公开(公告)号：US20210041528A1

公开(公告)日：2021-02-11

申请号：US16532655

申请日：2019-08-06

Applicant: Waymo LLC

Inventor： Benjamin Chen ,  Adam Brown ,  Philip Ma ,  Matthew Markel

IPC: G01S7/03 ,  G01S13/93 ,  H01Q1/42 ,  H01Q1/32

Abstract: Example embodiments relate to slanted radomes for protecting radar units. An example radar system may include a radar unit that includes at least one antenna having a radiation pattern. The radar unit is configured to transmit a radar signal based on the radiation pattern and receive radar signals. In addition, the radar system further includes a radome located in a direction of transmission of the radiation pattern. Particularly, the radome is aligned at an angle relative to a plane of the at least one antenna such that reflections of the transmitted radar signal caused by the radome are directed towards at least one of a null of the radiation pattern and an absorption component.

公开(公告)号：US11644533B2

公开(公告)日：2023-05-09

申请号：US16951574

申请日：2020-11-18

Applicant: Waymo LLC

Inventor： Jamal Izadian ,  Philip Ma

IPC: G01S7/02 ,  G01S7/41 ,  G01S13/95 ,  H01Q21/00 ,  G01S13/931

CPC classification number: G01S7/025 ,  G01S7/41 ,  G01S13/931 ,  G01S13/951 ,  H01Q21/00

Abstract: Example embodiments present radar units capable of operating in multiple polarizations. An example radar unit may include a set of transmission antennas and a set of reception antennas. Particularly, the transmission antennas may each be configured to transmit radar signals that radiate in one or more of four potential polarizations. The four polarizations can correspond to horizontal linear, vertical linear and slanted polarizations at approximately positive forty-five degrees and negative forty-five degrees from the horizontal plane. As such, the reception antennas of the radar unit may each be configured to receive reflected radar signals that are radiating in one of the four potential polarizations. The radar unit may further include an amplifier configured to cause one or multiple transmission antennas to selectively transmit between two or more of the four polarization channels.

公开(公告)号：US11226397B2

公开(公告)日：2022-01-18

申请号：US16532655

申请日：2019-08-06

Applicant: Waymo LLC

Inventor： Benjamin Chen ,  Adam Brown ,  Philip Ma ,  Matthew Markel

IPC: G01S7/03 ,  G01S13/931 ,  H01Q1/42 ,  H01Q1/32

Abstract: Example embodiments relate to slanted radomes for protecting radar units. An example radar system may include a radar unit that includes at least one antenna having a radiation pattern. The radar unit is configured to transmit a radar signal based on the radiation pattern and receive radar signals. In addition, the radar system further includes a radome located in a direction of transmission of the radiation pattern. Particularly, the radome is aligned at an angle relative to a plane of the at least one antenna such that reflections of the transmitted radar signal caused by the radome are directed towards at least one of a null of the radiation pattern and an absorption component.

公开(公告)号：US20210072344A1

公开(公告)日：2021-03-11

申请号：US16951574

申请日：2020-11-18

Applicant: Waymo LLC

Inventor： Jamal Izadian ,  Philip Ma

IPC: G01S7/02 ,  G01S7/41 ,  H01Q21/00 ,  G01S13/95 ,  G01S13/931

Abstract: Example embodiments present radar units capable of operating in multiple polarizations. An example radar unit may include a set of transmission antennas and a set of reception antennas. Particularly, the transmission antennas may each be configured to transmit radar signals that radiate in one or more of four potential polarizations. The four polarizations can correspond to horizontal linear, vertical linear and slanted polarizations at approximately positive forty-five degrees and negative forty-five degrees from the horizontal plane. As such, the reception antennas of the radar unit may each be configured to receive reflected radar signals that are radiating in one of the four potential polarizations. The radar unit may further include an amplifier configured to cause one or multiple transmission antennas to selectively transmit between two or more of the four polarization channels.

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.

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.

公开(公告)号：US10852390B2

公开(公告)日：2020-12-01

申请号：US15848205

申请日：2017-12-20

Applicant: Waymo LLC

Inventor： Jamal Izadian ,  Philip Ma

IPC: G01S7/02 ,  G01S7/41 ,  G01S13/95 ,  H01Q21/00 ,  G01S13/931

Abstract: Example embodiments present radar units capable of operating in multiple polarizations. An example radar unit may include a set of transmission antennas and a set of reception antennas. Particularly, the transmission antennas may each be configured to transmit radar signals that radiate in one or more of four potential polarizations. The four polarizations can correspond to horizontal linear, vertical linear and slanted polarizations at approximately positive forty-five degrees and negative forty-five degrees from the horizontal plane. As such, the reception antennas of the radar unit may each be configured to receive reflected radar signals that are radiating in one of the four potential polarizations. The radar unit may further include an amplifier configured to cause one or multiple transmission antennas to selectively transmit between two or more of the four polarization channels.

公开(公告)号：US20190187247A1

公开(公告)日：2019-06-20

申请号：US15848205

申请日：2017-12-20

Applicant: Waymo LLC

Inventor： Jamal Izadian ,  Philip Ma

IPC: G01S7/02 ,  G01S13/95 ,  G01S7/41

CPC classification number: G01S7/025 ,  G01S7/41 ,  G01S13/951

Abstract: Example embodiments present radar units capable of operating in multiple polarizations. An example radar unit may include a set of transmission antennas and a set of reception antennas. Particularly, the transmission antennas may each be configured to transmit radar signals that radiate in one or more of four potential polarizations. The four polarizations can correspond to horizontal linear, vertical linear and slanted polarizations at approximately positive forty-five degrees and negative forty-five degrees from the horizontal plane. As such, the reception antennas of the radar unit may each be configured to receive reflected radar signals that are radiating in one of the four potential polarizations. The radar unit may further include an amplifier configured to cause one or multiple transmission antennas to selectively transmit between two or more of the four polarization channels.