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公开(公告)号：US10446938B1
公开(公告)日：2019-10-15
申请号：US15339513
申请日：2016-10-31
申请人： Apple Inc.
发明人： Jian Wang , Gregory E. Rogers
摘要： Aspects of the present disclosure involve a radar system employing dual receive antenna arrays. The radar system may include a transmit antenna array to emit a radar beam toward a selected portion of a field of view, as well as a vertical receive antenna array and a horizontal receive antenna array. Each of the receive antenna arrays may include a plurality of antenna elements grouped into sub-arrays that may be configured to receive scatter signals from the selected portion, such as by way of beamforming. The received scatter signals may be combined within each sub-array to generate combined scatter signals, which may then be digitized. A signal data processor may then digitally process the digitized signals from the first sub-arrays and from the second sub-arrays, and correlate the digitally processed signals to generate detection information for each of a plurality of sub-portions of the selected portion.
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公开(公告)号：US11199618B2
公开(公告)日：2021-12-14
申请号：US16310109
申请日：2017-06-16
申请人： Apple Inc.
发明人： Jian Wang , Gregory E. Rogers
IPC分类号： G01S13/42 , G01S13/44 , G01S13/931
摘要： Implementations described and claimed herein provide systems and methods for obstacle detection. In one implementation, a beam is transmitted at an elevation orientation from a transmit array system. The transmit array system includes transmit antenna arrays each having one or more transmit antennas. Target scatter is received at a receive array system including one or more receive channels. A virtual array is synthesized for the elevation orientation from an incidence of the target scatter on each of the one or more receive channels for each of the one or more transmit antennas. The virtual array has a size corresponding to the one or more transmit antenna arrays convolved with the receive array system. Four dimensional space information is generated from the virtual array, and any obstacles along a travel path are detected from the four dimensional space information.
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公开(公告)号：US10948582B1
公开(公告)日：2021-03-16
申请号：US16294650
申请日：2019-03-06
申请人： Apple Inc.
发明人： Gabriel M. Hoffmann , Christopher D. Gadda , David A. Stronks , Ahmad Al-Dahle , Gregory E. Rogers
IPC分类号： G01S13/60 , G01M17/02 , G01S13/86 , G01S13/931 , G01S13/00
摘要： Aspects of the present disclosure involve a method for determining a road vehicle velocity and slip angle. The current disclosure presents a technique for identifying a vehicle's velocity and slip angle, in the vehicle's coordinate frame. In one embodiment, two or more sensors are orthogonally located on the underside of the vehicle in order to obtain longitudinal and lateral velocity information for slip angle determination. In another embodiment, the two or more sensors can include an array of elements for beam steering and receiver beamforming. Spatial diversity is leveraged in identifying at least a slip angle and/or velocity of the vehicle. Doppler mapping is used as a means for slip angle determination and the clutter ridge of the Doppler map is embraced for identifying the slip angle.
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公开(公告)号：US20200096626A1
公开(公告)日：2020-03-26
申请号：US16310109
申请日：2017-06-16
申请人： Apple Inc.
发明人： Jian Wang , Gregory E. Rogers
摘要： Implementations described and claimed herein provide systems and methods for obstacle detection. In one implementation, a beam is transmitted at an elevation orientation from a transmit array system. The transmit array system includes transmit antenna arrays each having one or more transmit antennas. Target scatter is received at a receive array system including one or more receive channels. A virtual array is synthesized for the elevation orientation from an incidence of the target scatter on each of the one or more receive channels for each of the one or more transmit antennas. The virtual array has a size corresponding to the one or more transmit antenna arrays convolved with the receive array system. Four dimensional space information is generated from the virtual array, and any obstacles along a travel path are detected from the four dimensional space information.
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