Dynamic loading of radar unit configuration data based on changing radar parameters

Abstract

The present disclosure provides a method and a radar system. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signals and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides operation of the radar system. The radar system further includes a radar processor. The radar processor is configured to cause the antenna array to transmit the radar signals based on the radar channel parameters. The radar processor is further configured to process the received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate the vehicle based on the processed radar signals.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to U.S. Patent Application No. 16 / 715448, filed on December 16, 2019. Technical Field

[0003] This application relates to a radio detection and ranging (RADAR) system based on varying radar parameters, a method for operating the RADAR system, and an article of manufacture implementing the method. Background Technology

[0004] RADAR systems can be used to actively estimate the range, angle, and / or Doppler shift of an environmental feature by transmitting a radio signal and detecting the returned reflected signal. The distance to the radio reflection feature can be determined based on the time delay between transmission and reception. The radar system can transmit a signal with a frequency that varies over time, such as a signal with a time-varying frequency ramp, and then correlate the frequency difference between the transmitted and reflected signals to determine the range estimate. Some systems can also estimate the relative motion of the reflecting object based on the Doppler shift in the received reflected signal.

[0005] In some examples, directional antennas can be used for signal transmission and / or reception to correlate each range estimate with azimuth. More generally, directional antennas can also be used to focus radiated energy onto a given field of interest. Combining measured range and orientation information allows the characteristics of the surrounding environment to be mapped. In other examples, non-directional antennas can be used alternatively. In these examples, the receiving antenna can have a 90-degree field of view and can be configured to utilize multiple channels with phase offsets to determine the angle of arrival of the received signal. For example, an autonomous vehicle control system can use radar sensors to avoid obstacles indicated by sensor information. Some example automotive radar systems can be configured to operate in the 76-81 GHz electromagnetic frequency range. These radar systems can use transmitting antennas that can focus radiated energy into a tight beam, enabling the receiving antenna in the radar system (e.g., an antenna with a wide-angle beam) to measure the vehicle's environment with high accuracy. Summary of the Invention

[0006] In one example, a radar system is provided. The radar system includes a radar element having an antenna array configured to transmit and receive radar signals, and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar element. The radar system also includes a radar processor. The radar processor is configured to cause the antenna array to transmit radar signals based on the radar channel parameters. The radar processor is also configured to process the received radar signals based on the radar calibration parameters. The radar system also includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.

[0007] In another example, a method for operating a radar system is provided. The method includes transmitting an instruction for channel allocation to a radar unit via a central vehicle controller. The method also includes retrieving radar channel parameters based on instructions from the radar processor of the radar unit, wherein the radar channel parameters are stored in the memory of the radar unit. The method further includes transmitting radar signals via the radar unit. The method also includes receiving radar reflections via the radar unit. Furthermore, the method includes processing the radar signals by the radar processor based on calibration data stored in the memory of the radar unit. Additionally, the method includes transmitting the processed radar signals to the central vehicle controller via a radar processing unit.

[0008] In another example, a non-transitory computer-readable medium is provided, on which executable instructions are stored, which, when executed by a computing device, cause the computing device to perform a function. This function includes transmitting an indication of channel allocation to a radar unit. The function also includes looking up channel parameters based on the indication of channel allocation, wherein the channel parameters are stored in the memory of the radar unit. Furthermore, the function includes inducing the transmission and reception of radar reflections of radar signals. Additionally, the function includes processing the radar signals based on calibration data stored in the memory of the radar unit. Moreover, the instructions include transmitting the processed radar signals to a central vehicle controller.

[0009] These and other aspects, advantages, and alternatives will become apparent to those skilled in the art upon reading the following detailed description and, where appropriate, referring to the accompanying drawings. Attached Figure Description

[0010] Figure 1 It is a functional block diagram depicting various aspects of the example autonomous vehicle.

[0011] Figure 2A An external view of the example autonomous vehicle is depicted.

[0012] Figure 2B The sensor field of view of an example autonomous vehicle is depicted.

[0013] Figure 3 This is a simplified block diagram of a system according to an example embodiment.

[0014] Figure 4 This is a block diagram of a method according to an example embodiment.

[0015] Figure 5 Multiple vehicles within an environment including a sensor vehicle, according to an example embodiment, are shown.

[0016] Figure 6 This is a simplified block diagram of a radar unit according to an example embodiment.

[0017] Figure 7 An example radar channel of a conventional radar system is shown.

[0018] Figure 8 A modulation pattern of electromagnetic (EM) radiation from a sensor is shown according to an example embodiment.

[0019] Figure 9A Example scenarios for channel allocation according to at least some embodiments of this document are shown.

[0020] Figure 9B Another example scenario for channel allocation according to at least some embodiments of this document is shown.

[0021] Figure 10 An example computer-readable medium configured according to an example embodiment is depicted. Detailed Implementation

[0022] The following detailed description, with reference to the accompanying drawings, illustrates various features and functions of the disclosed systems and methods. In the drawings, similar symbols identify similar components unless the context otherwise requires. The illustrative embodiments of the systems, apparatus, and methods described herein are not intended to be limiting. Those skilled in the art will readily understand that certain aspects of the disclosed systems, apparatus, and methods can be arranged and combined in a wide variety of different configurations, all of which are contemplated herein.

[0023] Ongoing efforts to improve vehicle safety include developing autonomous vehicles equipped with accident avoidance systems capable of preventing accidents. Autonomous vehicles can use various sensors, such as radio detection and ranging (RADAR) sensors and light detection and ranging (LIDAR) sensors, to detect obstacles and / or other vehicles in their environment, thereby facilitating accident avoidance. However, as more vehicles adopt such accident avoidance systems and the density of vehicles equipped with sensors increases, interference may occur between sensors from different vehicles, potentially reducing the accuracy and effectiveness of using sensors for accident avoidance.

[0024] Furthermore, vehicle radar systems have become more powerful and ubiquitous, whether enabling greater autonomy or improving safer manual driving operations. Consequently, radar is more likely to interfere with other radars: radars located on other vehicles as well as radars on the same vehicle. Moreover, the increasing accuracy of radar increases the reliance on more precisely calibrated radar. This application relates to example systems and methods that can improve the operation of vehicle radar systems.

[0025] This system includes a central vehicle controller. The central vehicle controller may be a processor configured to control the operation of various vehicle systems, such as systems for controlling and enabling autonomous operation. In practice, the central vehicle controller may be communicatively coupled to at least one radar unit of the vehicle. Furthermore, the central controller may be wirelessly coupled to a remote computing system. The remote computing system may be able to wirelessly provide data to the central vehicle controller. The central vehicle controller may store the received data in memory (such as local memory at the vehicle location and / or memory located remotely from the vehicle).

[0026] The data received by the central processing unit may include calibration or configuration information for each radar unit coupled to the vehicle. In some examples, when a radar unit is installed on the vehicle, its identification number may be stored in a remote computer system. Furthermore, when calibrating a radar unit, calibration data may be stored in the remote computer system. When the vehicle is started (or a startup sequence is executed on the vehicle), the vehicle may initiate wireless communication between itself and the remote computing system. The remote computing system may send calibration or configuration data for each corresponding radar unit of the vehicle (or, alternatively, calibration or configuration data for a subgroup of radar units in the vehicle) to the central vehicle controller. The remote computer system may also transmit a specific set of configuration data, such as a set of channel assignments, to the central vehicle controller. This set of channel assignments may include, for example, channel frequencies, timing, and / or modulation for the operation of one or more radar units of the vehicle.

[0027] The central vehicle controller can transmit calibration or configuration information to the processor, memory, and / or other components of each corresponding radar unit in the vehicle based on the radar unit's serial number. By transmitting the calibration and / or configuration information to the radar units, the corresponding radar units can be controlled based on their calibration or configuration, and data from them can be processed. Furthermore, the central processing unit can also transmit the set of channel assignments to the memory of each corresponding radar unit. Therefore, when operating a radar unit, the radar processor of the radar unit can be able to look up information for a given channel assignment.

[0028] During the operation of an autonomous vehicle, it may be desirable for the vehicle's radar units to avoid interfering with other radar units (either within the same vehicle or with other vehicles). To mitigate potential interference, individual radar units can operate using channel and timing schemes configured to reduce interference. In some cases, the vehicle itself can determine the channel and timing information used for radar operation. In other examples, a central radar planning system can determine the radar channel and timing information.

