公开(公告)号：US20170162938A1

公开(公告)日：2017-06-08

申请号：US15440758

申请日：2017-02-23

Applicant: Google Inc.

Inventor： Jamal Izadian ,  Russell Leigh Smith

IPC: H01Q3/40 ,  H01Q21/00 ,  H01P1/18 ,  G01S7/03

CPC classification number: H01Q3/40 ,  G01S7/03 ,  G01S7/032 ,  G01S13/02 ,  G01S13/931 ,  H01P1/182 ,  H01P5/182 ,  H01Q21/0043 ,  H01Q21/005 ,  H04B7/0617

Abstract: An example method for a beamforming network for feeding short wall slotted waveguide arrays. The beamforming network may include six beamforming network outputs, where each beamforming network output is coupled to one of a set of waveguide inputs. Further, the beamforming network may include a cascaded set of dividers configured to split electromagnetic energy from a beamforming network input to the six phase-adjustment sections. The cascade may include a first level of the cascade configured to split the electromagnetic energy from the beamforming network input into two first-level beamforming waveguides, a second level configured to split the electromagnetic energy from each of two first-level beamforming waveguides into two respective second-level beamforming waveguides, and a third level of the cascade configured to split the electromagnetic energy from one of two respective second-level beamforming waveguides into two respective third-level beamforming waveguides.

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：US09563813B1

公开(公告)日：2017-02-07

申请号：US14039313

申请日：2013-09-27

Applicant: Google Inc.

Inventor： Russell Leigh Smith

IPC: G06K9/00 ,  G06K9/32

CPC classification number: G06K9/3241 ,  G01S11/12 ,  G01S13/726 ,  G01S13/865 ,  G01S13/867 ,  G01S17/023 ,  G06K9/00214 ,  G06K9/6293 ,  G06T7/277

Abstract: Embodiments of a system and method for tracking objects are described herein. Aspects of this disclosure efficiently update object “belief” data by creating a bitmap representation of object locations and velocities. The bitmap provides a three-dimensional representation of the object as viewed by one or more sensors. The bitmap representations are blended with sensor data over time to determine a current object belief state which can accurately account for asynchronous sensor data. Peaks in the belief data, which may be represented by pixels with an intensity value above a threshold value, are identified as likely objects. Additional sensor data is used to detect longitudinal velocities located at one or more of the peaks.

Abstract translation: 这里描述了用于跟踪对象的系统和方法的实施例。 本公开的方面通过创建对象位置和速度的位图表示来有效地更新对象“信念”数据。 位图提供了由一个或多个传感器观察到的对象的三维表示。 随着时间的推移，位图表示与传感器数据混合，以确定可以准确地计算异步传感器数据的当前对象置信状态。 可以由强度值高于阈值的像素表示的信念数据中的峰被识别为可能的对象。 附加的传感器数据用于检测位于一个或多个峰处的纵向速度。

公开(公告)号：US09472853B1

公开(公告)日：2016-10-18

申请号：US14229597

申请日：2014-03-28

Applicant: Google Inc.

Inventor： Russell Leigh Smith

IPC: H01Q13/00 ,  H01Q13/02

CPC classification number: H01Q13/02 ,  H01P11/002 ,  H01Q1/3233

Abstract: An example method may involve forming, in a first metal layer, a first half of waveguide channels including an input waveguide channel, a plurality of wave-dividing channels, and a plurality of wave-radiating channels. The input waveguide channel may include an input port for receiving electromagnetic waves into the waveguide channels, and the first half of the plurality of wave-radiating channels may include wave-directing members configured to propagate sub-portions of waves from the first metal layer to another metal layer. The method may also involve forming, in a second metal layer, a second half of the waveguide channels. The second half of the wave-radiating channels may include pairs of output ports configured to radiate the sub-portions of waves out of the second metal layer. The method may further involve fastening the first metal layer to the second metal layer so as to substantially align the halves of the waveguide channels.

Abstract translation: 示例性方法可以包括在第一金属层中形成包括输入波导通道，多个波分复用通道和多个波浪通道的波导通道的前半部分。 输入波导通道可以包括用于将电磁波接收到波导通道中的输入端口，并且多个波浪通道的前半部分可以包括波导部件，其被配置成将波的子部分从第一金属层传播到 另一个金属层。 该方法还可以包括在第二金属层中形成波导通道的第二半。 波辐射通道的第二半部可以包括配置成将波的子部分辐射出第二金属层的成对的输出端口。 该方法还可以包括将第一金属层紧固到第二金属层，以便基本对准波导通道的一半。

公开(公告)号：US20160061935A1

公开(公告)日：2016-03-03

申请号：US14494173

申请日：2014-09-23

Applicant: Google Inc.

Inventor： Edward Daniel McCloskey ,  Russell Leigh Smith

IPC: G01S7/02 ,  G01S13/02

CPC classification number: G01S7/023 ,  G01S7/003 ,  G01S7/4008 ,  G01S13/08 ,  G01S13/325 ,  G01S13/343 ,  G01S13/345 ,  G01S13/347 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S15/08 ,  G01S15/931 ,  G01S17/08 ,  G01S17/936 ,  G01S2007/4013

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 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.

Abstract translation: 提供了一种方法，其包括在车辆的环境中从外部计算设备接收指示至少一个其他车辆的数据的车辆。 车辆可以包括被配置为检测车辆的环境的传感器。 至少一个其它车辆可以包括至少一个传感器。 该方法还包括确定车辆的传感器之间的至少一个其他车辆的至少一个传感器之间的干扰的可能性。 该方法还包括启动传感器的调整，以便响应于该确定而降低车辆的传感器与至少一个其他车辆的至少一个传感器之间的干扰的可能性。