CN113544538B - 使用速度和位置信息识别雷达反射 - Google Patents

使用速度和位置信息识别雷达反射

Info

Publication number
CN113544538B
CN113544538B CN202080017300.4A CN202080017300A CN113544538B CN 113544538 B CN113544538 B CN 113544538B CN 202080017300 A CN202080017300 A CN 202080017300A CN 113544538 B CN113544538 B CN 113544538B
Authority
CN
China
Prior art keywords
echo
radar
reflected
vehicle
data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202080017300.4A
Other languages
English (en)
Chinese (zh)
Other versions
CN113544538A (zh
Inventor
王闯
J·K·科恩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoox Inc
Original Assignee
Zoox Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US16/288,990 external-priority patent/US11255958B2/en
Priority claimed from US16/289,068 external-priority patent/US11353578B2/en
Application filed by Zoox Inc filed Critical Zoox Inc
Publication of CN113544538A publication Critical patent/CN113544538A/zh
Application granted granted Critical
Publication of CN113544538B publication Critical patent/CN113544538B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)
CN202080017300.4A 2019-02-28 2020-02-25 使用速度和位置信息识别雷达反射 Active CN113544538B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US16/289,068 2019-02-28
US16/288,990 US11255958B2 (en) 2019-02-28 2019-02-28 Recognizing radar reflections using velocity information
US16/289,068 US11353578B2 (en) 2019-02-28 2019-02-28 Recognizing radar reflections using position information
US16/288,990 2019-02-28
PCT/US2020/019674 WO2020176483A1 (en) 2019-02-28 2020-02-25 Recognizing radar reflections using velocity and position information

Publications (2)

Publication Number Publication Date
CN113544538A CN113544538A (zh) 2021-10-22
CN113544538B true CN113544538B (zh) 2026-01-06

Family

ID=69941497

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080017300.4A Active CN113544538B (zh) 2019-02-28 2020-02-25 使用速度和位置信息识别雷达反射

Country Status (4)

Country Link
EP (1) EP3931593A1 (https=)
JP (2) JP7464616B2 (https=)
CN (1) CN113544538B (https=)
WO (1) WO2020176483A1 (https=)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11841439B2 (en) * 2020-11-02 2023-12-12 Waymo Llc Point cloud segmentation using a coherent lidar for autonomous vehicle applications
US11693110B2 (en) 2020-11-04 2023-07-04 Ford Global Technologies, Llc Systems and methods for radar false track mitigation with camera
US11702102B2 (en) * 2020-11-19 2023-07-18 Waymo Llc Filtering return points in a point cloud based on radial velocity measurement
DE102022211987A1 (de) 2021-11-12 2023-05-17 Zf Friedrichshafen Ag Verfahren, Computerprogramm, maschinenlesbares Speichermedium und System zur Klassifizierung von Geisterobiekten in einer Umgebung eines Straßenfahrzeugs, eines Beförderungssystems und/oder einer Komponente einer Verkehrsinfrastruktur
US12140666B2 (en) * 2022-01-19 2024-11-12 Aptiv Technologies AG Ghost object detection
US11884292B1 (en) * 2022-10-24 2024-01-30 Aurora Operations, Inc. Radar sensor system for vehicles
EP4372415B1 (en) * 2022-11-16 2026-04-01 Aptiv Technologies AG Radar multipath detector
US20250076486A1 (en) * 2023-08-30 2025-03-06 Zoox, Inc. Fusion of radar and infrared data for object detection and tracking
EP4549990A1 (en) * 2023-10-30 2025-05-07 GM Cruise Holdings LLC Multipath and false detection mitigation

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6025797A (en) * 1997-07-22 2000-02-15 Denso Corporation Angular shift determining apparatus for determining angular shift of central axis of radar used in automotive obstacle detection system
JP3608991B2 (ja) 1999-10-22 2005-01-12 富士通テン株式会社 車間距離センサ
JP2003172780A (ja) * 2001-12-06 2003-06-20 Daihatsu Motor Co Ltd 前方車両の認識装置及び認識方法
JP3770189B2 (ja) 2002-03-19 2006-04-26 株式会社デンソー 物体認識装置、物体認識方法、レーダ装置
JP5061814B2 (ja) 2007-09-25 2012-10-31 株式会社デンソー 車幅検出方法及び装置、車両制御装置
JP2009133761A (ja) 2007-11-30 2009-06-18 Toyota Motor Corp レーダ装置
WO2016003473A1 (en) 2014-07-03 2016-01-07 GM Global Technology Operations LLC Vehicle radar methods and systems
US9810782B2 (en) * 2015-03-20 2017-11-07 Delphi Technologies, Inc. Vehicle radar system with image reflection detection
JP2017096840A (ja) 2015-11-26 2017-06-01 トヨタ自動車株式会社 車両用物標検出装置
JP6778873B2 (ja) * 2016-08-10 2020-11-04 パナソニックＩｐマネジメント株式会社 レーダ設置角度算出装置、レーダ装置およびレーダ設置角度算出方法
EP3299841B1 (en) * 2016-09-22 2022-05-04 Continental Automotive GmbH Method and apparatus for analyzing reflection signals, driver assistance system, and vehicle
US10296001B2 (en) * 2016-10-27 2019-05-21 Uber Technologies, Inc. Radar multipath processing
JP7053982B2 (ja) * 2017-05-25 2022-04-13 ミツミ電機株式会社 ゴースト除去方法及びレーダ装置

Also Published As

Publication number Publication date
JP2022522298A (ja) 2022-04-15
CN113544538A (zh) 2021-10-22
EP3931593A1 (en) 2022-01-05
JP7464616B2 (ja) 2024-04-09
JP2024071623A (ja) 2024-05-24
WO2020176483A1 (en) 2020-09-03
JP7752718B2 (ja) 2025-10-10

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