公开(公告)号：US20250052859A1

公开(公告)日：2025-02-13

申请号：US18930591

申请日：2024-10-29

Applicant: Waymo LLC

Inventor： Clayton Kunz ,  Timothy Campbell

IPC: G01S7/292 ,  G01S7/295 ,  G01S13/58 ,  G01S13/86 ,  G01S13/931

Abstract: Example embodiments relate to radar reflection filtering using a vehicle sensor system. A computing device may detect a first object in radar data from a radar unit coupled to a vehicle and, responsive to determining that information corresponding to the first object is unavailable from other vehicle sensors, use the radar data to determine a position and a velocity for the first object relative to the radar unit. The computing device may also detect a second object aligned with a vector extending between the radar unit and the first object. Based on a geometric relationship between the vehicle, the first object, and the second object, the computing device may determine that the first object is a self-reflection of the vehicle caused at least in part by the second object and control the vehicle based on this determination.

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.

公开(公告)号：US20230261389A1

公开(公告)日：2023-08-17

申请号：US18307929

申请日：2023-04-27

Applicant: Waymo LLC

Inventor： Edwin Lim ,  Timothy Campbell ,  Matthew Markel

IPC: H01Q19/13 ,  H01Q13/02 ,  H01Q5/55 ,  H01Q1/32

CPC classification number: H01Q19/138 ,  H01Q13/0233 ,  H01Q5/55 ,  H01Q1/3275 ,  H01Q1/3233

Abstract: Example embodiments relate to low elevation side lobe antennas with fan-shaped beams. An example radar unit may include a radiating plate having a first side and a second side with an illuminator, a waveguide horn, a waveguide opening, and a radiating sleeve extending into the first side of the radiating plate. The waveguide opening is positioned on the first end of the first side and the radiating sleeve is positioned on the second end of the first side. The radar unit also includes a metallic cover coupled to the first side of the radiating plate such that the metallic cover and the radiating plate form waveguide structures. The waveguide horn is configured to receive, from an external source, electromagnetic energy provided through the waveguide opening via a first waveguide and provide a portion of the electromagnetic energy to the illuminator via a second waveguide such that the portion of the electromagnetic energy radiates off the illuminator and through the radiating sleeve into an environment of the radar unit as one or more radar signals.

公开(公告)号：US11670864B2

公开(公告)日：2023-06-06

申请号：US17136393

申请日：2020-12-29

Applicant: Waymo LLC

Inventor： Edwin Lim ,  Timothy Campbell ,  Matthew Markel

IPC: H01Q13/02 ,  H01Q5/55 ,  H01Q1/32 ,  H01Q19/13

CPC classification number: H01Q19/138 ,  H01Q1/3233 ,  H01Q1/3275 ,  H01Q5/55 ,  H01Q13/0233

Abstract: Example embodiments relate to low elevation side lobe antennas with fan-shaped beams. An example radar unit may include a radiating plate having a first side and a second side with an illuminator, a waveguide horn, a waveguide opening, and a radiating sleeve extending into the first side of the radiating plate. The waveguide opening is positioned on the first end of the first side and the radiating sleeve is positioned on the second end of the first side. The radar unit also includes a metallic cover coupled to the first side of the radiating plate such that the metallic cover and the radiating plate form waveguide structures. The waveguide horn is configured to receive, from an external source, electromagnetic energy provided through the waveguide opening via a first waveguide and provide a portion of the electromagnetic energy to the illuminator via a second waveguide such that the portion of the electromagnetic energy radiates off the illuminator and through the radiating sleeve into an environment of the radar unit as one or more radar signals.

公开(公告)号：US11619734B2

公开(公告)日：2023-04-04

申请号：US17072523

申请日：2020-10-16

Applicant: Waymo LLC

Inventor： Jamal Izadian ,  Russell Smith ,  Timothy Campbell ,  Adam Brown

IPC: G01S13/86 ,  G01S13/90 ,  G01S13/931 ,  H01Q21/00 ,  H01Q1/32 ,  H01Q13/06 ,  H01P5/12 ,  H01P5/18 ,  H01Q21/06 ,  H01P1/18

Abstract: A radar system includes a split-block assembly unit comprising a first portion and second portion, where the first portion and the second portion form a seam. The radar system further includes a plurality of ports located on a bottom side of the second portion opposite the seam. Additionally, the radar system includes a plurality of radiating elements located on a top side of the first portion opposite the seam. The plurality of radiating elements is arranged in a plurality of arrays. The plurality of arrays includes a set of multiple-input multiple-output (MIMO) transmission arrays, a set of synthetic aperture radar (SAR) transmission arrays, and at least one reception array. Further, the radar system includes a set of waveguides configured to couple each array to a port.

