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

IPC: G01S13/42 ,  H01Q1/32 ,  G05D1/02 ,  G01S13/89 ,  G01S13/93 ,  G05D1/00

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.

公开(公告)号：US20180113209A1

公开(公告)日：2018-04-26

申请号：US15299970

申请日：2016-10-21

Applicant: Waymo LLC

Inventor： Timothy Campbell

IPC: G01S13/93 ,  G01S13/86 ,  G01S13/42

CPC classification number: G01S13/931 ,  G01S13/42 ,  G01S13/86 ,  G01S13/865 ,  G01S13/867 ,  G01S13/89 ,  G01S17/023 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/9382 ,  G05D1/024 ,  G05D1/0257

Abstract: Systems and methods are described that relate to generating an object grid for a vehicular radar system. The method includes transmitting a radar signal over a 360-degree azimuth. The method also includes receiving one or more reflection signals respectively associated with reflection of the transmitted radar signal by one or more objects. The method further includes determining, for each object, a respective measured angle, a respective measured distance, and a respective measured velocity. Additionally, the method includes determining a first object grid based on the one or more objects. The first object grid comprises a plurality angles that together cover the 360-degree azimuth and, for each angle that corresponds to a measured angle of a given object, the first grid associates the angle with the measured distance and measured velocity of the given object. Yet further, the method includes controlling an autonomous vehicle based on the first object grid.