[0029] For a given radar unit to be operated, it can receive data related to channel allocation from the vehicle's computing unit. The radar system's processor can be configured to look up parameters for the operation of the radar unit from the memory of the respective radar unit and / or a central memory storing parameters of multiple radar units. In some cases, the memory can be random access memory (RAM) or other types of memory, such as registers linked to the radar processor. The radar processor can operate the radar unit based on data provided by the vehicle's computing unit, utilizing channel and timing information from the memory.

[0030] In some cases, the vehicle's computing unit can periodically transmit new data to the radar unit. The radar unit can then respond by retrieving new information for its operation based on this new data. In other cases, the computing unit can send a set of data to the radar unit that provides information for its operation within a given time period. For example, the computing unit can send multiple radar configurations or radar channel assignments to the radar unit, which can then dynamically change its configuration as needed and / or as appropriate. This allows the radar unit to quickly switch between multiple configurations. For example, in one embodiment, the central vehicle controller can receive channel assignments or instructions for channel assignments from a remote computing system. The channel assignments or instructions for channel assignments can be multiple channel assignments for the radar unit. The radar unit can then be able to quickly and dynamically switch between multiple configurations during a specific time period using the multiple channel assignments.

[0031] Therefore, this system includes a memory for each radar unit. The memory can be configured to store calibration or configuration parameters for the corresponding radar unit. The memory can also store data related to the channel operation of the radar unit. Channel operation information may include frequency, timing, and modulation information. When a radar unit is operated, the radar processor of the radar unit can use this information from the memory to operate the radar unit.

[0032] The embodiments disclosed herein can be used with any type of vehicle, including conventional automobiles and vehicles with an autonomous operating mode. However, the term "vehicle" should be interpreted broadly to encompass any moving object, including, for example, trucks, vans, semi-trailer trucks, motorcycles, golf carts, off-road vehicles, warehouse transport vehicles, or agricultural vehicles, as well as vehicles that travel on rails, such as roller coasters, trolleys, trams, or train cars, and other examples. Furthermore, although the example vehicles are shown and described as vehicles that can be configured to operate in autonomous mode, the embodiments described herein are also applicable to vehicles that are not configured to operate autonomously. Therefore, the example vehicles are not intended to limit this disclosure to autonomous vehicles.

[0033] Figure 1 This is a functional block diagram illustrating a vehicle 100 according to an example embodiment. The vehicle 100 is configured to operate fully or partially in an autonomous mode and may therefore be referred to as an "autonomous vehicle." For example, a computer system 112 can control the vehicle 100 in autonomous mode via control commands to a control system 106 of the vehicle 100. The computer system 112 can receive information from one or more sensor systems 104 and can cause one or more control processes (such as setting a course to avoid detected obstacles) to automatically base their decisions on the received information.

[0034] The autonomous vehicle 100 can operate in fully autonomous mode or partially autonomous mode. In partially autonomous mode, some functions can be manually controlled, either partially or entirely (e.g., by the driver). Furthermore, the vehicle can be configured to switch between fully manual operation mode (i.e., controlled by the driver) and partially and / or fully autonomous operation modes.

[0035] Vehicle 100 includes a propulsion system 102, a sensor system 104, a control system 106, one or more peripheral devices 108, a power supply 110, a computer system 112, and a user interface 116. Vehicle 100 may include more or fewer subsystems, and each subsystem may optionally include multiple components. Furthermore, each subsystem and component of vehicle 100 may interconnect and / or communicate. Therefore, one or more of the functions of vehicle 100 described herein may optionally be partitioned among additional functional or physical components, or combined into fewer functional or physical components. In some further examples, additional functional and / or physical components may be added... Figure 1 The example shown.

[0036] The propulsion system 102 may include components operable to provide driving motion to the vehicle 100. In some embodiments, the propulsion system 102 includes an engine / motor 118, an energy source 119, a transmission 120, and wheels / tires 121. The engine / motor 118 converts the energy source 119 into mechanical energy. In some embodiments, the propulsion system 102 may optionally include one or both of an engine and / or a motor. For example, a gas-electric hybrid vehicle may include a gasoline / diesel engine and one or more electric motors.

[0037] Energy source 119 refers to an energy source, such as electrical energy and / or chemical energy, which can power the engine / motor 118 wholly or partially. That is, the engine / motor 118 can be configured to convert energy source 119 into mechanical energy to operate the transmission. In some embodiments, energy source 119 may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, capacitors, flywheels, regenerative braking systems, and / or other electrical sources. Energy source 119 can also provide energy to other systems of vehicle 100.

[0038] The transmission 120 includes suitable gears and / or mechanical elements adapted to transmit mechanical power from the engine / motor 118 to the wheels / tires 121. In some embodiments, the transmission 120 includes a gearbox, clutch, differential, drive shaft and / or one or more axles, etc.

[0039] Wheels / tires 121 are arranged to stably support vehicle 100 while providing frictional traction with a surface (such as a road) on which vehicle 100 moves. Therefore, wheels / tires 121 are configured and arranged according to the nature of vehicle 100. For example, wheels / tires can be arranged in the form of a unicycle, bicycle, motorcycle, tricycle, or four-wheeled vehicle / truck. Other wheel / tire geometries are also possible, such as wheel / tire geometries comprising six or more wheels. Any combination of wheels / tires 121 of vehicle 100 is operable to rotate differentially relative to other wheels / tires 121. Wheels / tires 121 may optionally include at least one wheel rigidly attached to transmission 120 and at least one tire coupled to the rim of a corresponding wheel in contact with a drive surface. Wheels / tires 121 may include any combination of metal and rubber, and / or other materials or combinations of materials.

[0040] Sensor system 104 typically includes one or more sensors configured to detect information about the environment surrounding vehicle 100. For example, sensor system 104 may include a Global Positioning System (GPS) 122, an Inertial Measurement Unit (IMU) 124, a RADAR unit 126, a laser rangefinder / LIDAR unit 128, a camera 130, a humidity sensor, and / or a microphone 131. Sensor system 104 may also include sensors configured to monitor internal systems of vehicle 100 (e.g., O2 monitor, fuel gauge, engine oil temperature, wheel speed sensors, etc.). One or more sensors included in sensor system 104 may be configured to be actuated individually and / or collectively to modify the position and / or orientation of one or more sensors.

[0041] GPS 122 is a sensor configured to estimate the geographic location of vehicle 100. For this purpose, GPS 122 may include a transceiver operable to provide information about the position of vehicle 100 relative to the Earth.

[0042] IMU 124 may include any combination of sensors (e.g., accelerometers and gyroscopes) configured to sense changes in the position and orientation of vehicle 100 based on inertial acceleration.

[0043] RADAR unit 126 may represent a system that uses radio signals to sense objects within the local environment of vehicle 100. In some embodiments, in addition to sensing objects, RADAR unit 126 and / or computer system 112 may be additionally configured to sense the speed and / or heading of objects.

[0044] Similarly, the laser rangefinder or LIDAR unit 128 can be any sensor configured to sense objects in the environment in which the vehicle 100 is located using a laser. The laser rangefinder / LIDAR unit 128 may include one or more laser sources, a laser scanner, one or more detectors, and other system components. The laser rangefinder / LIDAR unit 128 can be configured to operate in coherent (e.g., using heterodyne detection) or incoherent detection modes.

[0045] Camera 130 may include one or more devices configured to capture multiple images of the environment surrounding vehicle 100. Camera 130 may be a still camera or a video camera. In some embodiments, camera 130 may be mechanically movable, for example by rotating and / or tilting the platform on which the camera is mounted. Thus, control processes of vehicle 100 can be implemented to control the movement of camera 130.

[0046] The sensor system 104 may also include a microphone. The microphone can be configured to capture sound from the environment surrounding the vehicle 100. In some cases, multiple microphones may be arranged as a microphone array, or possibly as multiple microphone arrays.

[0047] The control system 106 is configured to control and regulate the acceleration of vehicle 100 and its components (one or more) operations. To achieve acceleration, the control system 106 includes a steering unit 132, a throttle valve 134, a braking unit 136, a sensor fusion algorithm 138, a computer vision system 140, a navigation / pathfinding system 142, and / or an obstacle avoidance system 144, etc.

