公开(公告)号：US09628170B1

公开(公告)日：2017-04-18

申请号：US15006844

申请日：2016-01-26

Applicant: Google Inc.

Inventor： Daniel L. Rosenband ,  Pierre-Yves Droz ,  Min Wang ,  Etai Bruhis ,  Adam Brown ,  Samuel William Lenius

IPC: H04B1/38 ,  H04B7/26

CPC classification number: H04B7/24 ,  H04B7/26

Abstract: A device is provided that includes a first platform having a first side, and a second platform having a second side positioned within a predetermined distance to the first side. The device also includes an actuator configured to cause a relative rotation between the first platform and the second platform such that the first side of the first platform remains within the predetermined distance to the second side of the second platform. The device also includes a probe mounted to the first platform, and a plurality of probes mounted to the second platform. The device also includes a signal conditioner coupled to the plurality of probes. The signal conditioner may select one of the plurality of probes based on an orientation of the first platform relative to the second platform. The signal conditioner may then to use the selected probe for wireless communication with the probe on the first platform.

公开(公告)号：US09568592B1

公开(公告)日：2017-02-14

申请号：US14532729

申请日：2014-11-04

Applicant: Google Inc.

Inventor： Adam Brown ,  Russell Leigh Smith

IPC: G01S7/40 ,  G01S13/93 ,  G01S13/00

CPC classification number: G01S7/4004 ,  G01S7/4026 ,  G01S13/426 ,  G01S13/86 ,  G01S13/87 ,  G01S13/931 ,  G01S2007/403 ,  G01S2007/4034 ,  G01S2013/9353 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9382 ,  G01S2013/9385 ,  G01S2013/9396

Abstract: An inertial measurement unit (IMU) may be used to align a plurality of radar units coupled to a vehicle via a plurality of mounting structures. The IMU may be placed at a reference location and reference-location data may be captured. The IMU may be coupled to each of the mounting structures and, at each mounting structure, respective mounting-location inertial measurement data may be captured using the IMU. For each mounting structure, a measured roll angle, measured elevational angle, and measured azimuthal angle is determined based on at least the mounting-location inertial measurement obtained at the mounting structure and the reference inertial measurement. Further, for each mounting structure, offsets are determined for the measured roll angle, the measured elevational angle, and the measured azimuthal angle. One or more of the mounting structures and/or radar units are adjusted based on one or more of the offsets.

Abstract translation: 可以使用惯性测量单元（IMU）来通过多个安装结构对准耦合到车辆的多个雷达单元。 可以将IMU放置在参考位置，并且可以捕获参考位置数据。 IMU可以联接到每个安装结构，并且在每个安装结构处，可以使用IMU捕获相应的安装位置惯性测量数据。 对于每个安装结构，至少基于在安装结构处获得的安装位置惯性测量和参考惯性测量来确定测量的侧倾角，测量的仰角和测量的方位角。 此外，对于每个安装结构，对于测量的侧倾角，测量的仰角和测量的方位角确定偏移。 基于一个或多个偏移来调整安装结构和/或雷达单元中的一个或多个。

公开(公告)号：US09423498B1

公开(公告)日：2016-08-23

申请号：US13626673

申请日：2012-09-25

Applicant: Google Inc.

Inventor： Adam Brown

IPC: G01S13/93 ,  G01S7/40 ,  G08G1/00 ,  G08G1/16

CPC classification number: G01S13/931 ,  G01S7/40 ,  G01S13/60 ,  G01S13/86 ,  G01S13/865 ,  G01S13/867 ,  G01S13/89 ,  G01S17/936 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/9367 ,  G01S2013/9382 ,  G01S2013/9389 ,  G01S2013/9396 ,  G05D1/0257 ,  G08G1/00 ,  G08G1/16 ,  G08G1/166

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 a plurality of antennas configured to transmit and receive electromagnetic signals. The method may also include a one or more sensors configured to measure a movement of the vehicle. A portion of the method may be performed by a processor configured to: i) determine adjustments based on the movement of the vehicle; ii) calculate distance and direction information for received electromagnetic signals; and iii) recover distance and direction information for received electromagnetic signals with the adjustments applied. The processor may be further configured to adjust the movement of the autonomous vehicle based on the distance and direction information with adjustments applied.

Abstract translation: 在示例性方法中，被配置为以自主模式操作的车辆可以具有用于辅助车辆引导的雷达系统。 该方法可以包括被配置为发送和接收电磁信号的多个天线。 该方法还可以包括被配置为测量车辆的运动的一个或多个传感器。 该方法的一部分可以由处理器执行，该处理器被配置为：i）基于车辆的移动来确定调整; ii）计算接收到的电磁信号的距离和方向信息; 并且iii）通过调整应用来恢复所接收的电磁信号的距离和方向信息。 处理器还可以被配置为基于具有调整应用的距离和方向信息来调整自主车辆的移动。

公开(公告)号：US09178258B1

公开(公告)日：2015-11-03

申请号：US13866410

申请日：2013-04-19

Applicant: Google Inc.

