公开(公告)号：US12044775B2

公开(公告)日：2024-07-23

申请号：US17357424

申请日：2021-06-24

Applicant: Waymo LLC

Inventor： Ryan Fan

IPC: G01S13/931 ,  G01S7/02 ,  G01S13/89

CPC classification number: G01S13/931 ,  G01S7/024 ,  G01S13/89

Abstract: Example embodiments relate to techniques that involve detecting and mitigating automotive interference. Electromagnetic signals propagating in the environment can be received by a radar unit that limits the signals received to a particular angle of arrival with reception antennas that limit the signals received to a particular polarization. Filters can be applied to the signals to remove portions that are outside an expected time range and an expected frequency range that depend on radar signal transmission parameters used by the radar unit. In addition, a model representing an expected electromagnetic signal digital representation can be used to remove portions of the signals that are indicative of spikes and plateaus associated with signal interference. A computing device can then generate an environment representation that indicates positions of surfaces relative to the vehicle using the remaining portions of the signals.

公开(公告)号：US12241996B1

公开(公告)日：2025-03-04

申请号：US17375707

申请日：2021-07-14

Applicant: Waymo LLC

Inventor： Ryan Fan ,  Kenneth Ho

IPC: G01S7/40 ,  G01S7/41

Abstract: An example method for using antenna array calibration to adjust radar unit operation involves receiving radar data from a radar unit coupled to a vehicle during vehicle operation in an environment, where the radar unit receives the radar data from the environment via an antenna array of the radar unit. The method also involves detecting an object in the environment based on the radar data, determining that the detected object satisfies a set of conditions, and, in response to the set of conditions being satisfied, estimating a first phase array offset for the antenna array. The method also involves comparing the first phase array offset with a second phase array offset that represents a prior calibration for the radar unit, and, based on a difference between the first and second phase array offsets exceeding a threshold difference, adjusting operation of the radar unit according to the first phase array offset.

公开(公告)号：US20240329238A1

公开(公告)日：2024-10-03

申请号：US18738786

申请日：2024-06-10

Applicant: Waymo LLC

Inventor： Ryan Fan

IPC: G01S13/931 ,  G01S7/02 ,  G01S13/89

CPC classification number: G01S13/931 ,  G01S7/024 ,  G01S13/89

Abstract: Example embodiments relate to techniques that involve detecting and mitigating automotive interference. Electromagnetic signals propagating in the environment can be received by a radar unit that limits the signals received to a particular angle of arrival with reception antennas that limit the signals received to a particular polarization. Filters can be applied to the signals to remove portions that are outside an expected time range and an expected frequency range that depend on radar signal transmission parameters used by the radar unit. In addition, a model representing an expected electromagnetic signal digital representation can be used to remove portions of the signals that are indicative of spikes and plateaus associated with signal interference. A computing device can then generate an environment representation that indicates positions of surfaces relative to the vehicle using the remaining portions of the signals.

公开(公告)号：US20220413129A1

公开(公告)日：2022-12-29

申请号：US17357424

申请日：2021-06-24

Applicant: Waymo LLC

Inventor： Ryan Fan

IPC: G01S13/931 ,  G01S13/89 ,  G01S7/02

Abstract: Example embodiments relate to techniques that involve detecting and mitigating automotive interference. Electromagnetic signals propagating in the environment can be received by a radar unit that limits the signals received to a particular angle of arrival with reception antennas that limit the signals received to a particular polarization. Filters can be applied to the signals to remove portions that are outside an expected time range and an expected frequency range that depend on radar signal transmission parameters used by the radar unit. In addition, a model representing an expected electromagnetic signal digital representation can be used to remove portions of the signals that are indicative of spikes and plateaus associated with signal interference. A computing device can then generate an environment representation that indicates positions of surfaces relative to the vehicle using the remaining portions of the signals.