[0048] Steering unit 132 is operable to adjust the heading of vehicle 100. For example, the steering unit can adjust one or more axes (or axes) of one or more of the wheels / tires 121 to achieve vehicle steering. Throttle 134 is configured to control, for example, the operating speed of engine / motor 118, thereby adjusting the forward acceleration of vehicle 100 via transmission 120 and wheels / tires 121. Braking unit 136 decelerates vehicle 100. Braking unit 136 can use friction to decelerate wheels / tires 121. In some embodiments, braking unit 136 inductively decelerates wheels / tires 121 through a regenerative braking process to convert the kinetic energy of wheels / tires 121 into electrical current.

[0049] Sensor fusion algorithm 138 is an algorithm (or a computer program product storing an algorithm) configured to accept data as input from sensor system 104. The data may include, for example, data representing information sensed at sensors of sensor system 104. Sensor fusion algorithm 138 may include, for example, Kalman filters, Bayesian networks, etc. Sensor fusion algorithm 138 provides an assessment of the environment surrounding the vehicle based on data from sensor system 104. In some embodiments, the assessment may include evaluating various objects and / or features in the environment surrounding vehicle 100, assessing specific situations, and / or assessing, based on specific situations, potential interference between vehicle 100 and features in the environment (e.g., such as predicting collisions and / or impacts).

[0050] Computer vision system 140 can process and analyze images captured by camera 130 to identify objects and / or features in the environment surrounding vehicle 100. Detected features / objects may include traffic signals, road boundaries, other vehicles, pedestrians and / or obstacles, etc. Computer vision system 140 may optionally utilize object recognition algorithms, structure-of-motion (SFM) algorithms, video tracking, and / or available computer vision techniques to classify and / or identify the detected features / objects. In some embodiments, computer vision system 140 may be additionally configured to map the environment, track perceived objects, estimate object speeds, etc.

[0051] Navigation and pathfinding system 142 is configured to determine a driving path for vehicle 100. For example, navigation and pathfinding system 142 may determine a series of speeds and directional headings to enable the vehicle to move along a path that substantially avoids perceived obstacles while generally advancing along a road-based path leading to a final destination, which may be set based on user input via user interface 116. Navigation and pathfinding system 142 may additionally be configured to dynamically update the driving path based on perceived obstacles, traffic patterns, weather / road conditions, etc., as vehicle 100 operates. In some embodiments, navigation and pathfinding system 142 may be configured to combine data from sensor fusion algorithm 138, GPS 122, and one or more predetermined maps to determine the driving path for vehicle 100.

[0052] Obstacle avoidance system 144 may represent a control system configured to identify, assess, and avoid or otherwise traverse potential obstacles in the environment surrounding vehicle 100. For example, obstacle avoidance system 144 may enable changes in vehicle navigation, such as turning maneuvers, steering maneuvers, braking maneuvers, etc., by operating one or more subsystems in control system 106. In some embodiments, obstacle avoidance system 144 is configured to automatically determine feasible (“available”) obstacle avoidance maneuvers based on surrounding traffic patterns, road conditions, etc. For example, obstacle avoidance system 144 may be configured such that turning maneuvers are not performed when other sensor systems detect vehicles, building obstacles, other obstacles, etc., in an area adjacent to a vehicle that will suddenly turn into the vehicle. In some embodiments, obstacle avoidance system 144 may automatically select maneuvers that are both available and maximize vehicle occupant safety. For example, obstacle avoidance system 144 may select an avoidance maneuver predicted to cause the minimum acceleration metric within the passenger compartment of vehicle 100.

[0053] Vehicle 100 also includes peripheral devices 108 configured to allow interaction between vehicle 100 and external sensors, other vehicles, other computer systems, and / or users (such as occupants of vehicle 100). For example, peripheral devices 108 for receiving information from occupants, external systems, etc., may include a wireless communication system 146, a touchscreen 148, a microphone 150, and / or a speaker 152.

[0054] In some embodiments, peripheral device 108 is used to receive input to enable a user of vehicle 100 to interact with user interface 116. For this purpose, touchscreen 148 can provide information to the user of vehicle 100 and can transmit information from the user indicated via touchscreen 148 to user interface 116. Touchscreen 148 can be configured to sense touch position and touch gestures from a user's finger (or stylus, etc.) through capacitive sensing, resistive sensing, optical sensing, surface acoustic wave processes, etc. Touchscreen 148 can be able to sense finger movement in a direction parallel or planar to the touchscreen surface, in a direction perpendicular to the touchscreen surface, or both, and can also be able to sense the level of pressure applied to the touchscreen surface. Occupants of vehicle 100 can also utilize a voice command interface. For example, microphone 150 can be configured to receive audio (e.g., voice commands or other audio input) from users of vehicle 100. Similarly, speaker 152 can be configured to output audio to users of vehicle 100.

[0055] In some embodiments, peripheral device 108 is used to allow vehicle 100 to communicate with external systems such as devices, sensors, other vehicles, etc., in its surrounding environment and / or controllers, servers, etc., physically located away from the vehicle that provide useful information about the vehicle's surroundings (such as traffic information, weather information, etc.). For example, wireless communication system 146 can wirelessly communicate with one or more devices directly or via a communication network. Wireless communication system 146 may optionally use 3G cellular communication, such as Code Division Multiple Access (CDMA), Evolved Data Optimized (EV-DO), Global System for Mobile Communications (GSM) / General Packet Radio Surface (GPRS), and / or 4G cellular communication, such as Global Microwave Access Interoperability (WiMAX) or Long Term Evolution (LTE), or other forms of cellular communication. Additionally or alternatively, wireless communication system 146 may communicate, for example, using WiFi and Wireless Local Area Network (WLAN). In some embodiments, wireless communication system 146 can communicate directly with devices, for example, using an infrared link, and / or The wireless communication system 146 may include one or more dedicated short-range communication (DSRC) devices, which may include public and / or private data communication between vehicles and / or roadside stations. In the context of this disclosure, the wireless communication system 146 may also employ other wireless protocols for transmitting and receiving information embedded in signals, such as various vehicle communication systems.

[0056] As described above, power source 110 can provide power to components of vehicle 100, such as electronics in peripheral devices 108, computer system 112, sensor system 104, etc. For example, power source 110 may include rechargeable lithium-ion or lead-acid batteries for storing and discharging electrical energy to various powered components. In some embodiments, one or more battery banks may be configured to provide power. In some embodiments, such as some all-electric vehicles, power source 110 and energy source 119 may be implemented together.

[0057] Many or all functions of vehicle 100 can be controlled by computer system 112, which receives input from sensor system 104, peripheral devices 108, etc., and transmits appropriate control signals to propulsion system 102, control system 106, peripheral devices 108, etc., to enable automatic operation of vehicle 100 based on its surroundings. Computer system 112 includes at least one processor 113 (which may include at least one microprocessor) that executes instructions 115 stored in a non-transitory computer-readable medium such as data storage device 114. Computer system 112 may also represent multiple computing devices for distributively controlling various components or subsystems of vehicle 100.

[0058] In some embodiments, the data storage device 114 includes instructions 115 (e.g., program logic) that can be executed by the processor 113 to perform various functions of the vehicle 100, including those described above. Figure 1 The functions described. The data storage device 114 may also include additional instructions, including instructions to transmit data to, receive data from, interact with, and / or control one or more of the propulsion system 102, sensor system 104, control system 106, and peripheral devices 108.

[0059] In addition to instructions 115, data storage device 114 can also store data such as road maps, route information, and other information. Vehicle 100 and computer system 112 can use such information to select available roads to the final destination, interpret information from sensor system 104, etc., while vehicle 100 is operating in autonomous, semi-autonomous, and / or manual modes.

[0060] Vehicle 100 and associated computer system 112 provide information to and / or receive input from users of vehicle 100 (such as occupants in the passenger compartment of vehicle 100). User interface 116 may accordingly include one or more input / output devices, such as wireless communication system 146, touch screen 148, microphone 150 and / or speaker 152, within the set of peripheral devices 108 to allow communication between computer system 112 and vehicle occupants.

[0061] Computer system 112 controls the operation of vehicle 100 based on inputs received from various subsystems (e.g., propulsion system 102, sensor system 104, and / or control system 106) indicating vehicle and / or environmental conditions, and inputs from user interface 116 indicating user preferences. For example, computer system 112 can use inputs from control system 106 to control steering unit 132 to avoid obstacles detected by sensor system 104 and obstacle avoidance system 144. Computer system 112 can be configured to control many aspects of vehicle 100 and its subsystems. However, generally, it prepares for operation driven by manual override control of the automatic controller, such as in emergency situations, or only in response to user-activated override control.

