公开(公告)号：US12117520B1

公开(公告)日：2024-10-15

申请号：US17370285

申请日：2021-07-08

Applicant: Waymo LLC

Inventor： Nicholas Armstrong-Crews ,  Filip Perich ,  Timothy Campbell

IPC: G01S13/89 ,  B60W60/00 ,  G01S7/41 ,  G06T7/00 ,  G06T7/246

CPC classification number: G01S13/89 ,  G01S7/415 ,  G06T7/246 ,  G06T7/97 ,  B60W60/001 ,  B60W2420/408 ,  B60W2520/14 ,  G06T2207/10044 ,  G06T2207/30248

Abstract: Example embodiments relate to radar image video compression techniques using per-pixel Doppler measurements, which can involve initially receiving radar data from a radar unit to generate a radar representation that represents surfaces in the environment. Based on Doppler scores in the radar representation, a range rate can be determined for each pixel that indicates a radial direction motion for a surface represented by the pixel. The range rates and backscatter values can then be used to estimate a radar representation prediction for subsequent radar data received from the radar unit, which enables a generation of a compressed radar data file that represents the difference between the radar representation prediction and the actual representation determined for the subsequent radar data. The compressed radar data file can be stored in memory, transmitted to other devices, and decompressed and used to train models via machine learning.

公开(公告)号：US20240004029A1

公开(公告)日：2024-01-04

申请号：US18468312

申请日：2023-09-15

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Brett Coon ,  Filip Perich

IPC: G01S7/40 ,  G01S13/931 ,  G01S7/00 ,  G01S7/35

CPC classification number: G01S7/40 ,  G01S13/931 ,  G01S7/003 ,  G01S7/352 ,  G01S2013/93274 ,  G01S2013/93273

Abstract: A method and a radar system are provided in the present disclosure. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signal and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides for operation of the radar system. The radar system also includes a radar processor. The radar processor is configured to cause transmission of radar signals by the antenna array based on the radar channel parameters. The radar processor is also configured to process received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.

公开(公告)号：US20230393256A1

公开(公告)日：2023-12-07

申请号：US17804240

申请日：2022-05-26

Applicant: Waymo LLC

Inventor： Philip Ma ,  Filip Perich ,  Aravind Ramachandran

IPC: G01S13/32 ,  G01S13/931 ,  G01S7/02

CPC classification number: G01S13/325 ,  G01S2013/93273 ,  G01S7/0234 ,  G01S13/931

Abstract: Example embodiments relate to techniques for implementing radar waveform diversity. A technique may involve a radar unit transmitting radar signals into an environment of a vehicle based on a code sequence that indicates a ramp direction and a phase shift for each pulse in a pulse used by the radar unit and receiving radar reflections from the environment. In some instances, the radar unit may leverage antennas in a multiple input multiple output (MIMO) arrangement to further add diversity to transmissions according to spatial code in the code sequence. The technique can further involve using a demodulator to map the environment based on the radar reflections and controlling the vehicle based on the mapping. In some instances, the code sequence is received from a system that is wirelessly providing orthogonal code sequences to multiple emitters.

公开(公告)号：US12196843B2

公开(公告)日：2025-01-14

申请号：US17804240

申请日：2022-05-26

Applicant: Waymo LLC

Inventor： Philip Ma ,  Filip Perich ,  Aravind Ramachandran

IPC: G01S13/32 ,  G01S7/02 ,  G01S13/931

Abstract: Example embodiments relate to techniques for implementing radar waveform diversity. A technique may involve a radar unit transmitting radar signals into an environment of a vehicle based on a code sequence that indicates a ramp direction and a phase shift for each pulse in a pulse used by the radar unit and receiving radar reflections from the environment. In some instances, the radar unit may leverage antennas in a multiple input multiple output (MIMO) arrangement to further add diversity to transmissions according to spatial code in the code sequence. The technique can further involve using a demodulator to map the environment based on the radar reflections and controlling the vehicle based on the mapping. In some instances, the code sequence is received from a system that is wirelessly providing orthogonal code sequences to multiple emitters.

