SG11202002385QA - Detecting motion of an autonomous vehicle using radar technology - Google Patents

Detecting motion of an autonomous vehicle using radar technology

Info

Publication number
SG11202002385QA
SG11202002385QA SG11202002385QA SG11202002385QA SG11202002385QA SG 11202002385Q A SG11202002385Q A SG 11202002385QA SG 11202002385Q A SG11202002385Q A SG 11202002385QA SG 11202002385Q A SG11202002385Q A SG 11202002385QA SG 11202002385Q A SG11202002385Q A SG 11202002385QA
Authority
SG
Singapore
Prior art keywords
autonomous vehicle
detecting motion
radar technology
radar
technology
Prior art date
Application number
SG11202002385QA
Other languages
English (en)
Inventor
Timothy Campbell
L Smith
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
Priority claimed from US15/713,500 external-priority patent/US10691135B2/en
Priority claimed from US15/713,499 external-priority patent/US10890919B2/en
Application filed by Waymo Llc filed Critical Waymo Llc
Publication of SG11202002385QA publication Critical patent/SG11202002385QA/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
    • G01S7/41—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
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • 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
    • G01S13/426—Scanning radar, e.g. 3D radar
    • 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
    • G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
    • 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
    • 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
    • G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • 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
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G01S13/726—Multiple target tracking
    • 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
    • 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
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
SG11202002385QA 2017-09-22 2018-09-20 Detecting motion of an autonomous vehicle using radar technology SG11202002385QA (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US15/713,500 US10691135B2 (en) 2017-09-22 2017-09-22 Detecting motion of an autonomous vehicle using radar technology
US15/713,499 US10890919B2 (en) 2017-09-22 2017-09-22 Calculating velocity of an autonomous vehicle using radar technology
PCT/US2018/051911 WO2019060524A1 (en) 2017-09-22 2018-09-20 DETECTION OF THE MOTION OF AN AUTONOMOUS VEHICLE USING RADAR TECHNOLOGY

Publications (1)

Publication Number Publication Date
SG11202002385QA true SG11202002385QA (en) 2020-04-29

Family

ID=65809910

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11202002385QA SG11202002385QA (en) 2017-09-22 2018-09-20 Detecting motion of an autonomous vehicle using radar technology

Country Status (8)

Country Link
EP (1) EP3669246B1 (zh)
JP (1) JP7058726B2 (zh)
KR (1) KR102307220B1 (zh)
CN (1) CN111133398B (zh)
AU (2) AU2018335390C1 (zh)
CA (1) CA3076834C (zh)
SG (1) SG11202002385QA (zh)
WO (1) WO2019060524A1 (zh)

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US10909866B2 (en) * 2018-07-20 2021-02-02 Cybernet Systems Corp. Autonomous transportation system and methods
CN115516543B (zh) * 2020-05-13 2024-01-02 三菱电机株式会社 物体识别装置、路径生成装置、停车辅助装置、物体识别系统、路径生成系统及停车辅助系统
CN111652153B (zh) * 2020-06-04 2023-12-22 北京百度网讯科技有限公司 场景自动识别方法、装置、无人车及存储介质
EP4024077A1 (en) * 2021-01-04 2022-07-06 Aptiv Technologies Limited Methods and system for compressing radar data
CN114859337A (zh) * 2021-01-20 2022-08-05 阿里巴巴集团控股有限公司 数据处理方法、装置、电子设备、计算机存储介质
EP4036602A1 (en) * 2021-01-29 2022-08-03 Aptiv Technologies Limited Radar data processing for vehicle ego-motion estimation
CN112985417B (zh) * 2021-04-19 2021-07-27 长沙万为机器人有限公司 移动机器人粒子滤波定位的位姿校正方法及移动机器人
CN114407916B (zh) * 2021-12-16 2024-01-23 阿波罗智联(北京)科技有限公司 车辆控制及模型训练方法、装置、车辆、设备和存储介质
USD1014398S1 (en) 2021-12-23 2024-02-13 Waymo Llc Vehicle
USD1018337S1 (en) 2021-12-23 2024-03-19 Waymo Llc Sensor assembly
CN115575923B (zh) * 2022-12-08 2023-03-28 千巡科技(深圳)有限公司 一种地面机器人静止判断方法、系统、装置以及存储介质

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Also Published As

Publication number Publication date
WO2019060524A1 (en) 2019-03-28
CN111133398B (zh) 2023-09-26
AU2018335390C1 (en) 2021-01-28
CN111133398A (zh) 2020-05-08
EP3669246B1 (en) 2023-12-20
CA3076834A1 (en) 2019-03-28
AU2018335390B2 (en) 2020-09-03
JP7058726B2 (ja) 2022-04-22
EP3669246A4 (en) 2021-05-19
AU2018335390A1 (en) 2020-04-16
CA3076834C (en) 2023-09-19
EP3669246A1 (en) 2020-06-24
KR102307220B1 (ko) 2021-10-01
KR20200044987A (ko) 2020-04-29
JP2020535508A (ja) 2020-12-03
AU2020281035B2 (en) 2022-02-24
AU2020281035A1 (en) 2021-01-07

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