[0062] The components of the vehicle 100 described herein can be configured to operate in an interconnected manner with other components within or outside its respective system. For example, camera 130 can capture multiple images representing information about the environment of vehicle 100 when operating in autonomous mode. The environment may include other vehicles, traffic lights, traffic signs, road markings, pedestrians, etc. Computer vision system 140 can classify and / or identify various aspects of the environment based on an object recognition model pre-stored in data storage device 114 and / or through other techniques in collaboration with sensor fusion algorithm 138, computer system 112, etc.

[0063] Although vehicle 100 is Figure 1 The vehicle 100 is described and shown as having various components integrated into it, such as a wireless communication system 146, a computer system 112, a data storage device 114, and a user interface 116. However, one or more of these components may optionally be installed separately from or associated with the vehicle 100. For example, the data storage device 114 may exist partially or completely separate from the vehicle 100, such as in a cloud-based server. Therefore, one or more functional elements of the vehicle 100 may be implemented as individual or collective device elements. The functional device elements constituting the vehicle 100 can generally be communicatively coupled together in a wired and / or wireless manner.

[0064] Figure 2A An example vehicle 200 is shown, which may include references Figure 1 This refers to some or all of the functions described in vehicle 100. Specifically, Figure 2A Various different views of vehicle 200 are shown. Although vehicle 200 is... Figure 2A The vehicle 200 is shown for illustrative purposes as a four-wheeled van, but this disclosure is not limited thereto. For example, vehicle 200 could represent a truck, van, semi-trailer truck, motorcycle, golf cart, off-road vehicle, or agricultural vehicle, etc.

[0065] Example vehicle 200 includes sensor unit 202, wireless communication system 204, RADAR unit 206, laser rangefinder unit 208, and camera 210. Furthermore, example vehicle 200 may include a combination of... Figure 1 Any components described in the vehicle 100. The RADAR unit 206 and / or the laser rangefinder unit 208 can actively scan the surrounding environment in response to the presence of potential obstacles and can be similar to the RADAR unit 126 and / or the laser rangefinder / LIDAR unit 128 in the vehicle 100.

[0066] Sensor unit 202 is mounted on the top of vehicle 200 and includes one or more sensors configured to detect information about the environment surrounding vehicle 200 and output indications of that information. For example, sensor unit 202 may include any combination of cameras, RADAR, LIDAR, rangefinders, and acoustic sensors. Sensor unit 202 may include one or more movable mounts operable to adjust the orientation of one or more sensors in sensor unit 202. In one embodiment, the movable mount may include a rotating platform that allows the sensors to scan to obtain information from every direction around vehicle 200. In another embodiment, the movable mount of sensor unit 202 may be movable in a scanning manner within a specific angular and / or azimuth range. For example, sensor unit 202 may be mounted on the top of the vehicle roof, but other mounting locations are also possible. Furthermore, the sensors of sensor unit 202 may be distributed in different locations and do not need to be co-located in a single location. Some possible sensor types and mounting locations include RADAR unit 206 and laser rangefinder unit 208. Additionally, each sensor of sensor unit 202 may be configured to move or scan independently of the other sensors in sensor unit 202.

[0067] In the example configuration, one or more RADAR scanners (e.g., RADAR unit 206) may be located near the front of vehicle 200 to actively scan the area of ​​the front of vehicle 200 in response to the presence of radio-reflecting objects. For example, the RADAR scanner may be located in a position suitable for illuminating an area including the forward movement path of vehicle 200 without being obstructed by other features of vehicle 200. For example, the RADAR scanner may be positioned embedded in and / or mounted in or near the front bumper, headlights, hood, and / or engine hood, etc. Furthermore, one or more additional RADAR scanning devices may be positioned to actively scan the sides and / or rear of vehicle 200 in response to the presence of radio-reflecting objects, for example by including such devices in or near the rear bumper, side panels, sill plates, and / or chassis, etc.

[0068] like Figure 2AThe wireless communication system 204, as depicted, may be located on the roof of vehicle 200. Alternatively, the wireless communication system 204 may be located entirely or partially elsewhere. The wireless communication system 204 may include a wireless transmitter and receiver, which may be configured to communicate with devices external to or inside vehicle 200. In particular, the wireless communication system 204 may include transceivers configured to communicate with other vehicles and / or computing devices, for example, in in-vehicle communication systems or roadside stations. Examples of such vehicle communication systems include Dedicated Short Range Communication (DSRC), Radio Frequency Identification (RFID), and other proposed communication standards for intelligent transportation systems.

[0069] Camera 210 may be a photosensitizing instrument, such as a still camera, video camera, etc., configured to capture multiple images of the environment of vehicle 200. For this purpose, camera 210 may be configured to detect visible light and may additionally or alternatively be configured to detect light from other parts of the spectrum, such as infrared or ultraviolet light. Camera 210 may be a two-dimensional detector and may optionally have a three-dimensional spatial sensitivity range. In some embodiments, camera 210 may include, for example, a range detector configured to generate two-dimensional images indicating the distances from camera 210 to multiple points in the environment. For this purpose, camera 210 may use one or more range detection techniques.

[0070] For example, camera 210 can provide range information using structured light technology, where vehicle 200 illuminates an object in the environment with a predetermined light pattern (e.g., a grid or checkerboard pattern), and camera 210 detects reflections of the predetermined light pattern from the surrounding environment. Based on the distortion of the reflected light pattern, vehicle 200 can determine the distance to a point on the object. The predetermined light pattern may include infrared light or other suitable wavelengths of radiation for such measurements.

[0071] Camera 210 can be mounted inside the windshield of vehicle 200. Specifically, camera 210 can be positioned to capture images from a forward-facing view relative to vehicle 200. Other mounting positions and viewing angles of camera 210 can also be used, whether inside or outside vehicle 200. Furthermore, camera 210 can have associated optics operable to provide an adjustable field of view. Additionally, camera 210 can be mounted to vehicle 200 having a movable mount to change the pointing angle of camera 210, such as through a translation / tilt mechanism.

[0072] Figure 2B An example autonomous vehicle 250 with various sensor fields of view is shown. (As previously discussed...) Figure 2A The vehicle 250 under discussion may contain multiple sensors. The positions of the various sensors can be... Figure 2AThe locations of the sensors disclosed in the diagram correspond to the positions of the sensors. However, in some cases, the sensors may have other locations. For the sake of simplicity in drawing, Figure 2B The sensor locations are omitted. For each sensor unit of vehicle 250, Figure 2B The corresponding field of view is shown. The sensor's field of view can include the angular region where the sensor can detect objects and the range corresponding to the maximum distance from the sensor where the sensor can reliably detect objects.

[0073] Vehicle 250 may include six radar units. The first radar unit may be located at the front left of the vehicle and has an angled field of view corresponding to field of view portion 252A. The second radar unit may be located at the front right of the vehicle and has an angled field of view corresponding to field of view portion 252B. The third radar unit may be located at the rear left of the vehicle and has an angled field of view corresponding to field of view portion 252C. The fourth radar unit may be located at the rear right of the vehicle and has an angled field of view corresponding to field of view portion 252D. The fifth radar unit may be located on the left side of the vehicle and has an angled field of view corresponding to field of view portion 252E. The sixth radar unit may be located on the right side of the vehicle and has an angled field of view corresponding to field of view portion 252F. Each of the six radar units may be configured with a scannable beamwidth of 90 degrees. The radar beamwidth may be less than 90 degrees, but each radar unit may be able to rotate the radar beam across a 90-degree field of view.

[0074] The first LiDAR unit of vehicle 250 can be configured to scan the entire 360-degree area around the vehicle, as shown in the angular field of view corresponding to the angular portion 254. The second LiDAR unit of vehicle 250 can be configured to scan an area smaller than the 360-degree area around the vehicle. In one example, the second LiDAR unit may have a field of view of less than 10 degrees in the horizontal plane, as shown in the angular field of view corresponding to the angular portion 254.

[0075] In addition, the vehicle may include at least one camera. The camera may be an optical camera and / or an infrared camera.

[0076] In addition to the field of view of each of the various sensors in vehicle 250, each sensor may also have a corresponding range. In one example, the range of a radar unit may be greater than the range of any one of the LIDAR units, as shown by the field of view of radar units 252A-252E, which extends further than the field of view of LIDAR units 254 and 256. Furthermore, a second LIDAR unit may have a range greater than that of the first LIDAR unit, as shown by field of view 256, which extends further than the field of view of 254. In various examples, the range of a camera may be greater than or less than the range of the other sensors.

