JP7464616B2 - 速度および位置情報を使用するレーダ反射の認識 - Google Patents

速度および位置情報を使用するレーダ反射の認識 Download PDF

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JP7464616B2
JP7464616B2 JP2021550204A JP2021550204A JP7464616B2 JP 7464616 B2 JP7464616 B2 JP 7464616B2 JP 2021550204 A JP2021550204 A JP 2021550204A JP 2021550204 A JP2021550204 A JP 2021550204A JP 7464616 B2 JP7464616 B2 JP 7464616B2
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radar
return
reflected
velocity
vehicle
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Japanese (ja)
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JP2022522298A (ja
JP2022522298A5 (https=
Inventor
ワン チャン
クリサー コーヘン ジョシュア
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ズークス インコーポレイテッド
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Priority claimed from US16/288,990 external-priority patent/US11255958B2/en
Priority claimed from US16/289,068 external-priority patent/US11353578B2/en
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Priority to JP2024053519A priority Critical patent/JP7752718B2/ja
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    • 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

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  • 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)
JP2021550204A 2019-02-28 2020-02-25 速度および位置情報を使用するレーダ反射の認識 Active JP7464616B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2024053519A JP7752718B2 (ja) 2019-02-28 2024-03-28 速度および位置情報を使用するレーダ反射の認識

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

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2024053519A Division JP7752718B2 (ja) 2019-02-28 2024-03-28 速度および位置情報を使用するレーダ反射の認識

Publications (3)

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JP2022522298A JP2022522298A (ja) 2022-04-15
JP2022522298A5 JP2022522298A5 (https=) 2023-03-03
JP7464616B2 true JP7464616B2 (ja) 2024-04-09

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JP2021550204A Active JP7464616B2 (ja) 2019-02-28 2020-02-25 速度および位置情報を使用するレーダ反射の認識
JP2024053519A Active JP7752718B2 (ja) 2019-02-28 2024-03-28 速度および位置情報を使用するレーダ反射の認識

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

Families Citing this family (9)

* 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

Citations (4)

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JP2001116839A (ja) 1999-10-22 2001-04-27 Fujitsu Ten Ltd 車間距離センサ
JP2003270342A (ja) 2002-03-19 2003-09-25 Denso Corp 物体認識装置、物体認識方法、レーダ装置
JP2009079917A (ja) 2007-09-25 2009-04-16 Denso Corp 車幅検出方法及び装置、車両制御装置
US20170261602A1 (en) 2014-07-03 2017-09-14 GM Global Technology Operations LLC Vehicle radar methods and systems

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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
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
JP2009133761A (ja) 2007-11-30 2009-06-18 Toyota Motor Corp レーダ装置
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

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001116839A (ja) 1999-10-22 2001-04-27 Fujitsu Ten Ltd 車間距離センサ
JP2003270342A (ja) 2002-03-19 2003-09-25 Denso Corp 物体認識装置、物体認識方法、レーダ装置
JP2009079917A (ja) 2007-09-25 2009-04-16 Denso Corp 車幅検出方法及び装置、車両制御装置
US20170261602A1 (en) 2014-07-03 2017-09-14 GM Global Technology Operations LLC Vehicle radar methods and systems

Also Published As

Publication number Publication date
JP2022522298A (ja) 2022-04-15
CN113544538A (zh) 2021-10-22
EP3931593A1 (en) 2022-01-05
JP2024071623A (ja) 2024-05-24
WO2020176483A1 (en) 2020-09-03
JP7752718B2 (ja) 2025-10-10
CN113544538B (zh) 2026-01-06

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