Radar multipath detection based on changing virtual arrays

    公开(公告)号:US11953590B1

    公开(公告)日:2024-04-09

    申请号:US17900825

    申请日:2022-08-31

    申请人: Zoox, Inc.

    摘要: This disclosure describes techniques for detecting multipath radar returns and modifying radar data. A vehicle may use radar devices to receive radar data while traversing within an environment. The vehicle may process the radar data using a virtual array based on an arraignment of the antennae within an aperture of the radar device. Using the virtual array, the vehicle may determine an elevated noise level that may be indicative of a multipath radar return. Based on the elevated noise level, the vehicle may determine a second virtual array associated with multipath radar returns, and may process the radar data using the second virtual array. Based on determining that the noise level associated with the second virtual array is lower than the initial noise level, the vehicle may determine that the radar data includes a multipath radar return, and may modify the radar data to correct or mitigate the error caused by the multipath return.

    RADAR-BASED GROUND PLANE CHARACTERISTIC DETERMINATION

    公开(公告)号:US20230384419A1

    公开(公告)日:2023-11-30

    申请号:US17829058

    申请日:2022-05-31

    申请人: Zoox, Inc.

    IPC分类号: G01S7/41 G01S13/931

    摘要: Techniques for estimating a ground plane based on lidar data and/or attributes of the ground plane are discussed herein. A vehicle captures radar data, e.g., 4D radar data including height information, as it traverses an environment. The radar data can include direct returns from an object and reflected or multipath returns, e.g., that reflect off a ground surface and the object. A position of the ground plane can be estimated based at least in part on a distance between direct returns and the reflected returns. Attributes of the ground plane may be determined from differences between the direct returns and the reflected returns.

    RADAR DATA ANALYSIS AND CONCEALED OBJECT DETECTION

    公开(公告)号:US20230142674A1

    公开(公告)日:2023-05-11

    申请号:US17384430

    申请日:2021-07-23

    申请人: Zoox, Inc.

    IPC分类号: G01S7/41 G01S13/931

    CPC分类号: G01S7/41 G01S13/931

    摘要: Techniques are discussed herein for analyzing radar data to determine that radar noise from one or more target detections potentially conceals additional objects near the target detection. Determining whether an object may be concealed can be based at least in part on a radar noise level based on a target detection, as well as distributions of radar cross sections and/or doppler data associated with particular object types. For a location near a target detection, a radar system may determine estimated noise levels, and compare the estimated noise levels to radar cross section probabilities associated with object types to determine the likelihood that an object of the object type could be concealed at the location. Based on the analysis, the system may determine a vehicle trajectory or otherwise may control a vehicle based on the likelihood that an object may be concealed at the location.