Radar field of view extensions

Patent metadata

Field	Value
Publication number	US-11280897-B2
Application number	US-201916371080-A
Country	US
Kind code	B2
Filing date	Mar 31, 2019
Priority date	Mar 31, 2019
Publication date	Mar 22, 2022
Grant date	Mar 22, 2022

Abstract

Disclosed are systems and methods that may be used for determining areas free of objects around a vehicle. The systems and methods include receiving first sensor data from a first sensor having a first field of view and a first range. The systems and methods also include receiving second sensor data from a second sensor having a second field of view and a second range. The systems and methods also include determining, by a processor, a first-sensor occlusion in the first field of view. The systems and methods further include determining, by the processor, an occlusion free-region of the first field of view based on data from the second sensor. Additionally, the systems and methods include operating, by the processor, the vehicle in an autonomous mode based on determining the occlusion free-region.

First claim

What is claimed is:

1. A system comprising:
a vehicle
a first sensor having a first field of view;
a second sensor having a second field of view, wherein the first field of view overlaps at least a portion of the second field of view, and wherein the first sensor and the second sensor are coupled to the vehicle; and
a processor configured to:
determine a first-sensor occlusion in the first field of view;
determine the first-sensor occlusion in the first field of view is a false positive based on sensor data from the second sensor, wherein the sensor data from the second sensor indicates rain or fog is in an environment of the vehicle; and,
control the vehicle based on sensor data from the first sensor.

2. The system of claim 1 , wherein:
the first sensor has a first range; and
the second sensor has a second range, greater than the first range.

3. The system of claim 2 , wherein the processor is further configured to determine the first-sensor occlusion is greater than the first range.

4. The system of claim 2 , wherein the first field of view is divided into a first plurality of sectors and the second field of view is divided into a second plurality of sectors, and wherein the first-sensor occlusion is determined on a per-sector basis.

5. The system according to claim 2 , wherein the processor is further configured to:
determine an occluded region in the second sensor field of view, based on the first-sensor occlusion; and
determine an occlusion free-region of the first field of view based on data from the second sensor that is outside of the range of the first sensor or outside the field of view of the first sensor.

6. The system of claim 1 , wherein the first sensor is a LIDAR sensor and the second sensor is a radar sensor.

7. The system of claim 1 , wherein the first sensor is configured with a 360-degree field of view and the second sensor is configured with a 90-degree field of view.

8. The system of claim 1 , wherein the processor is further configured to:
determine a second-sensor occlusion in the second field of view;
determine an occlusion free-region of the first field of view based on the second-sensor occlusion.

9. A method comprising:
receiving first sensor data from a first sensor having a first field of view and a first range;
receiving second sensor data from a second sensor having a second field of view and a second range, wherein the first field of view overlaps at least a portion of the second field of view and the second range is greater than the first range, and wherein the first sensor and the second sensor are coupled to a vehicle;
determining, by a processor, a first-sensor occlusion in the first field of view;
determining, by the processor, the first-sensor occlusion in the first field of view is a false positive based on second sensor data from the second sensor wherein second sensor data indicates rain or fog is in an environment of the vehicle; and
controlling the vehicle based on first sensor data from the first sensor.

10. The method of claim 9 , further comprising determining, by the processor, the first-sensor occlusion is greater than the first-sensor range.

11. The method of claim 9 , wherein the second field of view is divided into a second plurality of sectors, and wherein the first-sensor occlusion is determined on a per-sector basis.

12. The method of claim 9 , further comprising:
determining, by the processor, an occluded region in the second sensor field of view, based on the first-sensor occlusion; and
determining, by the processor, an occlusion free-region of the first field of view based on data from the second sensor that is outside of the range of the first sensor or outside the field of view of the first sensor.

13. The method of claim 9 , wherein the first sensor is a LIDAR sensor and the second sensor is a radar sensor.

14. The method of claim 9 , wherein the first sensor is configured with a less than 10-degree field of view and the second sensor is configured with a 90-degree field of view.

15. The method of claim 9 , further comprising:
determining, by the processor, a second-sensor occlusion in the second field of view;
determining, by the processor, an occlusion free-region of the first field of view based on the second-sensor occlusion.

16. A vehicle comprising:
a first LIDAR sensor having a first field of view divided into a first set of sectors and a first range;
a second LIDAR sensor having a second field of view divided into a second set of sectors and a second range;
at least one radar sensor having a radar-sensor field of view divided into a third set of sectors and a third range, wherein the radar-sensor field of view overlaps at least a portion of the first or second field of view; and
a processor configured to:
determine a first-sensor occlusion in the first field of view or second field of view;
determine the first-sensor occlusion in the first field or second field of view is a false positive based on sensor data from the radar sensor,

wherein the sensor data from the radar sensor indicates rain or fog is in an environment of the vehicle; and
operate the vehicle in an autonomous mode based on sensor data from the first LIDAR sensor or the second LIDAR sensor.

17. The vehicle of claim 16 , wherein the first LIDAR sensor is configured with a 360-degree field of view, wherein the second LIDAR sensor is configured with an 8-degree field of view, and the radar sensor is configured with a 90-degree field of view.

18. The vehicle of claim 16 , wherein the processor is further configured to:
determine one of a first-sensor occlusion for each sector in the first field of view and a second-sensor occlusion for each sector in the second field of view;
determine an occlusion free-region of the first field or second field of view based on data from the radar sensor.

Assignees

• Waymo Llc

Inventors

• Kunz Clayton
• Smith Larry
• Campbell Timothy

Classifications

• G01S7/4039

  of sensor or antenna obstruction, e.g. dirt- or ice-coating · CPC title

• G01S7/40

  Means for monitoring or calibrating · CPC title

• G01S13/931

  of land vehicles · CPC title

• G01S13/865 Primary

  Combination of radar systems with lidar systems · CPC title

• G01S2013/9322

  using additional data, e.g. driver condition, road state or weather data · CPC title