公开(公告)号：US20210080539A1

公开(公告)日：2021-03-18

申请号：US16952328

申请日：2020-11-19

Applicant: Waymo LLC

Inventor： Timothy Campbell ,  Brett Coon

IPC: G01S7/292 ,  G01S13/931 ,  G01S13/42

Abstract: Examples relate to near-field radar filters that can enhance measurements near a radar unit. An example may involve receiving a first set of radar reflection signals at a radar unit coupled to a vehicle and determining a filter configured to offset near-field effects of radar reflection signals received at the radar unit. In some instances, the filter depends on an azimuth angle and a distance for surfaces in the environment causing the first set of radar reflection signals. The example may also involve receiving, at the radar unit, a second set of radar reflection signals and determining, using the filter, an azimuth angle and a distance for surfaces in the environment causing the second set of radar reflection signals. The vehicle may be controlled based in part on the azimuth angle and the distance for the surfaces causing the second plurality of radar reflection signals.

公开(公告)号：US20240295629A1

公开(公告)日：2024-09-05

申请号：US18654726

申请日：2024-05-03

Applicant: Waymo LLC

Inventor： Timothy Campbell ,  Brett Coon

IPC: G01S7/292 ,  G01S13/42 ,  G01S13/931

CPC classification number: G01S7/2923 ,  G01S13/42 ,  G01S13/931

Abstract: Examples relate to near-field radar filters that can enhance measurements near a radar unit. An example may involve receiving a first set of radar reflection signals at a radar unit coupled to a vehicle and determining a filter configured to offset near-field effects of radar reflection signals received at the radar unit. In some instances, the filter depends on an azimuth angle and a distance for surfaces in the environment causing the first set of radar reflection signals. The example may also involve receiving, at the radar unit, a second set of radar reflection signals and determining, using the filter, an azimuth angle and a distance for surfaces in the environment causing the second set of radar reflection signals. The vehicle may be controlled based in part on the azimuth angle and the distance for the surfaces causing the second plurality of radar reflection signals.

公开(公告)号：US20240004029A1

公开(公告)日：2024-01-04

申请号：US18468312

申请日：2023-09-15

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Brett Coon ,  Filip Perich

IPC: G01S7/40 ,  G01S13/931 ,  G01S7/00 ,  G01S7/35

CPC classification number: G01S7/40 ,  G01S13/931 ,  G01S7/003 ,  G01S7/352 ,  G01S2013/93274 ,  G01S2013/93273

Abstract: A method and a radar system are provided in the present disclosure. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signal and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides for operation of the radar system. The radar system also includes a radar processor. The radar processor is configured to cause transmission of radar signals by the antenna array based on the radar channel parameters. The radar processor is also configured to process received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.

公开(公告)号：US11796633B2

公开(公告)日：2023-10-24

申请号：US16715448

申请日：2019-12-16

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Brett Coon ,  Filip Perich

IPC: G01S7/40 ,  G01S13/931 ,  G01S7/00 ,  G01S7/35

CPC classification number: G01S7/40 ,  G01S7/003 ,  G01S7/352 ,  G01S13/931 ,  G01S2013/93273 ,  G01S2013/93274

Abstract: A method and a radar system are provided in the present disclosure. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signal and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides for operation of the radar system. The radar system also includes a radar processor. The radar processor is configured to cause transmission of radar signals by the antenna array based on the radar channel parameters. The radar processor is also configured to process received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.

公开(公告)号：US20250085389A1

公开(公告)日：2025-03-13

申请号：US18963234

申请日：2024-11-27

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Brett Coon ,  Filip Perich

IPC: G01S7/40 ,  G01S7/00 ,  G01S7/35 ,  G01S13/931

Abstract: A method and a radar system are provided in the present disclosure. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signal and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides for operation of the radar system. The radar system also includes a radar processor. The radar processor is configured to cause transmission of radar signals by the antenna array based on the radar channel parameters. The radar processor is also configured to process received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.

公开(公告)号：US12196883B2

公开(公告)日：2025-01-14

申请号：US18468312

申请日：2023-09-15

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Brett Coon ,  Filip Perich

IPC: G01S7/40 ,  G01S7/00 ,  G01S7/35 ,  G01S13/931

Abstract: A method and a radar system are provided in the present disclosure. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signal and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides for operation of the radar system. The radar system also includes a radar processor. The radar processor is configured to cause transmission of radar signals by the antenna array based on the radar channel parameters. The radar processor is also configured to process received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.

公开(公告)号：US20210181302A1

公开(公告)日：2021-06-17

申请号：US16715448

申请日：2019-12-16

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Brett Coon ,  Filip Perich

IPC: G01S7/40 ,  G01S13/931 ,  G01S7/35 ,  G01S7/00

Abstract: A method and a radar system are provided in the present disclosure. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signal and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides for operation of the radar system. The radar system also includes a radar processor. The radar processor is configured to cause transmission of radar signals by the antenna array based on the radar channel parameters. The radar processor is also configured to process received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.

公开(公告)号：US12007498B2

公开(公告)日：2024-06-11

申请号：US16952328

申请日：2020-11-19

Applicant: Waymo LLC

Inventor： Timothy Campbell ,  Brett Coon

IPC: G01S7/292 ,  G01S13/42 ,  G01S13/931

CPC classification number: G01S7/2923 ,  G01S13/42 ,  G01S13/931

Abstract: Examples relate to near-field radar filters that can enhance measurements near a radar unit. An example may involve receiving a first set of radar reflection signals at a radar unit coupled to a vehicle and determining a filter configured to offset near-field effects of radar reflection signals received at the radar unit. In some instances, the filter depends on an azimuth angle and a distance for surfaces in the environment causing the first set of radar reflection signals. The example may also involve receiving, at the radar unit, a second set of radar reflection signals and determining, using the filter, an azimuth angle and a distance for surfaces in the environment causing the second set of radar reflection signals. The vehicle may be controlled based in part on the azimuth angle and the distance for the surfaces causing the second plurality of radar reflection signals.