JP7534333B2 - レーダーデータからのヨーレート - Google Patents

レーダーデータからのヨーレート Download PDF

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JP7534333B2
JP7534333B2 JP2021569050A JP2021569050A JP7534333B2 JP 7534333 B2 JP7534333 B2 JP 7534333B2 JP 2021569050 A JP2021569050 A JP 2021569050A JP 2021569050 A JP2021569050 A JP 2021569050A JP 7534333 B2 JP7534333 B2 JP 7534333B2
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radar
yaw rate
data
time
returns
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Japanese (ja)
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JP2022532920A5 (https=
JPWO2020236819A5 (https=
JP2022532920A (ja
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ワン チャン
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ズークス インコーポレイテッド
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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
    • G01S13/88—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)
JP2021569050A 2019-05-20 2020-05-19 レーダーデータからのヨーレート Active JP7534333B2 (ja)

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 (4)

Publication Number Publication Date
JP2022532920A JP2022532920A (ja) 2022-07-20
JP2022532920A5 JP2022532920A5 (https=) 2024-05-16
JPWO2020236819A5 JPWO2020236819A5 (https=) 2024-05-16
JP7534333B2 true JP7534333B2 (ja) 2024-08-14

Family

ID=73456773

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021569050A Active JP7534333B2 (ja) 2019-05-20 2020-05-19 レーダーデータからのヨーレート

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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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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JP2013130959A (ja) 2011-12-20 2013-07-04 Honda Motor Co Ltd 車両の運転支援装置
JP2016191586A (ja) 2015-03-31 2016-11-10 パナソニックＩｐマネジメント株式会社 車両移動推定装置および車両移動推定方法
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Also Published As

Publication number Publication date
EP3973320A1 (en) 2022-03-30
EP3973320A4 (en) 2023-06-14
WO2020236819A1 (en) 2020-11-26
CN113853533B (zh) 2026-03-17
US11275173B2 (en) 2022-03-15
CN113853533A (zh) 2021-12-28
JP2022532920A (ja) 2022-07-20
US20200371228A1 (en) 2020-11-26

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