SG11201807030TA - Radar mounting estimation with unstructured data - Google Patents

Radar mounting estimation with unstructured data

Info

Publication number
SG11201807030TA
SG11201807030TA SG11201807030TA SG11201807030TA SG11201807030TA SG 11201807030T A SG11201807030T A SG 11201807030TA SG 11201807030T A SG11201807030T A SG 11201807030TA SG 11201807030T A SG11201807030T A SG 11201807030TA SG 11201807030T A SG11201807030T A SG 11201807030TA
Authority
SG
Singapore
Prior art keywords
radar unit
international
radar
reflection
signals
Prior art date
Application number
SG11201807030TA
Inventor
Larry Smith
Timothy Campbell
Original Assignee
Waymo Llc
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 Waymo Llc filed Critical Waymo Llc
Publication of SG11201807030TA publication Critical patent/SG11201807030TA/en

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
    • 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
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
    • 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
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar 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
    • 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
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
    • 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
    • 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
    • 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
    • G01S2013/93273—Sensor installation details on the top of the 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
    • G01S13/88—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
    • G01S2013/93275—Sensor installation details in the bumper area
    • 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
    • G01S2013/93277—Sensor installation details in the lights

Abstract

INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau (43) International Publication Date 31 August 2017 (31.08.2017) WIPO I PCT (10) International Publication Number WO 2017/146824 Al 111111111111110111011111111111010111110111010111111111111010101111111111111110111111 (51) International Patent Classification: G01S 13/93 (2006.01) B60R 21/0134 (2006.01) (21) International Application Number: PCT/US2017/012664 (22) International Filing Date: 9 January 2017 (09.01.2017) (25) Filing Language: English (26) Publication Language: English (30) Priority Data: 15/054,570 26 February 2016 (26.02.2016) US (71) Applicant: X DEVELOPMENT LLC [US/US]; 1600 Amphitheatre Parkway, Mountain View, CA 94043 (US). (72) Inventors: SMITH, Larry; C/o X Development LLC, 1600 Amphitheatre Parkway, Mountain View, CA 94043 (US). CAMPBELL, Timothy; C/o X Development LLC, 1600 Amphitheatre Parkway, Mountain View, CA 94043 (US). (74) Agent: ANDERSON, Michael, D.; Mcdonnell Boehnen Hulbert & Berghoff LLP, 300 South Wacker Drive, Chica- go, IL 60606 (US). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, [Continued on next page] = (54) Title: RADAR MOUNTING ESTIMATION WITH UNSTRUCTURED DATA (57) : The present application describes a method includ- ing transmitting at least two radar signals by a radar unit of a vehicle, where a first signal is transmitted from a first location and a second signal is transmitted from a second location. The method also includes receiving a respective reflection signal associated with each of the transmitted signals. Additionally, the method in- cludes determining, by a processor, at least one stationary object that caused a reflection, Further, the method includes, based on the determined stationary object, determining, by the processor, an off- set for the radar unit The method yet further includes operating the radar unit based on the determined offset. Furthermore, the method includes controlling an autonomous vehicle based on the radar unit being operated with the determined offset. W O 20 17 / 1468 24 Al 500 TRANSMITTING A PLURALITY OF RADAR SIGNALS FROM A PLURALITY OF DIFFERENT LOCATIONS BY A RADAR UNIT 504 ...,\ RECEIVING A PLURALITY OF REFLECTION SIGNALS 500 DETERMINE AT LEAST ONE STATIONARY OBJECT THAT CAUSED A REFLECTION IN THE PLURALITY OF REFLECTION SIGNALS BASED ON THE DETERMINED STATIONARY OBJECT, DETERMINE AN OFFSET FOR THE RADAR UNIT 510 \ I OPERATE THE RADAR UNIT BASED ON THE DETERMINED OFFSET 512 ` I CONTROL AN AUTONOMOUS VEHILE BASED ON THE RADAR UNIT BEING OPERATED WITH THE DETERMINED OFFSET FIG. 5 WO 2017/146824 Al IIIIIM01101MIIMME3010111111011111111111111111111111111111111111 DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, Published: LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, with international search report (Art. 21(3)) GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG).
SG11201807030TA 2016-02-26 2017-01-09 Radar mounting estimation with unstructured data SG11201807030TA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/054,570 US10191144B2 (en) 2016-02-26 2016-02-26 Radar mounting estimation with unstructured data
PCT/US2017/012664 WO2017146824A1 (en) 2016-02-26 2017-01-09 Radar mounting estimation with unstructured data

Publications (1)

Publication Number Publication Date
SG11201807030TA true SG11201807030TA (en) 2018-09-27

Family

ID=59679807

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201807030TA SG11201807030TA (en) 2016-02-26 2017-01-09 Radar mounting estimation with unstructured data

Country Status (9)

Country Link
US (2) US10191144B2 (en)
EP (2) EP3913399A1 (en)
JP (1) JP6781265B2 (en)
KR (2) KR20210021134A (en)
CN (1) CN109313262A (en)
AU (2) AU2017222240B2 (en)
CA (1) CA3015759C (en)
SG (1) SG11201807030TA (en)
WO (1) WO2017146824A1 (en)

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Also Published As

Publication number Publication date
US20170248688A1 (en) 2017-08-31
EP3420374A4 (en) 2019-10-23
AU2017222240B2 (en) 2019-11-28
WO2017146824A1 (en) 2017-08-31
KR102219108B1 (en) 2021-02-23
CN109313262A (en) 2019-02-05
US11016174B2 (en) 2021-05-25
CA3015759A1 (en) 2017-08-31
US20190120935A1 (en) 2019-04-25
EP3420374B1 (en) 2021-08-04
JP2019510967A (en) 2019-04-18
AU2020201378B2 (en) 2021-03-25
JP6781265B2 (en) 2020-11-04
US10191144B2 (en) 2019-01-29
EP3913399A1 (en) 2021-11-24
AU2020201378A1 (en) 2020-03-12
AU2017222240A1 (en) 2018-09-20
KR20210021134A (en) 2021-02-24
CA3015759C (en) 2022-11-01
EP3420374A1 (en) 2019-01-02
KR20180108863A (en) 2018-10-04

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