor： Jamal Izadian , Russell Smith , Timothy Campbell , Adam Brown
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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公开(公告)号：US09933520B1
公开(公告)日：2018-04-03
申请号：US14753887
申请日：2015-06-29
Applicant: Waymo LLC
Inventor： Timothy Campbell
IPC: G01S13/93
CPC classification number: G01S13/931 , G01S13/325 , G01S13/343 , G01S13/42 , G01S2013/9346 , G01S2013/935
Abstract: Disclosed herein are embodiments that relate to phase coded linear frequency modulation for a radar system. Embodiments include transmitting at least one signal pulse with a binary phase shift keying (BPSK) encoding. The method also includes receiving a signal associated with reflection of the at least one transmitted signal pulse. The received signal may include at least two channels. Further, the method may also include processing the received signal to determine target information. The processing may include performing a despread operation that provides a phase offset based on a filtering range. Additionally, the processing may include performing a reconstruction operation that comprises creating a virtual spatial channel based on combining the two received channels. Yet further, the processing may include determining the target information based on the virtual spatial channel. An autonomous vehicle may be controlled based on the determined target information.
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公开(公告)号：US12164055B2
公开(公告)日：2024-12-10
申请号：US17379696
申请日：2021-07-19
Applicant: Waymo LLC
Inventor： Clayton Kunz , Timothy Campbell
IPC: G01S7/292 , G01S7/295 , G01S13/58 , G01S13/86 , G01S13/931
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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