公开(公告)号：US20240272297A1

公开(公告)日：2024-08-15

申请号：US18644510

申请日：2024-04-24

Applicant: Texas Instruments Incorporated

Inventor： Gunawath Dilshan GODALIYADDA ,  June Chul ROH

IPC: G01S13/931 ,  G01S13/72

CPC classification number: G01S13/931 ,  G01S13/726 ,  G01S2013/93274

Abstract: An example device includes motion sensing and processing circuitry to generate compensated motion data for a first time based on raw motion data and a set of motion indicators including a velocity indicator for the device calculated based on the raw motion data; a radar sensor to receive reflections indicating detections and generate data points for the first time representing the detections, in which each data point includes position and velocity information of a corresponding detection relative to the radar sensor; a first circuit to generate object data for the first time based on the set of the data points and the compensated motion data for the first time; and a second circuit to calculate, based on the object data for the first time and a characteristic of the radar sensor, for each cell in a grid representing an FOV of the radar sensor at the first time, probabilities of the cell being in a free state, a stationary state, and a dynamic state.

公开(公告)号：US20230169781A1

公开(公告)日：2023-06-01

申请号：US17538134

申请日：2021-11-30

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Gunawath Dilshan GODALIYADDA ,  Vijay Kumar POTHUKUCHI ,  Do-Kyoung KWON

IPC: G06V20/58 ,  B60W30/06

CPC classification number: G06V20/586 ,  B60W30/06 ,  B60W2420/42 ,  B60W2530/201 ,  B60W2552/53

Abstract: Examples provide for computer executable instructions executable by a processor to configure the processor to determine an occupancy status of cells of a region of interest by, for a first cell of the region of interest, determining whether the first cell is free by setting a free space flag for the first cell to an asserted value and setting a free space tested flag for the first cell to an asserted value responsive to determining that the first cell and each of the surrounding cells in the programmed radius of the first cell are unoccupied, and setting a free space flag for a second cell to a de-asserted value and setting a free space tested flag for the second cell to an asserted value responsive to determining that the second cell is occupied, the second cell being among the surrounding cells in the programmed radius of the first cell.

公开(公告)号：US20230089552A1

公开(公告)日：2023-03-23

申请号：US17472809

申请日：2021-09-13

Applicant: Texas Instruments Incorporated

Inventor： Gunawath Dilshan GODALIYADDA ,  June Chul ROH

IPC: G01S13/931 ,  G01S13/72

Abstract: An apparatus includes an inverse radar sensor model processor and a grid mapping processor. The inverse radar sensor model processor receives radar sensor data for a time k from a radar sensor, generates object data based on the radar sensor data, and calculates instantaneous masses at the time k for each cell in a field of view (FOV) of the radar sensor based on the object data and a sensor characteristic. The inverse radar sensor model processor outputs the calculated instantaneous masses to the grid mapping processor, which also receives accumulated masses for each cell in the FOV for a time period 0:k - 1. An accumulated mass represents a combination of instantaneous masses for the cell at each time increment in the time period 0:k - 1. The grid mapping processor generates updated accumulated masses for a time period 0:k.