公开(公告)号：US20220390550A1

公开(公告)日：2022-12-08

申请号：US17092665

申请日：2020-11-09

Applicant: Waymo LLC

Inventor： Matthew Markel ,  Timothy Campbell ,  Alessandro Temil

IPC: G01S7/02 ,  G01S13/931

Abstract: Example embodiments relate to methods and systems for implementing radar electronic support measure operations. A vehicle's processing unit may receive information relating to electromagnetic energy radiating in an environment of the vehicle that is detected using a vehicle radar system. The electromagnetic energy originated from one or more external emitters, such as radar signals transmitted by other vehicles. The processing unit may determine a spectrum occupancy representation that indicates spectral regions occupied by the electromagnetic energy and subsequently adjust operation of the vehicle radar system based on the spectrum occupancy representation to reduce or mitigate interference with the external emitters in the vehicle's environment. In some examples, the vehicle radar system may be switched to a passive receive-only mode to measure the electromagnetic energy radiating in the environment from other emitters.

公开(公告)号：US10935650B2

公开(公告)日：2021-03-02

申请号：US15852501

申请日：2017-12-22

Applicant: Waymo LLC

Inventor： Timothy Campbell

IPC: G01S13/42 ,  G01S13/89 ,  G01S13/90 ,  G01S13/931 ,  H01Q1/32 ,  G05D1/02 ,  G01S13/87 ,  H01Q21/00 ,  G01S13/44 ,  G01S7/03 ,  G01S7/02

Abstract: Example embodiments described herein involve determining three dimensional data representative of an environment for an autonomous vehicle using radar. An example embodiment involves receiving radar reflection signals at a radar unit coupled to a vehicle and determining an azimuth angle and a distance for surfaces in the environment causing the radar reflection signals. The embodiment further involves determining an elevation angle for the surfaces causing the radar reflection signals based on phase information of the radar reflection signals and controlling the vehicle based at least in part on the azimuth angle, the distance, and the elevation angle for the surfaces causing the plurality of radar reflection signals. In some instances, the radar unit is configured to receive radar reflection signals using a staggered linear array with one or multiple radiating elements offset in the array.

公开(公告)号：US10890919B2

公开(公告)日：2021-01-12

申请号：US15713499

申请日：2017-09-22

Applicant: Waymo LLC

Inventor： L. Donnie Smith ,  Timothy Campbell

IPC: G05D1/02 ,  G01S13/52 ,  G01S13/60 ,  G01S13/931 ,  G08G1/16 ,  B62D6/00 ,  B62D15/02 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  G01S7/06 ,  B62D6/02 ,  B60W50/14 ,  G05D1/00

Abstract: Examples relating to vehicle velocity calculation using radar technology are described. An example method performed by a computing system may involve, while a vehicle is moving on a road, receiving, from two or more radar sensors mounted at different locations on the vehicle, radar data representative of an environment of the vehicle. The method may involve, based on the data, detecting at least one scatterer in the environment. The method may involve making a determination of a likelihood that the at least one scatterer is stationary with respect to the vehicle. The method may involve, based on the determination being that the likelihood is at least equal to a predefined confidence threshold, calculating a velocity of the vehicle based on the data from the sensors. The calculated velocity may include an angular and linear velocity. Further, the method may involve controlling the vehicle based on the calculated velocity.

公开(公告)号：US10691135B2

公开(公告)日：2020-06-23

申请号：US15713500

申请日：2017-09-22

Applicant: Waymo LLC

Inventor： Timothy Campbell ,  L. Donnie Smith

IPC: G05D1/02 ,  G01S13/86 ,  G01S13/931 ,  B60W30/08

Abstract: Examples relating to vehicle motion detection using radar technology are described. An example method may involve a computing system receiving, from a radar sensor mounted on an autonomous vehicle, radar data representative of an environment of the vehicle. The method may involve the computing system, based on the radar data, detecting at least one scatterer present in the environment. The method may involve the computing system making a determination of a likelihood that the at least one scatterer is stationary with respect to the vehicle. The method may involve the computing system, based on the determination being that the likelihood is at least equal to a predefined confidence threshold, determining an indication that the vehicle is stationary. And the method may involve the computing system controlling movement of the vehicle based on the determined indication.

公开(公告)号：US10191144B2

公开(公告)日：2019-01-29

申请号：US15054570

申请日：2016-02-26

Applicant: Waymo LLC

Inventor： Timothy Campbell ,  Larry Smith

IPC: G01S7/40 ,  G01S13/93

Abstract: The present application describes a method including transmitting at least two radar signals by a radar unit of a vehicle, where a first signal is transmitted from a first location and a second signal is transmitted from a second location. The method also includes receiving a respective reflection signal associated with each of the transmitted signals. Additionally, the method includes determining, by a processor, at least one stationary object that caused a reflection. Further, the method includes based on the determined stationary object, determining, by the processor, an offset for the radar unit. The method yet further includes operating the radar unit based on the determined offset. Furthermore, the method includes controlling an autonomous vehicle based on the radar unit being operated with the determined offset.