[0077] Figure 3This is a simplified block diagram of system 300 according to an example embodiment. System 300 includes vehicles 302A-302D communicatively linked (e.g., via wired and / or wireless interfaces) to an external computing device 304. Vehicles 302A-302D and computing device 304 can communicate within a network. Alternatively, vehicles 302A-302D and computing device 304 can each reside in a respective network.

[0078] Vehicles 302a-302d can be similar to vehicles 100-200. For example, vehicles 302a-302d can be partially or fully autonomous vehicles, each including sensors (e.g., RADAR, etc.) to detect the environment of vehicles 302A-302D. Vehicles 302A-302D may include those not in... Figure 3 The components shown include a user interface, a communication interface, a processor, and a data storage device, the data storage device including instructions executable by the processor to perform one or more functions related to data sent to or received by the computing device 304. Furthermore, this function may also be related to the control of vehicles 302A-302D or their components (e.g., sensors). For this purpose, the function may also include the methods and systems described herein.

[0079] The computing device 304 may be configured as a server or arranged to perform the functions described herein. Furthermore, the computing device 304 may be configured to send data / requests to and / or receive data from vehicles 302A-302D.

[0080] For example, computing device 304 may include a memory. The memory may include a database of various parameters of the vehicle. In some cases, the database may include calibration data and / or radar channel allocation information. Calibration data may include calibration information for multiple radar units, wherein the calibration data is associated with the serial number of a given radar unit. For example, after calibrating a radar unit, the calibration information may be stored in the database of computing device 304. As previously described, when a vehicle (such as one of vehicles 302A-302D) is started, the vehicle may report the serial number of the radar unit to which the vehicle is connected to computing device 304. In response, computing device 304 may transmit the calibration parameters of the radar unit connected to the vehicle to the corresponding vehicle. Computing device 304 may also transmit channel information to the vehicle.

[0081] The computing device 304 includes a communication system 306, a processor 308, and a data storage device 310. The communication system 306 can be any system configured to communicate directly with vehicles 302A-302D or other entities, or via a communication network (such as a wireless communication network). For example, the communication system 306 may include an antenna and chipset for wirelessly communicating directly with vehicles 302A-302D, a server, or other entities, or via a wireless communication network. Alternatively, in some examples, the communication system 306 may include a wired connection to a server or other entity that wirelessly communicates with vehicles 302A-302D. Therefore, the chipset or communication system 306 can typically be arranged to communicate according to one or more types of wireless communication (e.g., protocols), such as Bluetooth, communication protocols described in IEEE 802.11 (including any IEEE 802.11 revisions), cellular technologies (such as GSM, CDMA, UMTS, EV-DO, WiMAX, LTE, or 5G cellular), Zigbee, Dedicated Short Range Communication (DSRC), and Radio Frequency Identification (RFID) communication, as well as other possibilities, or one or more types of wired communication, such as a Local Area Network (LAN). The communication system 306 can also take other forms.

[0082] Processor 308 may include one or more general-purpose processors and / or one or more special-purpose processors. Within the scope of processor 308 including more than one processor, such processors may operate individually or in combination. Data storage device 310 may further include one or more volatile and / or one or more non-volatile storage components, such as optical, magnetic, and / or organic storage devices, and data storage device 310 may be integrated wholly or partially with processor 308.

[0083] In some embodiments, the data storage device 310 may include instructions 312 (e.g., program logic) executable by the processor 308 to perform the various functions described herein. The data storage device 310 may also include additional instructions, including instructions for transmitting data to, receiving data from, interacting with, and / or controlling one or more of the vehicles 302A-302D. The data storage device may also include data related to the position of the vehicles 302A-302D and the sensor positions and sensor fields of view of the vehicles 302A-302D. The computer device 304 may additionally or alternatively include components other than those shown.

[0084] Figure 4 This is a block diagram of method 400 according to an example embodiment. For example, Figure 4The method 400 shown presents an embodiment of a method that can be used with vehicles 100, 200, 250, 302A-302D or computing device 304. Method 400 may include one or more operations, functions, or actions shown in one or more of blocks 402, 404, and 406. Although these blocks are shown in a sequential order, in some cases these blocks may be performed in parallel and / or in an order different from that described herein. Furthermore, individual blocks may be combined into fewer blocks, divided into additional blocks, and / or removed based on desired implementation methods.

[0085] Furthermore, for method 400 and other processes and methods disclosed herein, the flowchart illustrates the functionality and operation of one possible implementation of the present embodiment. In this regard, each block may represent a module, segment, portion, or part of a manufacturing or operational process, the program code comprising one or more processor-executable instructions for implementing a specific logical function or step in the process. The program code may be stored on any type of computer-readable medium, such as a storage device including a disk or hard disk drive. The computer-readable medium may include non-transitory computer-readable media, such as computer-readable media for storing data for a short period of time, such as register memory, processor cache, and random access memory (RAM). For example, the computer-readable medium may also include non-transitory media, such as auxiliary or persistent long-term storage devices, such as read-only memory (ROM), optical disk or magnetic disk, compact disc read-only memory (CD-ROM). The computer-readable medium may also be any other volatile or non-volatile storage system. For example, a computer-readable medium may be considered a computer-readable storage medium or a tangible storage device.

[0086] Furthermore, for example, with method 400 and other processes and methods disclosed herein, Figure 4 Each box in the diagram can represent a circuit that is wired to perform a specific logical function in the process.

[0087] Method 400 can describe a method for operating at least one radar unit of a vehicle. In some examples, method 400 can be extended to be performed by multiple radar units of the vehicle, such as when the vehicle has multiple radar units. The term "channel" as used throughout method 400 can refer to a single radio channel over a time period, or it can refer to multiple predetermined channel allocations from a set of channel allocations discussed earlier.

[0088] At block 402, method 400 includes transmitting an indication of channel allocation to a radar unit. A central vehicle controller may be configured to transmit the indication of channel allocation to one or more radar units of the vehicle. In some examples, the transmission of the channel allocation may be an index value, such as an integer. A radar unit (at block 404) may be able to interpret the indication of channel allocation to determine the operation of the radar unit. In some examples, the central vehicle controller may transmit multiple channel allocations to the radar units. Each of the multiple channel allocations may correspond to a sequential transmission mode that a given radar unit should operate in.

[0089] Examples could also involve a central vehicle controller communicating with a telecomputing system (e.g., wireless communication). The telecomputing system can assign and provide channel allocation instructions for the radar units of each vehicle communicating with it. The telecomputing system can provide channel allocation based on potential interference between the radar units of one or more vehicles.

[0090] In some examples, the telecomputing system can communicate with multiple vehicles. The telecomputing system can determine the radar channel allocation for each radar unit connected to the multiple vehicles to minimize radar interference. This determination can be based on both the vehicle's location and the orientation of the vehicle's radar sensors. Based on information associated with at least one of the multiple vehicles, the system can determine potential interference between at least two radar units. In some examples, the two radar units can be located on one of the multiple vehicles. In some other examples, the two radar units can be located on two different vehicles.

[0091] To facilitate the determination of radar channel allocation, in some examples, the vehicle may include a position sensor similar to GPS 226 of vehicle 200 or any other position sensor, relaying position information to a telecomputing system. In these examples, the telecomputing system may perform the determination based on a comparison between the position of at least one other vehicle (e.g., indicated by the data) and the position of the vehicle (e.g., indicated by the position sensor). Furthermore, the vehicle may include an orientation sensor, such as an IMU 228 similar to that of vehicle 200. For example, the telecomputing system may utilize data from the orientation sensor to determine the vehicle's orientation and / or heading to determine the likelihood of interference when determining the radar channel allocation. For example, the telecomputing system may compare this orientation with the orientation of at least one other vehicle (and sensors on it) to determine the likelihood of interference. Similarly, for example, the vehicle's position may be compared with the position of at least one other vehicle. Other examples are also possible.

[0092] At box 404, method 400 includes instructions from the radar processor of the radar unit to locate channel parameters. As previously described, the memory of each radar unit may already store information related to radar channel allocation. The stored information may include frequency, timing, power, and / or other radar parameters (example channel allocation parameters are related to...). Figure 9A and 9B (To be discussed). As previously mentioned, during the vehicle's startup sequence, the vehicle can download data from a remote computing system. This data may include a set of radar channel parameters. Once the radar channel parameter data has been downloaded, the central vehicle controller can responsively transmit the radar channel parameter data to each radar unit.

