Use of motion data in the processing of automotive radar image processing
First Claim
1. A method of controlling a vehicle, the method comprising:
- receiving, from a radar unit of the vehicle, first radar data corresponding to distance and direction information for movement of an object in an environment of the vehicle;
after receiving the first radar rata, changing a speed of the vehicle such that a front portion of the vehicle begins to pitch towards a ground surface;
after the pitching begins, receiving, from the radar unit, second radar data that does not provide distance and direction information for the object;
determining a movement parameter corresponding to degree of the pitching;
comparing the movement parameter to a threshold value associated with a width of a radar beam; and
based on the comparison, temporarily ignoring the determination that the second radar data does not provide distance and direction information for the object when controlling the vehicle.
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Accused Products
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 a plurality of antennas configured to transmit and receive electromagnetic signals. The method may also include a one or more sensors configured to measure a movement of the vehicle. A portion of the method may be performed by a processor configured to: i) determine adjustments based on the movement of the vehicle; ii) calculate distance and direction information for received electromagnetic signals; and iii) recover distance and direction information for received electromagnetic signals with the adjustments applied. The processor may be further configured to adjust the movement of the autonomous vehicle based on the distance and direction information with adjustments applied.
27 Citations
19 Claims
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1. A method of controlling a vehicle, the method comprising:
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receiving, from a radar unit of the vehicle, first radar data corresponding to distance and direction information for movement of an object in an environment of the vehicle; after receiving the first radar rata, changing a speed of the vehicle such that a front portion of the vehicle begins to pitch towards a ground surface; after the pitching begins, receiving, from the radar unit, second radar data that does not provide distance and direction information for the object;
determining a movement parameter corresponding to degree of the pitching;comparing the movement parameter to a threshold value associated with a width of a radar beam; and based on the comparison, temporarily ignoring the determination that the second radar data does not provide distance and direction information for the object when controlling the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for controlling a vehicle, the system comprising:
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one or more processors configured to; receive, from a radar unit of the vehicle, first radar data corresponding to distance and direction information for movement of an object in an environment of the vehicle; after receiving the first radar rata, changing a speed of the vehicle such that a front portion of the vehicle begins to pitch towards or away from a ground surface; after the pitching begins, receive, from the radar unit, second radar data that does not provide distance and direction information for the object; determine a movement parameter corresponding to degree of the pitching; compare the movement parameter to a threshold value associated with a width of a radar beam; and based on the comparison, temporarily ignore the determination that the second radar data does not provide distance and direction information for the object when controlling the vehicle. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory computer readable storage medium on which instructions are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method of controlling a vehicle, the method comprising:
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receiving, from a radar unit of the vehicle, first radar data corresponding to distance and direction information for movement of an object in an environment of the vehicle; after receiving the first radar rata, decreasing a speed of the vehicle such that a front portion of the vehicle begins to pitch towards or away from a ground surface; after the pitching begins, receiving, from the radar unit, second radar data that does not provide distance and direction information for the object; determining a movement parameter corresponding to degree of the pitching; comparing the movement parameter to a threshold value associated with a width of a radar beam; and based on the comparison, temporarily ignoring the determination that the second radar data does not provide distance and direction information for the object when controlling the vehicle. - View Dependent Claims (18, 19)
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Specification