Inventor： Adam Brown

IPC: H01P3/00 ,  H01P3/12 ,  H01P11/00

CPC classification number: H01P3/12 ,  G01S19/48 ,  H01P11/001

Abstract: A radar system in an autonomous vehicle may be operated in various modes and with various configurations. The autonomous vehicle features a radar system having a waveguide with a first waveguide section, a second waveguide section, and a seam between the first and the second waveguide sections. The first waveguide section and the second waveguide section form a waveguide cavity. Additionally, the seam corresponds to a low surface current location of a propagation mode of the waveguide and is formed where the first waveguide section is coupled to the second waveguide section. The height of the first waveguide section may be equal to the height of the second waveguide section. The waveguide also may include a feed configured to introduce a wave with the propagation mode into the waveguide. Moreover, the waveguide may also include more than one cavity. Each cavity may lie on a plane defined by the seam.

Abstract translation: 自主车辆中的雷达系统可以以各种模式和各种配置操作。 自主车辆具有雷达系统，该雷达系统具有波导，该波导具有第一波导段，第二波导段和第一波导段与第二波导段之间的接缝。 第一波导部分和第二波导部分形成波导腔。 此外，接缝对应于波导的传播模式的低表面电流位置，并且形成在第一波导部分耦合到第二波导部分的位置。 第一波导段的高度可以等于第二波导段的高度。 波导还可以包括被配置为将具有传播模式的波导入波导的馈电。 此外，波导还可以包括多于一个的空腔。 每个腔可以位于由接缝限定的平面上。

公开(公告)号：US20160131753A1

公开(公告)日：2016-05-12

申请号：US14994902

申请日：2016-01-13

Applicant: Google Inc.

Inventor： Adam Brown

IPC: G01S13/32 ,  G01S7/35 ,  G01S13/42

CPC classification number: G01S13/42 ,  G01S13/10 ,  G01S13/34 ,  G01S13/86 ,  G01S13/862 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S2013/9375 ,  G01S2013/9389

Abstract: A radar system in an autonomous vehicle may be operated in various modes and with various configurations. In one example, the radar system determines a target range for further interrogation. The target range may be determined based on the radar system transmitting a first electromagnetic radiation signal and receiving a first reflected electromagnetic signal radiation signal. After the radar system determines a target range, it transmits a second electromagnetic radiation signal. Additionally, the radar system receives a reflected electromagnetic signal radiation based on the transmission. After receiving the reflected signal, the radar system can process the reflected signal to only have components associated with the target range. The processing of the reflected signal may create a processed signal. Finally, the radar system may determine at least one parameter of a target object based on the processed signal.

Abstract translation: 自主车辆中的雷达系统可以以各种模式和各种配置操作。 在一个示例中，雷达系统确定用于进一步询问的目标范围。 可以基于发射第一电磁辐射信号的雷达系统和接收第一反射的电磁信号辐射信号来确定目标范围。 在雷达系统确定目标范围之后，它发射第二电磁辐射信号。 此外，雷达系统基于传输接收反射的电磁信号辐射。 在接收到反射信号后，雷达系统可以处理反射信号，仅具有与目标范围相关的分量。 反射信号的处理可以产生经处理的信号。 最后，雷达系统可以基于处理的信号来确定目标对象的至少一个参数。

公开(公告)号：US20170222323A1

公开(公告)日：2017-08-03

申请号：US15014508

申请日：2016-02-03

Applicant: Google Inc.

Inventor： Adam Brown

IPC: H01Q9/06 ,  H01Q1/32

Abstract: The present application discloses embodiments that relate to an electromagnetic apparatus. In one aspect, the present apparatus includes a circuit board configured to propagate an electromagnetic signal. The apparatus also includes a waveguide configured to propagate an electromagnetic signal. The apparatus further includes a coupling port configured to couple a signal between the circuit board and the waveguide, where the coupling port has dimensions based on a desired impedance of the port.

公开(公告)号：US09599989B1

公开(公告)日：2017-03-21

申请号：US15208166

申请日：2016-07-12

Applicant: Google Inc.

Inventor： Adam Brown

IPC: G01S13/93 ,  G01S7/40 ,  G08G1/00 ,  G05D1/02 ,  G01S13/60 ,  G01S13/86 ,  G08G1/16

CPC classification number: G01S13/931 ,  G01S7/40 ,  G01S13/60 ,  G01S13/86 ,  G01S13/865 ,  G01S13/867 ,  G01S13/89 ,  G01S17/936 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/9367 ,  G01S2013/9382 ,  G01S2013/9389 ,  G01S2013/9396 ,  G05D1/0257 ,  G08G1/00 ,  G08G1/16 ,  G08G1/166

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 a plurality of antennas configured to transmit and receive electromagnetic signals. The method may also include a one or more sensors configured to measure a movement of the vehicle. A portion of the method may be performed by a processor configured to: i) determine adjustments based on the movement of the vehicle; ii) calculate distance and direction information for received electromagnetic signals; and iii) recover distance and direction information for received electromagnetic signals with the adjustments applied. The processor may be further configured to adjust the movement of the autonomous vehicle based on the distance and direction information with adjustments applied.