[0093] In practice, when a radar unit receives an instruction for channel allocation, its processor can look up the associated radar channel parameters for that given channel allocation. The channel allocation can be transmitted to the radar unit in the form of an integer index value. This index value may not directly contain radar channel information, but it can be used as a reference for the radar unit's processor to look up the channel information. For example, based on the index value, the radar unit's processor can look up channel frequency and timing information based on the instruction for channel allocation.

[0094] When the central vehicle controller transmits multiple channel assignments to the radar unit, the radar unit's processor can look up the radar channel parameters for each assignment and store them in a cache for use by the radar transmitter. The radar transmitter can use a given channel assignment based on the timing indicated by the central vehicle controller (and possibly received from a remote computing system that provides radar planning).

[0095] Furthermore, the data received by the central processing unit may include calibration information for each radar unit connected to the vehicle. As mentioned earlier, when a radar unit is installed on the vehicle, its identification number may be stored in a remote computer system. Additionally, when calibrating a radar unit, calibration data may be stored in the remote computer system. When the vehicle is started (or a startup sequence is executed on the vehicle), the vehicle can initiate wireless communication between itself and the remote computing system. The remote computing system can send calibration data for each corresponding radar unit of the vehicle to the central vehicle controller. The remote computer system can also transmit a set of channel assignments to the central vehicle controller. This set of channel assignments may include channel frequencies, timing, and / or modulation for the operation of one or more radar units of the vehicle.

[0096] The central vehicle controller can transmit calibration information to the memory of each corresponding radar unit in the vehicle based on the radar unit's serial number. By transmitting the calibration information to the radar units, the corresponding radar units can be controlled based on their calibration, and data from them can be processed. Furthermore, the central processing unit can also transmit the set of channel assignments to the memory of each corresponding radar unit. Therefore, when operating a radar unit, the radar processor of the radar unit can be able to look up information for a given channel assignment.

[0097] At block 406, method 400 includes transmitting radar signals by a radar unit. The radar signals transmitted by the radar unit may have characteristics associated with a given channel allocation. The radar signals can be transmitted via a frequency and / or timing specified by the channel allocation. For example, the channel may specify the frequency and timing parameters of the signal transmitted by the radar unit. In practice, when a radar unit is operating, it can transmit signals on a channel. Each radar unit of the vehicle and nearby vehicles may be assigned a channel allocation to mitigate interference between the individual radar units. Furthermore, in some examples, the radar processor may calibrate and adjust the transmitted signals based on calibration data stored for the respective radar units.

[0098] As an example, a channel can also specify the modulation pattern of the transmitted signal. In some examples, the transmitted signal can be linear frequency modulation (LFM) RADAR modulation, where the frequency of the EM radiation is adjusted over time according to the modulation pattern. In another example, different channel assignments can also include adjusting the modulation pattern by applying offsets and other possibilities to distinguish one channel from another based on the corresponding modulation pattern. In this example, the offset can be a frequency offset or a time offset. In another example, a vehicle can adjust the modulation pattern by adjusting the frequency bandwidth or shape of the modulation pattern. In yet another example, a vehicle can adjust the modulation pattern by applying a specific phase shift keying (PSK) modulation scheme to the signal transmitted by the sensor, and the receiver can filter the incoming signal based on a specific PSK scheme (e.g., to distinguish the signal transmitted by the sensor from other signals transmitted by other sensors of other vehicles). PSK is a digital modulation scheme that transmits data by changing or modulating the phase of the transmitted EM radiation. For example, the transmitted signal can be modulated to have a finite number of phases, each phase being assigned a unique binary digital pattern, and the binary digital pattern can be detected at a digital signal processor of a receiver coupled to the sensor to identify the source of the signal. Various PSK schemes are possible, such as binary phase shift keying (BPSK), quadrature phase shift keying (QPSK), higher-order PSK, differential phase shift keying (DPSK), etc.

[0099] At block 408, method 400 includes receiving radar reflections by a radar unit. Once radar signals are emitted by the radar unit, they propagate through the environment and impact objects within the radar unit's field of view. When a radar signal impacts an object, a portion of the energy from the impact may be reflected back to the radar unit. The radar unit's antenna array or a single antenna can receive the received reflected signals.

[0100] At block 410, method 400 includes processing the reflected radar signal by a radar processor. In some examples, the radar processor of the radar unit may perform some processing on the received radar signal. In some examples, the radar processor may process the radar signal to determine the distance and direction to a target object that reflects the radar signal back to the radar unit. The radar processor may also process the received radar signal based on calibration data stored in the memory of the radar unit. Furthermore, at block 410, the processing may include performing digital beamforming on the received signal. By performing digital beamforming, the direction of arrival of the received signal can be resolved from the received signal. Therefore, the direction from which the reflected signal originates can be determined.

[0101] In some cases, box 410 can be omitted and the raw radar reflection data can be transmitted to the central vehicle processor for processing.

[0102] At block 412, method 400 includes transmitting processed radar signals to a central vehicle controller. The radar units transmit the processed radar signals to the central vehicle controller, allowing the central vehicle controller to determine one or more objects that will reflect the radar signals back to the vehicle. In some examples, multiple radar units may transmit the processed radar signals back to the central vehicle controller. The central vehicle controller may determine the object causing the reflection and, in response, control the object in an autonomous operating mode. Additionally, in some examples, the central vehicle controller may further process the processed radar signals before making the determination. In some examples, calibration data may be stored in memory accessible to the central vehicle controller. The central vehicle controller may be able to further process the processed radar signals based on the calibration data.

[0103] Figure 5 Multiple vehicles 512a-512c are shown within an environment of vehicle 502, including sensor 506, according to an example embodiment. Although sensor 506 is shown on the roof of vehicle 502, it should be understood that sensor 506 can be located approximately on the roof of vehicle 502. Figure 2B Describes (one or more) locations and has similar information about Figure 2B The field of view described.

[0104] Vehicles 502 and 512a-c can be similar to Figure 1-3Vehicles 100, 200, and 302a-302d. For example, vehicle 502 may include a sensor 506 (e.g., RADAR, LIDAR, etc.) similar to radar unit 206 and / or lidar unit 202 or 208 of vehicle 200. Furthermore, vehicle 502 includes a mount 504 (“steering device”) configured to adjust the orientation of sensor 506. For example, mount 504 may be a movable mount comprising a material suitable for supporting sensor 506 and operable by a control system (not shown) to rotate, tilt, or pivot sensor 506 about a mounting axis to modify the orientation of sensor 506. Alternatively, mount 504 may modify the orientation of sensor 506 in different ways. For example, mount 504 (e.g., steering device) may translate sensor 506 along a horizontal plane, etc.

[0105] like Figure 5 As shown, vehicles 502 and 512a-512c are traveling on road 510. Furthermore, vehicles 512a-512c may include sensors that could interfere with the operation of sensor 506 of vehicle 502. Figure 5 (Not shown in the image). Various scenarios for reducing interference between such sensors and sensor 506 according to this disclosure are presented below.

[0106] In the example scenario, vehicle 512b may also include a rear-facing sensor (not shown) pointing towards sensor 506. In this scenario, for example, the radar planning system can assign different radar channels to potentially interfering radars. The radar planning system can transmit the radar channel assignments along with instructions to operate the radar units based on the channel assignments to the respective vehicles. Each vehicle can responsively adjust the operating channel of its corresponding sensor 506 to reduce interference between the sensors of vehicle 512b and the sensors 506 of vehicle 502. Other examples are also possible.

[0107] In another scenario, vehicle 512c may also include a rearward-facing sensor (not shown) pointing towards sensor 506. In this scenario, the sensor of vehicle 512c may receive signals from sensor 506 that could interfere with the sensor of vehicle 512c. Therefore, in this scenario, vehicle 502c can reduce the power of the signal from sensor 506 so that the signal does not significantly interfere with the sensor of vehicle 512c after traveling a given distance to vehicle 512c. Other scenarios are also possible according to this disclosure.

[0108] Figure 6This is a simplified block diagram of radar unit 600 according to an example embodiment. Radar unit 602 is an example of a possible circuit of radar unit 600. Radar unit 602 includes antenna 604, transceiver 606, radar processor 608, memory 610, and communication unit 612. For example, radar unit 600 may be similar to radar unit 206 of vehicle 200.

