Autonomous collision avoidance through physical layer tracking

Patent metadata

Field	Value
Publication number	US-11249184-B2
Application number	US-201916405197-A
Country	US
Kind code	B2
Filing date	May 7, 2019
Priority date	May 7, 2019
Publication date	Feb 15, 2022
Grant date	Feb 15, 2022

Abstract

In an embodiment, a method includes separating a heterogeneous radio-frequency (RF) signal, received at multiple antennas, into multiple homogenous signals. The multiple antennas have a known positional arrangement. The method further includes estimating a location relative to the known positional arrangement of the antennas of an object producing the RF signal based on phase and amplitude of each homogeneous signal as received at each of the plurality of antennas. The location can further be estimated over multiple time steps, such that velocity and acceleration can be accelerated from the estimated locations.

First claim

What is claimed is:

1. A method comprising:
separating a heterogeneous radio-frequency (RF) signal, received at a plurality of antennas, the plurality of antennas having a known positional arrangement, into a plurality of homogeneous signals;
estimating a track of an object including at least one location relative to the known positional arrangement of the antennas of the object producing the RF signal based on phase and amplitude of each homogeneous signal as received at each of the plurality of antennas; and
determining whether the track of the object correlates with a second track of the object in an object list, the tracks of the objects in the object list determined by a perception controller and inputs from one or more of a radar system, lidar system, and stereo vision system.

2. The method of claim 1 , wherein separating the heterogeneous RF signal into homogeneous signals includes separating the heterogeneous RF signal by one or more of waveform separation, frequency band separation, or other signal separation.

3. The method of claim 1 , wherein separating the heterogeneous RF signal includes separating one or more of: a Long-Term Evolution (LTE) signal, a 3G signal, a 4G signal, a 5G signal, other cell phone signal, a WiFi signal, a WiMax signal, a Bluetooth signal, and a RF signal generated by a processor into respective homogeneous signals of the plurality of homogeneous signals.

4. The method of claim 1 , wherein separating the heterogeneous RF signal further includes monitoring the heterogeneous RF signal for a handshake pattern.

5. The method of claim 1 , further comprising:
estimating at least one of a velocity and an acceleration of the object producing the RF signal.

6. The method of claim 1 , wherein the plurality of antennas are mounted on a vehicle, the method further comprising:
determining, at the vehicle, whether the estimated location correlates with the object in the object list;
if the determination correlates the estimated location with the object, adding the estimated location to data associated with the object in the object list; and
otherwise, adding a new object having the estimated location to the object list of objects detected by sensor from on-board sensors of the vehicle.

7. The method of claim 6 , further comprising:
forwarding the found object or new object to a perception controller.

8. The method of claim 7 , wherein the perception controller is configured to determine a path for the vehicle that avoids the found object or the new object.

9. A system comprising:
a plurality of antennas having a known positional arrangement; and
a processor configured to:
separate a heterogeneous radio-frequency (RF) signal, received at the plurality of antennas into a plurality of homogeneous signals;
estimate a track of an object including at least one location relative to the known positional arrangement of the antennas of an object producing the RF signal based on phase and amplitude of each homogeneous signal as received at each of the plurality of antennas; and
determine whether the track of the object correlates with a second track of the object in an object list, the tracks of the objects in the object list determined by a perception controller and inputs from one or more of a radar system, lidar system, and stereo vision system.

10. The system of claim 9 , wherein separating the heterogeneous RF signal into homogeneous signals includes separating the heterogeneous RF signal by one or more of waveform separation, frequency band separation, or other signal separation.

11. The system of claim 9 , wherein separating the heterogeneous RF signal includes separating one or more of: a Long-Term Evolution (LTE) signal, a 3G signal, a 4G signal, a 5G signal, other cell phone signal, a WiFi signal, a WiMax signal, a Bluetooth signal, and a RF signal generated by a processor into respective homogeneous signals of the plurality of homogeneous signals.

12. The system of claim 9 , wherein separating the heterogeneous RF signal further includes monitoring the heterogeneous RF signal for a handshake pattern.

13. The system of claim 9 , wherein the processor is further configured to estimate at least one of a position, a velocity and an acceleration of the object producing the RF signal.

14. The system of claim 9 , wherein the plurality of antennas are mounted on a vehicle, and the processor is further configured to:
determine, at the vehicle, whether the estimated location correlates with the object in the object list;
if the determination correlates the estimated location with the object, add the estimated location to data associated with the object in the object list; and
otherwise, add a new object having the estimated location to the object list of objects detected by sensor from on-board sensors of the vehicle.

15. The system of claim 14 , wherein the processor is further configured to forward the object or new object to a perception controller.

16. The system of claim 15 , wherein the perception controller is configured to determine a path for the vehicle that avoids the found object or the new object.

Assignees

• Charles Stark Draper Laboratory Inc

Inventors

• Tingley Robert
• Bessette Christopher
• Jones Troy B

Classifications

• G01S13/931 Primary

  of land vehicles · CPC title

• G01S13/865

  Combination of radar systems with lidar systems · CPC title

• G01S13/862

  Combination of radar systems with sonar systems · CPC title

• G01S13/867

  Combination of radar systems with cameras · CPC title

• G01S2013/9327

  Sensor installation details · CPC title