CN113853533B - 来自雷达数据的偏航率 - Google Patents

来自雷达数据的偏航率

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Publication number
CN113853533B
CN113853533B CN202080037264.8A CN202080037264A CN113853533B CN 113853533 B CN113853533 B CN 113853533B CN 202080037264 A CN202080037264 A CN 202080037264A CN 113853533 B CN113853533 B CN 113853533B
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CN
China
Prior art keywords
radar
yaw rate
echoes
data
time
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
CN202080037264.8A
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English (en)
Chinese (zh)
Other versions
CN113853533A (zh
Inventor
王闯
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
Application filed by Zoox Inc filed Critical Zoox Inc
Publication of CN113853533A publication Critical patent/CN113853533A/zh
Application granted granted Critical
Publication of CN113853533B publication Critical patent/CN113853533B/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
    • G01S13/88—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
    • 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
    • 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
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional [2D] tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional [2D] tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G01S13/874—Combination of several systems for attitude determination
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • 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
    • 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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
CN202080037264.8A 2019-05-20 2020-05-19 来自雷达数据的偏航率 Active CN113853533B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US16/416,686 2019-05-20
US16/416,686 US11275173B2 (en) 2019-05-20 2019-05-20 Yaw rate from radar data
PCT/US2020/033608 WO2020236819A1 (en) 2019-05-20 2020-05-19 Yaw rate from radar data

Publications (2)

Publication Number Publication Date
CN113853533A CN113853533A (zh) 2021-12-28
CN113853533B true CN113853533B (zh) 2026-03-17

Family

ID=73456773

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080037264.8A Active CN113853533B (zh) 2019-05-20 2020-05-19 来自雷达数据的偏航率

Country Status (5)

Country Link
US (1) US11275173B2 (https=)
EP (1) EP3973320A4 (https=)
JP (1) JP7534333B2 (https=)
CN (1) CN113853533B (https=)
WO (1) WO2020236819A1 (https=)

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US12012127B2 (en) 2019-10-26 2024-06-18 Zoox, Inc. Top-down view object detection and tracking
US11507092B2 (en) * 2019-12-27 2022-11-22 Woven Planet North America, Inc. Sequential clustering
US11663726B2 (en) 2020-01-31 2023-05-30 Zoox, Inc. Object velocity and/or yaw rate detection and tracking
US11609321B2 (en) * 2020-02-19 2023-03-21 Zoox, Inc. Radar-tracked object velocity and/or yaw
US11536831B2 (en) * 2020-06-15 2022-12-27 Gm Cruise Holdings Llc Systems and methods for high velocity resolution high update rate radar for autonomous vehicles
US12030507B2 (en) * 2020-06-29 2024-07-09 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Method and system for predicting a trajectory of a target vehicle in an environment of a vehicle
EP4211496A1 (en) * 2020-09-08 2023-07-19 Symeo GmbH Measuring vehicle velocity using multiple onboard radars
US12181878B2 (en) 2020-10-22 2024-12-31 Waymo Llc Velocity estimation and object tracking for autonomous vehicle applications
US11841439B2 (en) * 2020-11-02 2023-12-12 Waymo Llc Point cloud segmentation using a coherent lidar for autonomous vehicle applications
US12233905B2 (en) 2020-11-02 2025-02-25 Waymo Llc Classification of objects based on motion patterns for autonomous vehicle applications
US12050267B2 (en) 2020-11-09 2024-07-30 Waymo Llc Doppler-assisted object mapping for autonomous vehicle applications
US11656629B1 (en) 2020-12-08 2023-05-23 Waymo Llc Detection of particulate matter in autonomous vehicle applications
CN112816976B (zh) * 2021-01-29 2023-05-16 三一海洋重工有限公司 集装箱箱门朝向检测方法及其系统、存储介质及电子设备
EP4036602A1 (en) * 2021-01-29 2022-08-03 Aptiv Technologies Limited Radar data processing for vehicle ego-motion estimation
US20240053467A1 (en) * 2021-02-07 2024-02-15 Intel Corporation Radar apparatus, system, and method
US12216474B1 (en) 2021-05-04 2025-02-04 Waymo Llc Vibrometry-based behavior prediction for autonomous vehicle applications
JP7725268B2 (ja) * 2021-07-06 2025-08-19 パナソニックホールディングス株式会社 情報処理装置、情報処理方法、及び、プログラム
US12111385B2 (en) * 2021-12-23 2024-10-08 Gm Cruise Holdings Llc Radar sensor processing chain
CN114966573B (zh) * 2022-07-05 2023-05-26 扬州宇安电子科技有限公司 一种信道干扰信号识别引导系统及方法
US12361688B2 (en) * 2022-09-28 2025-07-15 Toyota Research Institute, Inc. System and method for building multi-view machine learning datasets from fleet data
US11884292B1 (en) * 2022-10-24 2024-01-30 Aurora Operations, Inc. Radar sensor system for vehicles
US20250074403A1 (en) * 2023-09-01 2025-03-06 Magna Electronics Inc. Vehicular driving assist system

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Also Published As

Publication number Publication date
EP3973320A1 (en) 2022-03-30
EP3973320A4 (en) 2023-06-14
JP7534333B2 (ja) 2024-08-14
WO2020236819A1 (en) 2020-11-26
US11275173B2 (en) 2022-03-15
CN113853533A (zh) 2021-12-28
JP2022532920A (ja) 2022-07-20
US20200371228A1 (en) 2020-11-26

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