SG11201913994TA - Vehicle sensor synchronization using an external clock source - Google Patents

Vehicle sensor synchronization using an external clock source

Info

Publication number
SG11201913994TA
SG11201913994TA SG11201913994TA SG11201913994TA SG11201913994TA SG 11201913994T A SG11201913994T A SG 11201913994TA SG 11201913994T A SG11201913994T A SG 11201913994TA SG 11201913994T A SG11201913994T A SG 11201913994TA SG 11201913994T A SG11201913994T A SG 11201913994TA
Authority
SG
Singapore
Prior art keywords
external clock
clock source
vehicle sensor
sensor synchronization
synchronization
Prior art date
Application number
SG11201913994TA
Inventor
Blaise Gassend
Benjamin Ingram
Luke Wachter
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 SG11201913994TA publication Critical patent/SG11201913994TA/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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • 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
    • G01S2013/93272—Sensor installation details in the back 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
    • 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
    • G01S7/4039—Means for monitoring or calibrating of parts of a radar system of sensor or antenna obstruction, e.g. dirt- or ice-coating
SG11201913994TA 2017-07-07 2018-05-08 Vehicle sensor synchronization using an external clock source SG11201913994TA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/644,146 US10866313B2 (en) 2017-07-07 2017-07-07 Vehicle sensor synchronization using an external clock source
PCT/US2018/031517 WO2019009955A1 (en) 2017-07-07 2018-05-08 Vehicle sensor synchronization using an external clock source

Publications (1)

Publication Number Publication Date
SG11201913994TA true SG11201913994TA (en) 2020-01-30

Family

ID=62245452

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201913994TA SG11201913994TA (en) 2017-07-07 2018-05-08 Vehicle sensor synchronization using an external clock source

Country Status (5)

Country Link
US (2) US10866313B2 (en)
EP (1) EP3646060A1 (en)
CN (2) CN110869805B (en)
SG (1) SG11201913994TA (en)
WO (1) WO2019009955A1 (en)

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US10866313B2 (en) * 2017-07-07 2020-12-15 Waymo Llc Vehicle sensor synchronization using an external clock source
US10447973B2 (en) 2017-08-08 2019-10-15 Waymo Llc Rotating LIDAR with co-aligned imager
US11656358B2 (en) 2018-11-02 2023-05-23 Waymo Llc Synchronization of multiple rotating sensors of a vehicle
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US11435444B2 (en) * 2019-09-27 2022-09-06 Gm Cruise Holdings Llc Mitigating interference for lidar systems of autonomous vehicles
WO2021098365A1 (en) * 2019-11-22 2021-05-27 杭州欧镭激光技术有限公司 Laser radar for moving device and method for using laser radar, and laser radar system
US10914588B1 (en) * 2019-12-06 2021-02-09 Toyota Research Institute, Inc. Pulse per second signal generation using a fiber optic gyroscope
CN111474532B (en) * 2020-04-10 2022-05-03 北京建筑大学 Time synchronization method and device for vehicle-mounted mobile laser radar measurement system
CN112066982B (en) * 2020-09-07 2021-08-31 成都睿芯行科技有限公司 Industrial mobile robot positioning method in high dynamic environment
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CN113064339B (en) * 2021-03-05 2022-03-18 温州激光与光电子协同创新中心 High-stability atomic clock based on Kalman filtering optimal state estimation and implementation method
JP2022166647A (en) * 2021-04-21 2022-11-02 パナソニックＩｐマネジメント株式会社 Optical measuring device, mounting board assembly equipment, and mounting board assembly method
US11614527B2 (en) * 2021-06-21 2023-03-28 Cyngn, Inc. Self-adaptive liDAR-camera synchronization system
US20230213633A1 (en) * 2022-01-06 2023-07-06 GM Global Technology Operations LLC Aggregation-based lidar data alignment
US20240027577A1 (en) * 2022-07-20 2024-01-25 Applied Concepts, Inc. Adaptive fan noise suppression for traffic radar systems

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Also Published As

Publication number Publication date
US10866313B2 (en) 2020-12-15
CN110869805B (en) 2023-12-12
US20210072362A1 (en) 2021-03-11
WO2019009955A1 (en) 2019-01-10
CN110869805A (en) 2020-03-06
CN117805855A (en) 2024-04-02
US20190011544A1 (en) 2019-01-10
EP3646060A1 (en) 2020-05-06

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