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1.发明授权公开(公告)号：US12117520B1
公开(公告)日：2024-10-15
申请号：US17370285
申请日：2021-07-08
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Filip Perich , Timothy Campbell
CPC classification number: G01S13/89 , G01S7/415 , G06T7/246 , G06T7/97 , B60W60/001 , B60W2420/408 , B60W2520/14 , G06T2207/10044 , G06T2207/30248
Abstract: Example embodiments relate to radar image video compression techniques using per-pixel Doppler measurements, which can involve initially receiving radar data from a radar unit to generate a radar representation that represents surfaces in the environment. Based on Doppler scores in the radar representation, a range rate can be determined for each pixel that indicates a radial direction motion for a surface represented by the pixel. The range rates and backscatter values can then be used to estimate a radar representation prediction for subsequent radar data received from the radar unit, which enables a generation of a compressed radar data file that represents the difference between the radar representation prediction and the actual representation determined for the subsequent radar data. The compressed radar data file can be stored in memory, transmitted to other devices, and decompressed and used to train models via machine learning.
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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.
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公开(公告)号：US20230393256A1
公开(公告)日：2023-12-07
申请号：US17804240
申请日：2022-05-26
Applicant: Waymo LLC
Inventor： Philip Ma , Filip Perich , Aravind Ramachandran
IPC: G01S13/32 , G01S13/931 , G01S7/02
CPC classification number: G01S13/325 , G01S2013/93273 , G01S7/0234 , G01S13/931
Abstract: Example embodiments relate to techniques for implementing radar waveform diversity. A technique may involve a radar unit transmitting radar signals into an environment of a vehicle based on a code sequence that indicates a ramp direction and a phase shift for each pulse in a pulse used by the radar unit and receiving radar reflections from the environment. In some instances, the radar unit may leverage antennas in a multiple input multiple output (MIMO) arrangement to further add diversity to transmissions according to spatial code in the code sequence. The technique can further involve using a demodulator to map the environment based on the radar reflections and controlling the vehicle based on the mapping. In some instances, the code sequence is received from a system that is wirelessly providing orthogonal code sequences to multiple emitters.
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公开(公告)号：US12196843B2
公开(公告)日：2025-01-14
申请号：US17804240
申请日：2022-05-26
Applicant: Waymo LLC
Inventor： Philip Ma , Filip Perich , Aravind Ramachandran
IPC: G01S13/32 , G01S7/02 , G01S13/931
Abstract: Example embodiments relate to techniques for implementing radar waveform diversity. A technique may involve a radar unit transmitting radar signals into an environment of a vehicle based on a code sequence that indicates a ramp direction and a phase shift for each pulse in a pulse used by the radar unit and receiving radar reflections from the environment. In some instances, the radar unit may leverage antennas in a multiple input multiple output (MIMO) arrangement to further add diversity to transmissions according to spatial code in the code sequence. The technique can further involve using a demodulator to map the environment based on the radar reflections and controlling the vehicle based on the mapping. In some instances, the code sequence is received from a system that is wirelessly providing orthogonal code sequences to multiple emitters.
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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.
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Patent Agency Ranking
公开(公告)号：US11275174B2
公开(公告)日：2022-03-15
申请号：US16554500
申请日：2019-08-28
Applicant: Waymo LLC
Inventor： Larry Smith , Filip Perich , Timothy Campbell , Michael Marx
IPC: G01S13/931 , G01S7/02 , G06K9/00 , G01S13/00
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 and 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.
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公开(公告)号：US20210063566A1
公开(公告)日：2021-03-04
申请号：US16554500
申请日：2019-08-28
Applicant: Waymo LLC
Inventor： Larry Smith , Filip Perich , Timothy Campbell , Michael Marx
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 and 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.
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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.
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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.
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10.发明申请公开(公告)号：US20250004126A1
公开(公告)日：2025-01-02
申请号：US18885049
申请日：2024-09-13
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Filip Perich , Timothy Campbell
Abstract: Example embodiments relate to radar image video compression techniques using per-pixel Doppler measurements, which can involve initially receiving radar data from a radar unit to generate a radar representation that represents surfaces in the environment. Based on Doppler scores in the radar representation, a range rate can be determined for each pixel that indicates a radial direction motion for a surface represented by the pixel. The range rates and backscatter values can then be used to estimate a radar representation prediction for subsequent radar data received from the radar unit, which enables a generation of a compressed radar data file that represents the difference between the radar representation prediction and the actual representation determined for the subsequent radar data. The compressed radar data file can be stored in memory, transmitted to other devices, and decompressed and used to train models via machine learning.
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