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公开(公告)号：US20240295629A1
公开(公告)日：2024-09-05
申请号：US18654726
申请日：2024-05-03
Applicant: Waymo LLC
Inventor： Timothy Campbell , Brett Coon
IPC: G01S7/292 , G01S13/42 , G01S13/931
CPC classification number: G01S7/2923 , G01S13/42 , G01S13/931
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：US11698454B2
公开(公告)日：2023-07-11
申请号：US17167175
申请日：2021-02-04
Applicant: Waymo LLC
Inventor： Timothy Campbell
IPC: G01S13/42 , G01S13/89 , H01Q1/32 , G05D1/02 , G01S13/931 , G01S13/87 , G01S13/44 , G01S13/90 , H01Q21/00 , G01S7/03 , G01S7/02
CPC classification number: G01S13/89 , G01S13/42 , G01S13/426 , G01S13/4454 , G01S13/87 , G01S13/931 , G05D1/0257 , H01Q1/3233 , G01S7/025 , G01S7/027 , G01S7/03 , G01S13/90 , G01S2013/9318 , G01S2013/9319 , G01S2013/9322 , G01S2013/93185 , G01S2013/93273 , G01S2013/93274 , G01S2013/93275 , H01Q21/00
Abstract: Example embodiments described herein involve determining three dimensional data representative of an environment for an autonomous vehicle using radar. An example embodiment involves receiving radar reflection signals at a radar unit coupled to a vehicle and determining an azimuth angle and a distance for surfaces in the environment causing the radar reflection signals. The embodiment further involves determining an elevation angle for the surfaces causing the radar reflection signals based on phase information of the radar reflection signals and controlling the vehicle based at least in part on the azimuth angle, the distance, and the elevation angle for the surfaces causing the plurality of radar reflection signals. In some instances, the radar unit is configured to receive radar reflection signals using a staggered linear array with one or multiple radiating elements offset in the array.
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公开(公告)号：US20220365199A1
公开(公告)日：2022-11-17
申请号：US17813991
申请日：2022-07-21
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：US11408991B2
公开(公告)日：2022-08-09
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：US20220137210A1
公开(公告)日：2022-05-05
申请号：US17451852
申请日：2021-10-22
Applicant: Waymo LLC
Inventor： Timothy Campbell
IPC: G01S13/931 , G05D1/02 , G05D1/00 , G01S13/30
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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Patent Agency Ranking
公开(公告)号：US11169261B2
公开(公告)日：2021-11-09
申请号：US16503131
申请日：2019-07-03
Applicant: Waymo LLC
Inventor： Timothy Campbell
IPC: G01S13/931 , G05D1/00 , G05D1/02 , G01S13/30 , G01S13/00
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：US20210156984A1
公开(公告)日：2021-05-27
申请号：US17167175
申请日：2021-02-04
Applicant: Waymo LLC
Inventor： Timothy Campbell
IPC: G01S13/42 , H01Q1/32 , G05D1/02 , G01S13/89 , G01S13/931 , G01S13/87 , H01Q21/00 , G01S13/44 , G01S7/03 , G01S13/90
Abstract: Example embodiments described herein involve determining three dimensional data representative of an environment for an autonomous vehicle using radar. An example embodiment involves receiving radar reflection signals at a radar unit coupled to a vehicle and determining an azimuth angle and a distance for surfaces in the environment causing the radar reflection signals. The embodiment further involves determining an elevation angle for the surfaces causing the radar reflection signals based on phase information of the radar reflection signals and controlling the vehicle based at least in part on the azimuth angle, the distance, and the elevation angle for the surfaces causing the plurality of radar reflection signals. In some instances, the radar unit is configured to receive radar reflection signals using a staggered linear array with one or multiple radiating elements offset in the array.
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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
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：US20190339383A1
公开(公告)日：2019-11-07
申请号：US16503131
申请日：2019-07-03
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：US20190195998A1
公开(公告)日：2019-06-27
申请号：US15852501
申请日：2017-12-22
Applicant: Waymo LLC
Inventor： Timothy Campbell
CPC classification number: G01S13/42 , G01S7/025 , G01S7/03 , G01S13/426 , G01S13/4454 , G01S13/87 , G01S13/89 , G01S13/9023 , G01S13/931 , G01S2007/027 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9357 , G01S2013/9382 , G01S2013/9385 , G01S2013/9389 , G05D1/0088 , G05D1/0257 , G05D1/027 , G06K9/00805 , G06K9/00818 , G06K9/6288 , G06K9/78 , H01Q1/3233 , H01Q21/00
Abstract: Example embodiments described herein involve determining three dimensional data representative of an environment for an autonomous vehicle using radar. An example embodiment involves receiving radar reflection signals at a radar unit coupled to a vehicle and determining an azimuth angle and a distance for surfaces in the environment causing the radar reflection signals. The embodiment further involves determining an elevation angle for the surfaces causing the radar reflection signals based on phase information of the radar reflection signals and controlling the vehicle based at least in part on the azimuth angle, the distance, and the elevation angle for the surfaces causing the plurality of radar reflection signals. In some instances, the radar unit is configured to receive radar reflection signals using a staggered linear array with one or multiple radiating elements offset in the array.
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