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公开(公告)号：US09043072B1
公开(公告)日：2015-05-26
申请号：US13856822
申请日：2013-04-04
Applicant: Google Inc.
Inventor： John Tisdale , Russell Smith , Nathaniel Fairfield
CPC classification number: G05D1/021 , G01C21/14 , G01C21/28 , G05D1/027 , G05D1/0274 , G05D2201/0213
Abstract: Methods and systems for correcting an estimated heading using a map are disclosed. Map data indicative of a map of an environment of a vehicle and data indicative of an estimated heading the vehicle is received. A sensor obtains first spatial data indicative of locations of objects in the environment relative to the vehicle at a first time. A first location of the vehicle on the map is determined based on the first spatial data. The sensor obtains second spatial data indicative of locations of objects in the environment relative to the vehicle at a second time. A second location of the vehicle on the map is determined based on the second spatial data. A heading correction of the vehicle is determined based on the estimated heading, the first location, the first time, the second location, and the second time, and a speed of the vehicle.
Abstract translation: 公开了使用地图校正估计航向的方法和系统。 指示车辆的环境的地图的数据的地图数据和指示车辆的估计方向的数据。 传感器首次获得指示环境中的物体相对于车辆的位置的第一空间数据。 基于第一空间数据确定车辆在地图上的第一位置。 该传感器在第二时间获得指示环境中的物体相对于车辆的位置的第二空间数据。 基于第二空间数据确定车辆在地图上的第二位置。 基于估计的航向，第一位置，第一时间，第二位置和第二时间以及车辆的速度来确定车辆的航向校正。
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Patent Agency Ranking
公开(公告)号：US09650054B1
公开(公告)日：2017-05-16
申请号：US14928337
申请日：2015-10-30
Applicant: Google Inc.
Inventor： Peter Craig Lombrozo , Carsten Jensen , Andrew Barton-Sweeney , Russell Smith , Daniel Lynn Larner
CPC classification number: B60W50/00 , B60W20/00 , B60W30/00 , B60W30/18 , B60W40/103 , B60W40/105 , B60W2050/0059 , B60W2520/10 , B60W2520/12 , B60W2600/00 , G01C21/165 , G05D1/0088 , G05D1/0272 , G05D2201/0213
Abstract: A method and apparatus are provided for determining the location of a vehicle. According to one aspect the method and apparatus the movements of motor rotors in a vehicle are monitored and used to determine speed, travel distance and/or travel path of a vehicle may be determined. Using various navigation techniques, the distance and travel path may then be used to determine the vehicle's location. Furthermore, movements of the motor rotors may also be used to report the positions of the steering and drive systems for the purpose of informing the vehicle controller as a method of feedback.
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公开(公告)号：US09395727B1
公开(公告)日：2016-07-19
申请号：US13849321
申请日：2013-03-22
Applicant: Google Inc.
Inventor： Russell Smith , Jamal Izadian
CPC classification number: G05D1/0257 , G01S7/03 , G01S13/42 , G01S13/426 , G01S13/89 , G01S13/931 , G01S2013/9382 , H01Q1/3233 , H01Q3/34
Abstract: A radio detection and ranging (RADAR) system that emits radio signals from a transmit antenna and receives reflected signals with a receive array of antenna elements. The signals received at the receive array are conveyed through a plurality of waveguide couplers. The plurality of waveguide couplers receives signals from each antenna element at a plurality of antenna ports and outputs signals from a plurality of output ports. The waveguide couplers convey signals such that the output ports receive signals from associated sub-array sets of the antenna ports. The waveguide couplers have an overlapping arrangement such that a given sub-array set of antenna ports overlaps with a neighboring sub-array set of antenna ports by including at least half of the antenna ports in the neighboring sub-array set.
Abstract translation: 一种从发射天线发射无线电信号并用天线元件的接收阵列接收反射信号的无线电探测和测距（RADAR）系统。 在接收阵列处接收的信号通过多个波导耦合器传送。 多个波导耦合器在多个天线端口处接收来自每个天线元件的信号，并输出来自多个输出端口的信号。 波导耦合器传送信号，使得输出端口接收来自天线端口的相关子阵列组的信号。 波导耦合器具有重叠布置，使得通过在相邻子阵列组中包括至少一半的天线端口，使得给定的子阵列组的天线端口与相邻子阵列组的天线端口重叠。
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4.发明申请公开(公告)号：US20160047907A1
公开(公告)日：2016-02-18
申请号：US14459389
申请日：2014-08-14
Applicant: Google Inc.
Inventor： Jamal Izadian , Russell Smith
IPC: G01S13/02
CPC classification number: G01S13/931 , G01S7/025 , G01S7/2813 , G01S13/426 , G01S13/68 , G01S2013/9375 , G01S2013/9378 , G01S2013/9385 , G01S2013/9389 , G01S2013/9396 , H01Q1/3233 , H01Q3/2605 , H01Q13/22 , H01Q21/005
Abstract: In one aspect, the present application describes an apparatus for a radar system. The apparatus may include a vehicle with four radar units mounted on it. Each radar unit may be configured with a half-power scanning beamwidth and a respective broadside direction. The half-power scanning beamwidth of each radar unit may be configured to scan approximately 90 degrees. A first radar unit may have a broadside direction that is approximately 90 degrees from respective broadside directions of a second radar unit and a fourth radar unit. The second radar unit may have a broadside direction that is approximately 90 degrees from respective broadside directions of the first radar unit and a third radar unit. The third radar unit has a broadside direction that is approximately 90 degrees from respective broadside directions of the second radar unit and the fourth radar unit.
Abstract translation: 一方面，本申请描述了一种用于雷达系统的装置。 该装置可以包括安装有四个雷达单元的车辆。 每个雷达单元可以配置有半功率扫描波束宽度和相应的宽边方向。 每个雷达单元的半功率扫描波束宽度可以被配置为扫描大约90度。 第一雷达单元可以具有从第二雷达单元和第四雷达单元的相应宽边方向大约90度的宽边方向。 第二雷达单元可以具有从第一雷达单元和第三雷达单元的相应宽边方向大约90度的宽边方向。 第三雷达单元具有从第二雷达单元和第四雷达单元的相应宽边方向大约90度的宽边方向。
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公开(公告)号：US09612317B2
公开(公告)日：2017-04-04
申请号：US14461417
申请日：2014-08-17
Applicant: Google Inc.
Inventor： Jamal Izadian , Russell Smith
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.
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公开(公告)号：US20160047893A1
公开(公告)日：2016-02-18
申请号：US14461417
申请日：2014-08-17
Applicant: Google Inc.
Inventor： Jamal Izadian , Russell Smith
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.
Abstract translation: 用于馈送短壁槽波导阵列的波束成形网络的示例方法。 波束形成网络可以包括六个波束形成网络输出，其中每个波束成形网络输出耦合到一组波导输入中。 此外，波束成形网络可以包括级联的分频器组，其被配置为将电磁能量从波束形成网络输入分离到六个相位调整部分。 级联可以包括级联的第一级，其被配置为将来自波束形成网络输入的电磁能量分裂成两个第一级波束形成波导，第二级被配置为将来自两个第一级波束成形波导中的每一者的电磁能分成两个相应的 第二级波束形成波导和级联的第三级，其被配置为将来自两个相应的第二级波束成形波导中的一个的电磁能分解成两个相应的第三级波束形成波导。
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