Radar mounting estimation with unstructured data

Patent metadata

Field	Value
Publication number	US-10191144-B2
Application number	US-201615054570-A
Country	US
Kind code	B2
Filing date	Feb 26, 2016
Priority date	Feb 26, 2016
Publication date	Jan 29, 2019
Grant date	Jan 29, 2019

Abstract

The present application describes a method including 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 includes 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 offset 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.

First claim

What is claimed is:

1. A method comprising:
for each of a plurality of radar units:
causing the transmission of at least two radar signals by the respective radar unit, wherein a first signal is transmitted from a first respective location and a second signal is transmitted from a second respective location, and
receiving a respective reflection signal by the respective radar unit, wherein the respective reflection signal is associated with each of the transmitted signals;

determining, by a processor, at least one stationary object that caused reflection in the plurality of reflection signals;
based on the determined stationary object, determining, by the processor, an offset for the radar unit, wherein the offset comprises at least one of an elevational offset, a rotational offset, and an azimuthal offset; and
operating the radar unit using the determined offset to determine a position of an object causing radar reflections.

2. The method according to claim 1 , wherein the offset comprises at least one of a lateral offset and a vertical offset.

3. The method according to claim 1 , further comprising determining, by the processor, an offset for each of a plurality of radar units based on each radar unit of the plurality performing transmitting and receiving.

4. The method according to claim 3 , wherein the plurality of radar units are mounted at approximately a 45-degree angle with respect to the vehicle.

5. The method according to claim 1 , further comprising storing in a memory the determined offset.

6. The method according to claim 1 , wherein the offset is determined based on a desired position of the radar unit.

7. A vehicle comprising:
a plurality of radar units, each configured to:
transmit at least two radar signals, wherein a first signal is transmitted from a first respective location of a vehicle and a second signal is transmitted from a second respective location of the vehicle, and
receive a respective reflection signal associated with each of the transmitted signals, wherein each reflection signal is associated with one of the transmitted radar signals;
a mounting plate configured to couple the radar unit to a mounting structure on the vehicle; and
a computational unit configured to perform operations comprising:
determine at least one stationary object that caused a reflection in the plurality of radar signals;
based on the determined stationary object, determine an offset for the radar unit, wherein the offset comprises at least one of an elevational offset, a rotational offset, and an azimuthal offset; and
operate the radar unit using the determined offset to determine a position of an object causing radar reflections.

8. The vehicle according to claim 7 , wherein the offset comprises at least one of a lateral offset and a vertical offset.

9. The vehicle according to claim 1 , wherein the computational unit is further configured to determine an offset for each of the plurality of radar units.

10. The vehicle according to claim 7 , further comprising a memory configured to store the determined offset.

11. The vehicle according to claim 7 , wherein in the offset is determined based on a desired position of the radar unit.

12. The vehicle according to claim 7 , wherein the plurality of radar units are mounted at approximately a 45-degree angle with respect to the vehicle.

13. An article of manufacture including a non-transitory computer-readable medium, having stored thereon program instructions that, if executed by a computing device, cause the computing device to perform operations comprising:
for each of a plurality of radar units:
causing the transmission of at least two radar signals by the respective radar unit, wherein a first signal is transmitted from a first respective location and a second signal is transmitted from a second respective location, and
receiving a respective reflection signal by the respective radar unit, wherein the respective reflection signal is associated with each of the transmitted signals;

determining at least one stationary object that caused reflection in the plurality of reflection signals;
based on the determined stationary object, determining an offset for the radar unit, wherein the offset comprises at least one of an elevational offset, a rotational offset, and an azimuthal offset; and

operating the radar unit using the determined offset to determine a position of an object causing radar reflections.

14. The article of manufacture according to claim 13 , wherein the offset comprises at least one of a lateral offset and a vertical offset.

15. The article of manufacture according to claim 13 , further comprising determining an offset for each of a plurality of radar units.

16. The article of manufacture according to claim 15 , wherein the plurality of radar units are mounted at approximately a 45-degree angle with respect to the vehicle.

17. The article of manufacture according to claim 13 , further comprising storing in a memory the determined offset.

18. The article of manufacture according to claim 13 , wherein the offset is determined based on a desired position of the radar unit.

Assignees

• Waymo Llc

Inventors

• Campbell Timothy
• Smith Larry

Classifications

• G01S2013/93277

  in the lights · CPC title

• G01S2013/93273

  on the top of the vehicles · CPC title

• G01S2013/9327

  Sensor installation details · CPC title

• G01S2013/93275

  in the bumper area · CPC title

• G01S13/931 Primary

  of land vehicles · CPC title