公开(公告)号：US11796633B2

公开(公告)日：2023-10-24

申请号：US16715448

申请日：2019-12-16

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Brett Coon ,  Filip Perich

IPC: G01S7/40 ,  G01S13/931 ,  G01S7/00 ,  G01S7/35

CPC classification number: G01S7/40 ,  G01S7/003 ,  G01S7/352 ,  G01S13/931 ,  G01S2013/93273 ,  G01S2013/93274

Abstract: A method and a radar system are provided in the present disclosure. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signal and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides for operation of the radar system. The radar system also includes a radar processor. The radar processor is configured to cause transmission of radar signals by the antenna array based on the radar channel parameters. The radar processor is also configured to process received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.

公开(公告)号：US11275174B2

公开(公告)日：2022-03-15

申请号：US16554500

申请日：2019-08-28

Applicant: Waymo LLC

Inventor： Larry Smith ,  Filip Perich ,  Timothy Campbell ,  Michael Marx

IPC: G01S13/931 ,  G01S7/02 ,  G06K9/00 ,  G01S13/00

Abstract: A method is provided that includes a vehicle receiving data from an external computing device indicative of at least one other vehicle in an environment of the vehicle. The vehicle may include a sensor configured to detect the environment of the vehicle. The at least one other vehicle may include at least one sensor. The method also includes determining a likelihood of interference between the at least one sensor of the at least one other vehicle and the sensor of the vehicle. The method also includes initiating an adjustment of the sensor to reduce the likelihood of interference between the sensor of the vehicle and the at least one sensor of the at least one other vehicle responsive to the determination.

公开(公告)号：US20210063566A1

公开(公告)日：2021-03-04

申请号：US16554500

申请日：2019-08-28

Applicant: Waymo LLC

Inventor： Larry Smith ,  Filip Perich ,  Timothy Campbell ,  Michael Marx

IPC: G01S13/93 ,  G06K9/00

Abstract: A method is provided that includes a vehicle receiving data from an external computing device indicative of at least one other vehicle in an environment of the vehicle. The vehicle may include a sensor configured to detect the environment of the vehicle. The at least one other vehicle may include at least one sensor. The method also includes determining a likelihood of interference between the at least one sensor of the at least one other vehicle and the sensor of the vehicle. The method also includes initiating an adjustment of the sensor to reduce the likelihood of interference between the sensor of the vehicle and the at least one sensor of the at least one other vehicle responsive to the determination.

公开(公告)号：US20250166506A1

公开(公告)日：2025-05-22

申请号：US18517438

申请日：2023-11-22

Applicant: Waymo LLC

Inventor： Michael Dane Fina ,  Filip Perich ,  Kenneth T. Ho

IPC: G08G1/0968 ,  G08G1/133

Abstract: Example embodiments relate to techniques and systems for exchanging spectrum utilization data for radio frequency interference (RFI) mitigation and avoidance. A system can receive RFI data and location data from vehicles or infrastructure locations with the RFI data representing RFI parameters estimated by each vehicle during navigation or by each infrastructure location. The system can aggregate the RFI data into a representation based on the location data with the representation conveying a power level and frequency sub-band for RFI detected at multiple locations. The system can then obtain subsequent locations from vehicles and provide data from the representation to the vehicles based on the locations. In some cases, the system can also provide mitigation instructions to vehicles, such as waveform parameters, frequency bands, polarization, and other adjustments that help avoid RFI. The system can also reroute vehicles to avoid areas with particularly high RFI.

公开(公告)号：US20250085389A1

公开(公告)日：2025-03-13

申请号：US18963234

申请日：2024-11-27

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Brett Coon ,  Filip Perich

IPC: G01S7/40 ,  G01S7/00 ,  G01S7/35 ,  G01S13/931

Abstract: A method and a radar system are provided in the present disclosure. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signal and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides for operation of the radar system. The radar system also includes a radar processor. The radar processor is configured to cause transmission of radar signals by the antenna array based on the radar channel parameters. The radar processor is also configured to process received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.

公开(公告)号：US12196883B2

公开(公告)日：2025-01-14

申请号：US18468312

申请日：2023-09-15

Applicant: Waymo LLC

Inventor： Kevin Duncklee ,  Brett Coon ,  Filip Perich

IPC: G01S7/40 ,  G01S7/00 ,  G01S7/35 ,  G01S13/931

Abstract: A method and a radar system are provided in the present disclosure. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signal and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides for operation of the radar system. The radar system also includes a radar processor. The radar processor is configured to cause transmission of radar signals by the antenna array based on the radar channel parameters. The radar processor is also configured to process received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.