公开(公告)号：US11714190B1

公开(公告)日：2023-08-01

申请号：US17316991

申请日：2021-05-11

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Irving Chung

IPC: G01S13/931 ,  G01S7/40 ,  G01S13/86 ,  G01S13/00

CPC classification number: G01S13/931 ,  G01S7/4004 ,  G01S13/865 ,  G01S13/867

Abstract: Example embodiments relate to techniques for hardware-in-the-loop testing with continuous integration for radar testing and development. A computing device may receive a target output for radar operation parameters undergoing development tests and determine whether a first output produced by a field programmable gate array (FPGA) based on the radar operation parameters differs from the target output less than a first threshold difference. When the output from the FPGA passes the comparison, the computing device may then cause a radar unit to transmit radar signals toward a target according to the radar operation parameters, which produces a second output that can also be compared to the target output. The FPGA may process signals for the radar unit. In some cases when the second output differs from the target output less than a second threshold difference, the computing device may provide the radar operation parameters as a radar software update to vehicles.