JP2021507213A - 自律車両の3d環境イメージングを可能にする高度の位相角測定のための垂直オフセットを有するアンテナアレイを備えた自動車用レーダ - Google Patents
自律車両の3d環境イメージングを可能にする高度の位相角測定のための垂直オフセットを有するアンテナアレイを備えた自動車用レーダ Download PDFInfo
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Abstract
Description
[1]Ip=Ic*Nt
[2]g(t)=[gx(t),gx(t),gz(t)]T
[3]gx(t)=[cos(wzt),−sin(wzt)]T・(g0−ht)
[4]gy(t)=[sin(wzt),cos(wzt)]T・(g0−ht)
[5]gz(t)=g0z
[6]rn,p,q=|g(nIp+pIc)−vp|+|g(nIp+pIc)−vq|
[8]pk,n,p,q=2πγkrn,p,q/(cfs)+2πfrn,p,q/c
[9]rn=2|g0−nIph|
は、式[11]に示すように、元の量の単位ベクトルを表す。
(レーダベースで表されるENU内の静止場所)の整合フィルタは、高速時間インデックスに沿ってFFTを実施する。したがって、レーダの動きを想定することができ、式[13]に示されるように、フィルタは方位角依存の範囲移行補正を含むことができる。
となり、式[22]が生成される。
ポインティングベクトルを定義する。
Claims (20)
- 方法であって、
環境内の車両に結合されたレーダユニットで、複数のレーダ反射信号を受信することと、
前記複数のレーダ反射信号を引き起こす前記環境内の1つ以上の表面に対する方位角および距離を判定することと、
前記複数のレーダ反射信号の位相情報に基づいて、前記複数のレーダ反射信号を引き起こす前記1つ以上の表面に対する仰角を判定することと、
前記複数のレーダ反射信号を引き起こす前記1つ以上の表面に対する前記方位角、前記距離、および前記仰角に少なくとも部分的に基づいて前記車両を制御することと、を含む、方法。 - 前記複数のレーダ反射信号を受信することが、
前記レーダユニットの千鳥状線形アレイを使用して前記複数のレーダ反射信号を受信すること、を含む、請求項1に記載の方法。 - 前記複数のレーダ反射信号の前記位相情報が、前記複数のレーダ反射信号を引き起こす前記環境内の前記1つ以上の表面のそれぞれの高度に依存する、請求項2に記載の方法。
- 前記複数のレーダ反射信号の前記位相情報が、前記レーダユニットの前記千鳥状線形アレイの1つ以上の放射素子のそれぞれのオフセットにさらに依存する、請求項3に記載の方法。
- 前記複数のレーダ反射信号を引き起こす前記1つ以上の表面に対する前記方位角、前記距離、および前記仰角に基づいて、前記車両を取り巻く前記環境の三次元マップを判定すること、をさらに含む、請求項1に記載の方法。
- 前記環境内の前記車両に結合された前記レーダユニットで、複数のレーダ信号を送信すること、をさらに含み、
前記複数のレーダ反射信号を受信することが、
前記複数のレーダ信号の反射に対応する所定のレーダ反射信号を受信することを含む、請求項1に記載の方法。 - 前記複数のレーダ信号を送信することが、
線形周波数変調レーダ信号を送信することを含む、請求項6に記載の方法。 - システムであって、
複数のレーダ反射信号を受信するように構成されたレーダユニットと、
前記複数のレーダ反射信号を引き起こす環境内の1つ以上の表面に対する方位角および距離を判定することと、
前記複数のレーダ反射信号の位相情報に基づいて、前記複数のレーダ反射信号を引き起こす前記1つ以上の表面に対する仰角を判定することと、
前記複数のレーダ反射信号を引き起こす前記1つ以上の表面に対する前記方位角、前記距離、および前記仰角に少なくとも部分的に基づいて車両を制御することと、を行うように構成された、プロセッサと、を備える、システム。 - 前記複数のレーダ反射信号を受信するように構成された前記レーダユニットが、千鳥状線形アレイを備える、請求項8に記載のシステム。
- 前記複数のレーダ反射信号の前記位相情報が、前記複数のレーダ反射信号を引き起こす前記環境内の前記1つ以上の表面のそれぞれの高度に依存する、請求項9に記載のシステム。
- 前記複数のレーダ反射信号の前記位相情報が、前記レーダユニットの前記千鳥状線形アレイの1つ以上の放射素子のそれぞれのオフセットにさらに依存する、請求項10に記載のシステム。
- 前記レーダユニットの前記千鳥状線形アレイの前記1つ以上の放射素子の前記それぞれのオフセットが、前記レーダユニットの垂直中心線からオフセットされている、請求項11に記載のシステム。
- 前記複数のレーダ反射信号の前記位相情報が、前記レーダユニットの前記千鳥状線形アレイの1つ以上の放射素子に対して判定されたそれぞれの仮想オフセットにさらに依存する、請求項10に記載のシステム。
- 前記プロセッサが、
前記複数のレーダ反射信号を引き起こす前記1つ以上の表面に対する前記方位角、前記距離、および前記仰角に基づいて三次元マップを生成するようにさらに構成されている、請求項8に記載のシステム。 - 前記複数のレーダ反射信号を受信するように構成された前記レーダユニットが、線形周波数変調レーダ信号を送信するようにさらに構成されている、請求項10に記載のシステム。
- 前記複数のレーダ反射信号を受信するように構成された前記レーダユニットが、前記車両に結合されたレーダユニットのセットの一部であり、前記レーダユニットのセットの各レーダユニットが、約90度の領域にわたって動作するように構成されている、請求項8に記載のシステム。
- 前記車両に結合された前記レーダユニットのセットが、前記車両の周りの360度の方位角平面にわたって動作するように構成されている、請求項16に記載のシステム。
- 前記プロセッサが、
前記レーダユニットのセットを使用して、前記車両の周りの前記360度方位角平面にわたって前記車両を取り巻く前記環境を表す三次元マップを生成するようにさらに構成されており、前記レーダユニットのセットの各レーダユニットが、放射素子の千鳥状線形アレイを備える、請求項17に記載のシステム。 - 命令を格納するように構成された非一時的コンピュータ可読媒体であって、前記命令は、1つ以上のプロセッサを備えるコンピューティングシステムによって実行されるとき、前記コンピューティングシステムに、
環境内の車両に結合されたレーダユニットで、複数のレーダ反射信号を受信することと、
前記複数のレーダ反射信号を引き起こす前記環境内の1つ以上の表面に対する方位角および距離を判定することと、
前記複数のレーダ反射信号の位相情報に基づいて、前記複数のレーダ反射信号を引き起こす前記1つ以上の表面に対する仰角を判定することと、
前記複数のレーダ反射を引き起こす前記1つ以上の表面に対する前記方位角、前記距離、および前記仰角に少なくとも部分的に基づいて前記車両を制御することと、を含む動作を行うようにさせる、非一時的コンピュータ可読媒体。 - 前記動作が、
前記複数のレーダ反射信号を引き起こす前記1つ以上の表面に対する前記方位角、前記距離、および前記仰角に基づいて三次元マップを判定することをさらに含む、請求項19に記載の非一時的コンピュータ可読媒体。
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