Methods and systems for vehicle radar coordination and interference reduction

• US 10,698,082 B2
• Filed: 06/26/2017
• Issued: 06/30/2020
• Est. Priority Date: 08/28/2014
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: McCloskey, Edward Daniel, Smith, Russell Leigh
• Primary Examiner(s): Windrich, Marcus E
• Application Number:
  US15/633,592
• Publication Number:
  US 20170293016A1
• Time in Patent Office: 1,100 Days
• Field of Search: 342 70- 72
• CPC Class Codes: G01S 13/08 Systems for measuring distance only indirect measurement G01S13/46
• CPC Class Codes: G01S 13/325 using transmission of coded signals, e.g. P.S.K. signals
• CPC Class Codes: G01S 13/343 using sawtooth modulation
• CPC Class Codes: G01S 13/345 using triangular modulation
• CPC Class Codes: G01S 13/347 using more than one modulation frequency
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/08 Systems for measuring distance only indirect measurement G01S15/46
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G01S 7/023 Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques auxiliary means for detecting or identifying radar signals or the like G01S7/021; means for anti-jamming G01S7/36
• CPC Class Codes: G01S 7/0232 Avoidance by frequency multiplex
• CPC Class Codes: G01S 7/0233 Avoidance by phase multiplex
• CPC Class Codes: G01S 7/0234 Avoidance by code multiplex
• CPC Class Codes: G01S 7/0236 Avoidance by space multiplex
• CPC Class Codes: G01S 7/4008 of transmitters
• CPC Class Codes: G01S 7/4013 : involving adjustment of the transmitted power

Abstract

A method is provided that includes a vehicle receiving data from an external computing device indicative of at least one other vehicle in an environment of the vehicle. The vehicle may include a sensor configured to detect the environment of the vehicle. The at least one other vehicle may include at least one sensor. The method also includes determining a likelihood of interference between the at least one sensor of the at least one other vehicle the sensor of the vehicle. The method also includes initiating an adjustment of the sensor to reduce the likelihood of interference between the sensor of the vehicle and the at least one sensor of the at least one other vehicle responsive to the determination.

Claims

1. A system comprising:

a first sensor coupled to a first vehicle, wherein the first sensor transmits signals into an environment of the first vehicle and detects reflections of the transmitted signals; and

a controller configured to;

receive data provided by an external device, wherein the data represents a direction of a second sensor coupled to a second vehicle relative to the first vehicle, wherein the second vehicle is located in the environment of the first vehicle, and wherein the second sensor transmits given signals and detects reflections of the given signals, and

based on the received data, cause an adjustment of the first sensor to reduce a likelihood of interference between the first sensor of the first vehicle and the second sensor of the second vehicle.

2. The system of claim 1, wherein the external device comprises one or more computing devices included in the second vehicle.

3. The system of claim 1, wherein the external device is a remote server that communicates with the first vehicle and the second vehicle.

4. The system of claim 1, further comprising:

a location sensor that identifies a location of the first vehicle in the environment, wherein the received data is indicative of at least one location of the second vehicle, and

wherein the controller determines that the second vehicle is within a threshold distance from the first vehicle based on the location sensor and the received data, and wherein the controller causes the adjustment of the first sensor further based on the determination.

5. The system of claim 1, further comprising:

an orientation sensor that identifies an orientation of the first vehicle in the environment, wherein the received data includes an indication of an orientation of the second vehicle, wherein the controller compares the orientation of the first vehicle with the orientation of the second vehicle, and wherein the controller causes the adjustment of the first sensor further based on the comparison.

6. The system of claim 1, further comprising:

a velocity sensor that indicates a velocity of the first vehicle in the environment, wherein the received data includes an indication of a velocity of the second vehicle in the environment, and wherein the controller causes the adjustment of the first sensor further based on the velocity of the first vehicle indicated by the velocity sensor and the velocity of the second vehicle indicated by the received data.

7. The system of claim 1, further comprising:

a steering device that adjusts a direction of the first sensor, wherein the controller causes the adjustment of the sensor using the steering device to adjust the direction of the first sensor.

8. The system of claim 1, wherein the first sensor is a radio detection and ranging (RADAR) sensor.

9. The system of claim 1, wherein the first sensor is a light detection and ranging (LIDAR) sensor.

10. The system of claim 1, wherein the first sensor is an acoustic sensor.

11. A method comprising:

operating a first sensor that transmits signals toward an environment of a first vehicle and detects reflections of the transmitted signals;

receiving data provided by a computing device disposed outside the first vehicle, wherein the received data represents a direction of a second sensor coupled to a second vehicle relative to the first vehicle, wherein the second vehicle is in the environment of the first vehicle, and wherein the second sensor vehicle transmits given signals and detects reflections of the given signals; and

based on the received data, causing an adjustment of the first sensor of the first vehicle to reduce a likelihood of interference between the first sensor of the first vehicle and the second sensor of the second vehicle.

12. The method of claim 11, wherein causing the adjustment of the first sensor comprises causing an adjustment of a power of the signals transmitted by the first sensor.

13. The method of claim 11, wherein causing the adjustment of the first sensor comprises causing an adjustment of a modulation pattern of the signals transmitted by the first sensor.

14. The method of claim 13, wherein causing the adjustment of the modulation pattern comprises causing the first sensor to apply a time offset to the modulation pattern.

15. The method of claim 13, wherein causing the adjustment of the modulation pattern comprises causing the first sensor to apply a frequency offset to the modulation pattern.

16. The method of claim 13, wherein causing the adjustment of the modulation pattern comprises causing an adjustment of a frequency bandwidth of the modulation pattern.

17. The method of claim 13, wherein causing the adjustment of the modulation pattern comprises causing an adjustment of a shape of the modulation pattern.

18. The method of claim 13, wherein causing the adjustment of the modulation pattern comprises causing an adjustment of a Binary Phase-Shift Keying (BPSK) scheme associated with the modulation pattern.

19. A system comprising:

a first sensor that transmits signals toward an environment of a first vehicle and detects reflections of the transmitted signals; and

a controller configured to;

receive data provided by a second vehicle in the environment of the first vehicle, wherein the received data represents a direction of a second sensor coupled to the second vehicle relative to the first vehicle, and wherein the second sensor transmits given signals and detects reflections of the given signals, and

based on the received data, cause an adjustment of the first sensor to reduce a likelihood of interference between the first sensor of the first vehicle and the second sensor of the second vehicle.

20. The system of claim 19, further comprising:

a communication interface,

wherein the controller receives the data provided by the second vehicle via the communication interface, and

wherein the controller further causes the communication interface to transmit, for receipt by the second vehicle, a request for adjusting the second sensor coupled to the second vehicle to reduce a likelihood of interference between the first sensor of the first vehicle and the second sensor of the second vehicle.