Radar based mapping and localization for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-11835624-B2
Application number	US-202117451852-A
Country	US
Kind code	B2
Filing date	Oct 22, 2021
Priority date	Feb 2, 2016
Publication date	Dec 5, 2023
Grant date	Dec 5, 2023

Abstract

In an example method, a vehicle configured to operate in an autonomous mode could have a radar system used to aid in vehicle guidance. The method could include transmitting at least two signal pulses. The method further includes, for each transmitted signal pulse, receiving a reflection signal associated with reflection of the respective transmitted signal pulse. Each reflection signal may be received when the apparatus is in a different respective location. Additionally, the method includes processing the received reflection signals to determine target information relating to one or more targets in an environment of the vehicle. Also, the method includes correlating the target information with at least one object of a predetermined map of the environment of the vehicle to provide correlated target information. Yet further, the method includes storing the correlated target information for the at least one object in an electronic database.

First claim

What is claimed is:

1. A method comprising:
causing, by a computing device coupled to a vehicle, a radar system to transmit radar signal pulses into an environment and in a direction perpendicular to a direction of travel of the vehicle, wherein the vehicle is navigating on a road in the environment and the radar system is operating in a Synthetic Aperture Radar (SAR) mode;
receiving, at the computing device, first radar reflections corresponding to at least two transmitted radar signal pulses;
based on the first radar reflections, mapping at least a portion of the road to form a map that represents information about roadside objects;
receiving, at the computing device, second radar reflections corresponding to at least two additional transmitted radar signal pulses;
based on the second radar reflections and the map that represents information about roadside objects, determining a location of the vehicle relative to one or more roadside objects as represented by the map; and
controlling the vehicle based on the determined location of the vehicle.

2. The method of claim 1 , wherein causing the radar system to transmit radar signals comprises:
causing the radar system to transmit radar signals in a direction of a passenger side of the vehicle.

3. The method of claim 1 , wherein causing the radar system to transmit radar signals comprises:
causing the radar system to transmit radar signals in a direction of a roadside of the road.

4. The method of claim 1 , further comprising:
receiving an indication of a location of the vehicle from a global positioning system (GPS); and
storing the map that represents information about the roadside objects with the indication of the location of the vehicle.

5. The method of claim 1 , wherein determining the location of the vehicle relative to one or more roadside objects comprises:
detecting one or more objects based on the second radar reflections;
correlating the one or more objects to one or more roadside objects using the map that represents information about roadside objects; and
determining the location of the vehicle relative to the one or more roadside objects based on correlating the one or more objects to the one or more roadside objects.

6. The method of claim 1 , wherein receiving, at the computing device, first radar reflections corresponding to at least two transmitted radar signal pulses comprises:
receiving a first portion of the first radar reflections at a first angle; and
subsequently receiving a second portion of the first radar reflections at a second angle.

7. A system comprising:
a vehicle having a radar system; and
a computing device coupled to the vehicle, wherein the computing device is configured to:
cause the radar system to transmit radar signal pulses into an environment and in a direction perpendicular to a direction of travel of the vehicle, wherein the vehicle is navigating on a road in the environment and the radar system is operating in a Synthetic Aperture Radar (SAR) mode;
receive first radar reflections corresponding to at least two transmitted radar signals pulses;
based on the first radar reflections, map at least a portion of the road to form a map that represents information about roadside objects;
receive second radar reflections corresponding to at least two additional transmitted radar signal pulses;
based on the second radar reflections and the map that represents information about roadside objects, determine a location of the vehicle relative to one or more roadside objects as represented by the map; and
control the vehicle based on the determined location of the vehicle.

8. The system of claim 7 , wherein the radar system transmits the radar signals in a direction of a passenger side of the vehicle.

9. The system of claim 7 , wherein the radar system transmits the radar signals in a direction of a roadside of the road.

10. The system of claim 7 , wherein the computing device is further configured to:
receive an indication of a location of the vehicle from a global positioning system (GPS); and
store the map that represents information about the roadside objects with the indication of the location of the vehicle.

11. The system of claim 7 , wherein the computing device is further configured to:
detect one or more objects based on the second radar reflections;
correlate the one or more objects to one or more roadside objects using the map that represents information about roadside objects; and
determine the location of the vehicle relative to the one or more roadside objects based on correlating the one or more objects to the one or more roadside objects.

12. The system of claim 7 , wherein the roadside objects include one or more road signs, street lights, driveways, or guard rails.

13. The system of claim 7 , wherein the computing device is further configured to:
modify an existing map to include the information about roadside objects based on the first radar reflections.

14. The system of claim 7 , wherein the computing device is configured to:
receive a first portion of the first radar reflections at a first angle; and
subsequently receive a second portion of the first radar reflections at a second angle.

15. The system of claim 7 , wherein the map that represents information about roadside objects is a three-dimensional map.

16. A non-transitory computer readable medium having stored therein instructions executable by one or more processors to cause a computing system to perform operations comprising:
causing a radar system to transmit radar signal pulses into an environment and in a direction perpendicular to a direction of travel of a vehicle, wherein the vehicle is navigating on a road in the environment and the radar system is operating in a Synthetic Aperture Radar (SAR) mode;
receiving first radar reflections corresponding to at least two transmitted radar signal pulses;
based on the first radar reflections, mapping at least a portion of the road to form a map that represents information about roadside objects;
receiving second radar reflections corresponding to at least two additional transmitted radar signal pulses;
based on the second radar reflections and the map that represents information about roadside objects, determining a location of the vehicle relative to one or more roadside objects as represented by the map; and
controlling the vehicle based on the determined location of the vehicle.

17. The non-transitory computer readable medium of claim 16 , wherein the operation of causing the radar system to transmit radar signals comprises:
causing the radar system to transmit radar signals in a direction of a passenger side of the vehicle.

18. The non-transitory computer readable medium of claim 16 , wherein the operation of causing the radar system to transmit radar signals comprises:
causing the radar system to transmit radar signals in a direction of a roadside of the road.

19. The non-transitory computer readable medium of claim 16 , wherein the operations further comprise:
receiving an indication of a location of the vehicle from a global positioning system (GPS); and
storing the map that represents information about the roadside objects with the indication of the location of the vehicle.

20. The non-transitory computer readable medium of claim 16 , wherein the operation of determining the location of the vehicle relative to one or more roadside objects comprises:
detecting one or more objects based on the second radar reflections;
correlating the o

Assignees

• Waymo Llc

Inventors

• Campbell Timothy

Classifications

• G01S13/931 Primary

  of land vehicles · CPC title

• G01S13/30

  using more than one pulse per radar period · CPC title

• G05D1/0088

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title

• G05D1/0257

  using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931) · CPC title

• G01S13/90 Primary

  using synthetic aperture techniques {, e.g. synthetic aperture radar [SAR] techniques} · CPC title