[0109] Note that boxes 602-612 are for illustrative purposes only. In some examples, some boxes in radar unit 600 may be combined or divided into other boxes. For example, Figure 6 A single transceiver 606 is shown. Transceiver 606 may include one or more transmitters and receivers. In some embodiments, transceiver 606 may include multiple transmitters and / or receivers. In one example configuration, transceiver 606 may include 2 transmitters and 4 receivers. In another example configuration, transceiver 606 may include 4 transmitters and 8 receivers. Other examples are also possible.

[0110] Antenna 604 can be arranged in one or more arrays. In some examples, radar unit 602 may have one or more transmitting arrays or one or more receiving arrays. In some other examples, the transmitting or receiving array of antenna 604 may be replaced by a single element antenna. In yet another example, antenna 604 may include a single transmitting antenna and a single receiving antenna. In some examples, the array forming antenna 604 can serve as both a transmitting and receiving array.

[0111] As previously described, transceiver 606 may include one or more transmitters and receivers. The transmitter can be used to create radar signals for transmission by antenna 604. The transmitter can create radar signals based on the channel allocation of radar unit 602. The transmitter may include a digital-to-analog processor for converting digital radar signals from radar processor 608. The receiver can be used to down-convert radar reflected signals received by antenna 604. The receiver may include an analog-to-digital processor for converting analog received signals into digital signals for transmission to radar processor 608.

[0112] Radar processor 608 can be used to process down-converted radar signals received from a receiver and to provide data or instructions to a transmitter based on channel allocation. In some examples, radar processor 608 can look up radar channel attributes from memory 610. The radar channel attributes will instruct radar processor 608 how to instruct the transmitter and receiver to operate. Radar processor 608 can also perform signal processing based on calibration data stored in memory 610.

[0113] Additionally, the radar processor 608 may include a digital signal processor (DSP). The DSP may include any digital signal processing device or algorithm to process data from the receiver to determine the range, angle, or velocity of one or more objects in the environment of the sensor 600. For example, the DSP may include one or more processors. In one example, the DSP may be configured to determine the binary phase-shift keying (BPSK) scheme of the signal received by the receiver. In this example, the DSP may identify the source of the received EM radiation. For example, a BPSK scheme of EM radiation emitted by a transmitter may be compared with a BPSK scheme of EM radiation received by the receiver.

[0114] The memory 610 can be configured to store data related to the operation of the radar unit 602. The memory 610 can store a unique serial number for the radar unit 602. In some examples, the memory 610 can also store calibration data associated with the radar unit 602. Additionally, the memory 610 can store channel parameters, including timing and frequency information for multiple radar channels on which the radar unit 602 can operate.

[0115] Radar unit 602 also includes a communication unit 612. The communication unit 612 of radar unit 602 can communicatively connect radar unit 602 to a central vehicle controller. The communication unit 612 enables the central vehicle controller to transmit calibration information and channel parameters to radar unit 602, which can be stored in memory 610 accordingly. The communication unit 612 also enables radar unit 602 to transmit processed radar signals from radar unit 602 to the central vehicle controller.

[0116] Figure 7 An example radar channel of a conventional radar system is shown. Figure 7 Three example radar channels 700A-700C are shown, on which radar elements can transmit radar signals. These three example radar channels 700A-700C can exist in a bandwidth between specific frequencies (such as frequencies 706 and 708). For example, the minimum frequency 706 and the maximum frequency 708 can, for example, span a frequency range of 76 GHz to 77 GHz, a portion of that frequency range, or some other frequency range, with a center frequency 702 at 76.5 GHz. Figure 7 In the example shown, each radar channel is assigned a specific operating frequency at all times 704.

[0117] Each radar channel can have an associated bandwidth. Therefore, for a given radar bandwidth defined by a minimum frequency 706 and a maximum frequency 708, the total number of channels that can operate within that radar bandwidth is equal to the total radar bandwidth divided by the bandwidth of a single channel. For example, if the radar bandwidth is equal to 1 GHz and each channel has a bandwidth of 20 MHz, then the radar bandwidth can support 50 channels. Therefore, the radar system in this example may be limited to 50 radar elements within a given area to mitigate potential interference.

[0118] To support more radar units in a given area, a radar system can use different techniques to support more radar channels within a given bandwidth. As mentioned earlier, different modulation, signaling modes, and other techniques can be used to increase the number of channels that the bandwidth can support. Therefore, this radar system uses... Figure 7 Different radar signals are shown to support more radar units operating simultaneously in a given area.

[0119] Figure 8 A modulation pattern 800 of electromagnetic (EM) radiation from a given channel of a sensor is shown according to an example embodiment. The modulation pattern 800 may correspond to a linear frequency modulation ramp provided by a local oscillator in a sensor, such as a local oscillator 602 similar to that of sensor 600. Figure 8 A modulation pattern 800 is shown along the frequency axis 802 (vertical axis) and the time axis 804 (horizontal axis). The modulation pattern 800 can correspond to a single channel of a radar system.

[0120] Therefore, for example, EM radiation can have a frequency that varies continuously between a minimum frequency 806 and a maximum frequency 808. The minimum frequency 806 and the maximum frequency 808 can, for example, span a frequency range of 76 GHz to 77 GHz, a portion of that frequency range, or some other frequency range. Figure 8 In the example shown, modulation pattern 800 corresponds to a linear ramp pattern. However, in other examples, the shape of modulation pattern 800 can correspond to any other shape, such as a sawtooth pattern, a square wave pattern, a sine wave pattern, a triangle pattern, or any other shape.

[0121] Furthermore, the modulation pattern 800 is shown as having a linear ramp between a first frequency 806 and a second frequency 808. When the linear ramp reaches the second frequency 808, the linear ramp may restart at the first frequency 806. In some examples, the linear ramp may restart approximately after the linear ramp has reached the second frequency 808. In some other examples, there may be a predetermined time delay between the time the linear ramp reaches the second frequency 808 and the time it restarts transmitting at the first frequency 806. Therefore, during the duration of this predetermined time delay, the system may not transmit any signal at all.

[0122] In an example operation of a sensor such as sensor 600, EM radiation with a modulation pattern 800 can be emitted by a transmitter (e.g., transmitter 604), and the reflection of the modulation pattern 800 can be received by a receiver (e.g., receiver 606). By comparing the modulation pattern 800 of the emitted wave with the modulation pattern of the reflected wave, the distance and velocity of an object in the sensor's environment can be determined. For example, the time offset between the emitted and received waves can be used to determine the distance to the object (e.g., range). Furthermore, for example, changes in the slope of the modulation pattern 800 can be used to determine the velocity of the object relative to the sensor (e.g., Doppler velocity, etc.).

[0123] Figure 9A and 9B It shows about Figure 8 The description includes two example scenarios, 900a and 900b, depicting multiple channels of radar signal transmission. Scenario 900a and 900b present scenarios along channels similar to... Figure 8 Two example channels with frequency axis 802 and time axis 804, and frequency axis 902 and time axis 904. Figure 9A and 9B In this embodiment, first channels 906A and 916A can correspond to the modulation pattern of EM radiation from a first sensor, and second channels 906B and 916B can correspond to the modulation pattern of EM radiation from a second sensor. Scenes 900A and 900B present various adjustments to the corresponding modulation patterns according to this disclosure to reduce interference.

[0124] exist Figure 9A In scenario 900A, the second channel 906B transmitted by the second sensor can be time-offset with the first channel 906A. For example, the time offset can position the transmission on the second channel 906B in the middle of a time interval between consecutive transmissions made on the first channel 906A. Therefore, a filter such as the IF filter 610 of sensor 600 can be able to resolve the desired channel in the two channels at each corresponding radar unit. Thus, each radar unit may not be interfered with by other radar units operating on the channel. In practice, there may be more than two channels, and the channels may be tightly spaced than shown in 900A.

[0125] As previously discussed, in some examples, the radar planning system of a remote computing system can determine when two channels are too close together, causing mutual interference between the transmissions of the two radar units on those channels. Therefore, the radar planning system can identify situations where channels may cause interference and allocate radar channels to the vehicle's radar units, thereby minimizing potential interference.

