Systems and methods for environment sensing using radar
First Claim
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1. A sensing system, comprising:
- a ground-based vehicle configured to move in a direction of travel;
at least one radar system mountable to the ground-based vehicle, each radar system configured to emit radio waves in a beam to scan along azimuth angles at different fixed elevation angles or in one or more vertical planes, capture electromagnetic radiation, and generate radar data based on the captured electromagnetic radiation while the vehicle is moving;
memory operably coupled to each radar system to receive the radar data from each radar system and to store the radar data; and
a processor operably coupled to the memory, the processor configured to execute computer instructions stored in the memory, the computer instructions causing the processor to;
receive speed information and positioning information of the vehicle from a controller of vehicle while the vehicle is moving;
generate a three dimensional map of an environment surrounding the vehicle based on the radar data received from the memory, the speed information and the positioning information of the vehicle, and the three-dimensional map including objects; and
generate a second three-dimensional map of a static environment surrounding the vehicle by identifying dynamic objects from objects included in the three-dimensional map of the environment and removing the dynamic objects from the three-dimensional map.
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Abstract
A method and system for generating a three dimensional map of an environment based on information acquired by radar. The system includes a ground-based vehicle, and a scanning radar, or combination of radars, that scans the surrounding environment in one or more vertical planes or along azimuth angles. The radar may be an electrical beam steering and scanning radar or a combination electrical beam scanning radar and mechanical scanning radar. Dynamic objects within the environment may also be identified and removed with the remaining static objects being used to generate a three dimensional map of the surrounding environment and to perform localization within the three dimensional map.
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Citations
20 Claims
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1. A sensing system, comprising:
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a ground-based vehicle configured to move in a direction of travel; at least one radar system mountable to the ground-based vehicle, each radar system configured to emit radio waves in a beam to scan along azimuth angles at different fixed elevation angles or in one or more vertical planes, capture electromagnetic radiation, and generate radar data based on the captured electromagnetic radiation while the vehicle is moving; memory operably coupled to each radar system to receive the radar data from each radar system and to store the radar data; and a processor operably coupled to the memory, the processor configured to execute computer instructions stored in the memory, the computer instructions causing the processor to; receive speed information and positioning information of the vehicle from a controller of vehicle while the vehicle is moving; generate a three dimensional map of an environment surrounding the vehicle based on the radar data received from the memory, the speed information and the positioning information of the vehicle, and the three-dimensional map including objects; and generate a second three-dimensional map of a static environment surrounding the vehicle by identifying dynamic objects from objects included in the three-dimensional map of the environment and removing the dynamic objects from the three-dimensional map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for radar sensing from a ground-based vehicle, using at least one radar system mountable to the ground-based vehicle, the method comprising:
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controlling each radar system to emit radio waves in a beam to scan along azimuth angles at different fixed elevation angles or in one or more vertical planes; processing, at each radar system, electromagnetic radiation captured by the radar system to generate radar data while the vehicle is moving; receiving speed information and positioning information of the vehicle from a controller of vehicle while the vehicle is moving; generating a three dimensional map of an environment surrounding the vehicle based on the radar data generated by each radar system, the speed information, and the positioning information, the three-dimensional map including objects; and generating a second three dimensional map, of a static environment surrounding the vehicle, by identifying and removing dynamic objects from the objects included in the three-dimensional map. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A radar sensing system comprising:
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at least one radar system mountable to a vehicle, each radar system configured to emit radio waves in a beam to scan along first angular coordinates at one or more fixed second angular coordinates, wherein the first angular coordinates are perpendicular to the second angular coordinates, capture electromagnetic radiation, and generate radar data based on the captured electromagnetic radiation while the vehicle is moving; memory operably coupled to each radar system to receive and store the radar data generated by each radar system; and a processor operably coupled to the memory, the processor configured to execute computer instructions stored on the memory, the computer instructions causing the processor to; receive speed information and positioning information of the vehicle from a controller of vehicle while the vehicle is moving; process the radar data received from the memory to determine an environment surrounding the vehicle and identify static and dynamic objects around the vehicle; generate a three dimensional map of an environment surrounding the vehicle based on the determined environment and the identified static objects.
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Specification