[0126] exist Figure 9B In scenario 900B, the second channel 916B transmitted by the second sensor can be offset in frequency from the first channel 916A. For example, the frequency offset can position the transmission on the second channel 916B within a different frequency range than the transmission on the first channel 916A. Therefore, a filter such as the IF filter 610 of sensor 600 can be able to resolve the desired channel in the two channels at each corresponding radar unit. Thus, each radar unit may not be interfered with by other radar units operating on the channel. In practice, there may be more than two channels, and these channels may be spaced more closely than shown in 900A. Figure 9A and 9B Scenarios 900A and 900B are shown for illustrative purposes only. Other scenarios for adjusting the modulation pattern of the sensor to reduce interference are also possible according to this disclosure. Additionally, in some examples, the time division shown in 900A and the frequency division shown in 900B can be combined to form even more channels.

[0127] Figure 10 An example computer-readable medium configured according to an example embodiment is depicted. In the example embodiment, the example system may include one or more processors, one or more forms of memory, one or more input devices / interfaces, one or more output devices / interfaces, and machine-readable instructions that, when executed by one or more processors, cause the system to perform the various functional tasks, capabilities, etc., described above.

[0128] As described above, in some embodiments, the disclosed techniques (e.g., method 400, etc.) can be implemented by computer program instructions encoded in a machine-readable format on a computer-readable storage medium or on other media or articles of art (e.g., instructions 216 for vehicle 200, instructions 312 for computing device 304, etc.). Figure 10 This is a schematic diagram showing a conceptual partial view of an example computer program product, which includes a computer program for performing computer processes on a computing device (such as a radar planning system) arranged according to at least some embodiments disclosed herein.

[0129] In one embodiment, example computer program product 1000 is provided using signal bearer medium 1002. Signal bearer medium 1002 may include one or more programming instructions 1004 that, when executed by one or more processors, can provide the above-mentioned... Figure 1-9 describes the function or part of that function. In some examples, the signal carrying medium 1002 may be a computer-readable medium 1006, such as, but not limited to, a hard disk drive, a compact disc (CD), a digital video disc (DVD), digital magnetic tape, a memory, etc. In some embodiments, the signal carrying medium 1002 may be a computer-recordable medium 1008, such as, but not limited to, a memory, a read / write (R / W) CD, a R / W DVD, etc. In some embodiments, the signal carrying medium 1002 may be a communication medium 1010 (e.g., fiber optic cable, waveguide, wired communication link, etc.). Therefore, for example, the signal carrying medium 1002 may be transmitted wirelessly via the communication medium 1010.

[0130] One or more programming instructions 1004 may be, for example, computer-executable and / or logically implemented instructions. In some examples, the computing device may be configured to provide various operations, functions, or actions in response to one or more programming instructions 1004 transmitted to the computing device from computer-readable medium 1006, computer-recordable medium 1008, and / or communication medium 1010.

[0131] The computer-readable medium 1006 can also be distributed among multiple data storage elements, which can be remotely located relative to each other. Some or all of the computing devices executing the stored instructions can be external computers or mobile computing platforms, such as smartphones, tablets, personal computers, wearable devices, etc. Alternatively, some or all of the computing devices executing the stored instructions can be remotely located computer systems, such as servers or distributed cloud computing networks.

[0132] It should be understood that the arrangements described herein are for illustrative purposes only. Therefore, those skilled in the art will understand that other arrangements and other elements (e.g., machines, interfaces, functions, sequences, and functional groupings, etc.) can be used alternatively, and some elements may be omitted entirely depending on the desired outcome. Furthermore, many of the elements described are functional entities that can be implemented as discrete or distributed components or combined with other components in any suitable combination and at any suitable location, or other structural elements described as independent structures can be combined.

[0133] While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The aspects and embodiments disclosed herein are for illustrative purposes and not for limitation, and the true scope is indicated by the appended claims and the full scope of their equivalents. It should also be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not restrictive.

Claims

1. A radar system, comprising: The vehicle's central vehicle controller is configured as follows: The calibration parameters and radar channel parameters corresponding to the radar unit are stored in a memory located in the vehicle and accessible to the central vehicle controller. The calibration parameters and the radar channel parameters are transmitted to the radar unit for responsive storage in a second memory included in the radar unit; Receive radar channel allocation for the radar unit from the remote computing system; Provide the radar unit with an instruction for radar channel allocation, wherein the radar channel allocation is provided to the radar unit as a plurality of channel allocations; and The radar unit, wherein the radar unit includes: An antenna array configured to transmit and receive radar signals; The second memory, configured to store the calibration parameters and radar channel parameters corresponding to the radar unit and transmitted from the central vehicle controller; and A radar processor, the radar processor being configured to: The antenna array transmits radar signals based on the radar channel parameters; and The received radar signals are processed based on the calibration parameters; The central vehicle controller is configured to operate the vehicle based on processed radar signals.

2. The radar system according to claim 1 further includes a plurality of radar units, each radar unit including a corresponding radar processor, the radar processor being configured to: The antenna array of the radar element transmits radar signals based on the radar channel parameters for the radar element; and The received radar signals are processed based on the calibration parameters used for the radar unit.

3. The radar system of claim 1, wherein, The central vehicle controller is also configured to receive calibration data for the radar unit from the remote computing system.

4. The radar system of claim 1, wherein, The central vehicle controller is also configured to receive radar channel parameters for the radar unit from the remote computing system.

5. The radar system of claim 1, wherein, The radar processor is configured to look up the radar channel parameters based on an indication of the radar channel allocation.

6. A method of operating a radar system, comprising: The calibration parameters and radar channel parameters corresponding to the radar unit are stored in a memory located in the vehicle and accessible to the central vehicle controller. The calibration parameters and radar channel parameters are transmitted to the radar unit via the central vehicle controller for responsive storage in a second memory included in the radar unit; The calibration parameters and the radar channel parameters are stored in the second memory included in the radar unit; Receive radar channel allocation for the radar unit from the remote computing system; The central vehicle controller provides the radar unit with an instruction for the allocation of the radar channel, wherein the radar channel allocation is provided to the radar unit as a plurality of channel allocations; Radar signals are transmitted through the radar unit based on the radar channel parameters stored in the second memory of the radar unit; The radar unit receives radar reflections; Based on the radar calibration parameters stored in the second memory of the radar unit, the received radar reflections are processed by the radar processor of the radar unit; and The processed radar signal is transmitted to the central vehicle controller via the radar processing unit.

7. The method of claim 6, wherein, The method further includes, for each of the plurality of radar elements, a corresponding radar processor: The antenna array of the radar element transmits radar signals based on the radar channel parameters for the radar element; and The received radar reflections are processed based on the radar calibration parameters used for the radar unit.

8. The method of claim 6, wherein, The method also includes receiving calibration parameters for the radar unit from the remote computing system via the central vehicle controller.

9. The method of claim 6, wherein, The method further includes receiving radar channel parameters for the radar unit from the remote computing system via the central vehicle controller.

10. The method of claim 6, wherein, The method further includes finding the radar channel parameters by the radar processor based on an indication of the radar channel allocation.

11. An article of manufacture comprising a non-transitory computer-readable medium having program instructions stored thereon, the program instructions being configured to be executed by a computing device to cause the computing device to perform operations, the operations including: The calibration parameters and radar channel parameters corresponding to the radar unit are stored in a memory located in the vehicle and accessible to the vehicle's central vehicle controller. The calibration parameters and the radar channel parameters are transmitted to the radar unit for responsive storage in a second memory included in the radar unit; The calibration parameters and the radar channel parameters are stored in the second memory included in the radar unit; Receive radar channel allocation for the radar unit from the remote computing system; The central vehicle controller provides the radar unit with an instruction for the allocation of the radar channel, wherein the radar channel allocation is provided to the radar unit as a plurality of channel allocations; The radar signal is transmitted based on the radar channel parameters stored in the second memory of the radar unit; Receive radar reflection; The radar signal is processed based on the radar calibration parameters stored in the second memory of the radar unit; and The processed radar signals are transmitted to the central vehicle controller.

12. The article of claim 11, wherein, The operation also includes, for each of the plurality of radar units, wherein each radar unit includes a corresponding radar processor: The antenna array of the radar element transmits radar signals based on the radar channel parameters for the radar element; and The received radar signals are processed based on the radar calibration parameters used for the radar unit.

13. The article of claim 11, wherein, The operation also includes receiving calibration data for the radar unit from the remote computing system via the central vehicle controller.

14. The article of manufacture according to claim 11, wherein, The operation also includes receiving radar channel parameters for the radar unit from the remote computing system via the central vehicle controller.

15. The article of claim 11, wherein, The operation also includes finding the radar channel parameters by the radar processor based on an indication of the radar channel allocation.

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