Systems, methods, and apparatuses for determining characteristics of an antenna cover

Abstract

Example embodiments relate to systems, apparatuses, and methods for determining characteristics of a radome. An example apparatus can include a computing device configured to cause a first radar signal to be transmitted toward an object and receive first radar data representative of a first reflected radar signal. The computing device can also be configured to determine a first parameter associated with the first reflected radar signal based at least on the first radar data and cause a second radar signal to be transmitted toward the object after a fluid is applied to the radome. Further, the computing device can be configured to receive second radar data representative of a second reflected radar signal, determine a second parameter associated with the second reflected radar signal based at least on the second radar data, and compare the first parameter to the second parameter.

Description

Technical Field

[0001] This invention relates to systems, methods, and apparatus for determining the characteristics of radomes. Background Technology

[0002] The background description is provided to provide an overall context for this disclosure. Unless otherwise indicated herein, there is no explicit or implicit acknowledgment that the material described in this section is prior art to this disclosure or the appended claims.

[0003] Autonomous vehicles (ADVs) can navigate their travel paths using information about their environment obtained from the vehicle's sensors. ADVs can be equipped with various types of sensors to detect the environment around them. For example, an ADV may include light detection and ranging (LiDAR) sensors, radio detection and ranging (radar) sensors, sound navigation and ranging (sonar) sensors, image capture devices (e.g., cameras), microphone sensors, and other suitable sensors that scan and record data from the vehicle's surroundings. Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, velocity, etc.). For example, a radar system or unit can detect objects and estimate their position in the environment by transmitting radio signals (i.e., radar signals) and analyzing reflected signals returned from the objects and other surfaces in the environment.

[0004] Autonomous vehicles may employ one or more radar systems or units to detect and identify objects in the environment surrounding the vehicle. A radar system may include a radome (e.g., a radome or cover) to protect the internal radar components of the radar system from environmental conditions and objects in the environment. The radome may be constructed of one or more materials that allow radar signals to be transmitted and received through it. However, radomes are frequently subjected to environmental elements (e.g., rain, hail, snow, road splashes, dirt, contaminants, etc.) and other objects that may damage or corrode the protective outer surface of the radome. When the outer surface of the radome degrades or is damaged, materials or substances (e.g., rain, snow, moisture, road splashes, etc.) may not be effectively resisted and / or dissipated by the radome. As a result, the radome's drainage capacity or effectiveness may be reduced. For example, water droplets or moisture may accumulate on the radome, causing undesirable effects on the transmission properties or characteristics of the radome and / or radar signals passing through it, such as unwanted attenuation, reflection, refraction, absorption, beam deflection, beam broadening, etc. These undesired effects may reduce the detection and / or sensing capabilities of the radar system and decrease the accuracy of radar measurements generated by the radar system. As a result, the performance of the radar system may be degraded or weakened because the radar signals transmitted and received by the radar system may suffer from attenuation and other undesired effects caused by the condition of the radome. Summary of the Invention

[0005] This application discloses embodiments of systems, methods, and apparatuses for determining the transmission characteristics or properties of a radome (e.g., a radar dome or cover), such as a radar system or unit. The systems, methods, and apparatuses enable computing devices to determine the transmissivity of a radar system's radome to verify the accuracy of the radar system's performance and operation. For example, the computing device can determine the transmission properties or characteristics of the radome to detect undesirable accumulations of substances or materials (e.g., rain, snow, splashes, debris, moisture, etc.) on the radome that may degrade the performance of the radar system. When the condition of the radome has degraded the performance of the radar system to an undesirable level, an alarm or notification can be generated. For example, if the condition of a vehicle radar system's radome attenuates radar signals passing through the radome to an unacceptable level, a technician or operator of the computer equipment or vehicle can be notified that the performance of the radar system may be potentially degraded, and the radome may require servicing (e.g., repair, cleaning, recalibration, etc.) and / or replacement. As a result, the reliability of the radar system can be increased, and the cost-effectiveness of radar operation and maintenance can be improved.

[0006] In one aspect, this disclosure describes an apparatus for determining the characteristics of a radome. The apparatus includes a memory for storing radar data and a computing device. The computing device can be configured to transmit a first radar signal toward an object and receive first radar data representing a first reflected radar signal. The first reflected radar signal may include at least a portion of a first radar signal reflected from the object. The computing device can also be configured to determine a first parameter associated with the first reflected radar signal based at least on the first radar data, and to transmit a second radar signal toward the object after fluid is applied to the radome. Furthermore, the computing device can be configured to receive second radar data representing a second reflected radar signal. The second reflected radar signal may include at least a portion of a second radar signal reflected from the object. Additionally, the computing device can be configured to determine a second parameter associated with the second reflected radar signal based at least on the second radar data and to compare the first parameter with the second parameter.

[0007] In another aspect, this disclosure describes a method for determining the characteristics of a radome. The method may include directing a first radar signal toward an object and receiving first radar data representing a first reflected radar signal. The first reflected radar signal may include at least a portion of a first radar signal reflected from the object. The method may further include determining a first parameter associated with the first reflected radar signal based at least on the first radar data, and directing a second radar signal toward the object after fluid is applied to the radome. Furthermore, the method may include receiving second radar data representing a second reflected radar signal. The second reflected radar signal may include at least a portion of a second radar signal reflected from the object. Additionally, the method may include determining a second parameter associated with the second reflected radar signal based at least on the second radar data and comparing the first parameter with the second parameter.

[0008] In another aspect, this disclosure describes a non-transitory computer-readable medium configured to store instructions that, when executed by a computing system including one or more processors, cause the computing system to perform operations. The operations may include transmitting a first radar signal toward an object through a radome and receiving first radar data representing a first reflected radar signal. The first reflected radar signal may include at least a portion of a first radar signal reflected from the object. The operations may include determining a first parameter associated with the first reflected radar signal based at least on the first radar data, and transmitting a second radar signal toward the object through the radome after fluid is applied to the radome. Furthermore, the operations may also include receiving second radar data representing a second reflected radar signal. The second reflected radar signal may include at least a portion of a second radar signal reflected from the object. Additionally, the operations may include determining a second parameter associated with the second reflected radar signal based at least on the second radar data and comparing the first parameter with the second parameter.

[0009] These and other embodiments, aspects, advantages, and alternatives will become clear to those skilled in the art upon reading the following detailed description and referring to the accompanying drawings where appropriate. Furthermore, it should be understood that the overview and other descriptions and drawings provided herein are intended to illustrate embodiments by way of example only, and similarly, many variations are possible. For example, structural elements and process steps may be rearranged, combined, distributed, eliminated, or otherwise altered while remaining within the scope of the claimed embodiments. Attached Figure Description

[0010] Figure 1 This is a functional block diagram illustrating a system of a vehicle according to an example implementation;

[0011] Figure 2 This is a conceptual illustration of the configuration of a vehicle according to an example implementation.

[0012] Figure 3 This is a conceptual illustration of wireless communication between various computing systems associated with an autonomous vehicle, based on an example implementation.

[0013] Figure 4 It is a simplified block diagram depicting the components of a system according to an example implementation;

[0014] Figure 5 This is a flowchart of a method according to an example implementation; and

[0015] Figure 6 This is a schematic diagram of a computer program according to an example implementation. Detailed Implementation

[0016] The following detailed description is accompanied by reference to the accompanying drawings, which form a part of the description. In the drawings, similar symbols typically identify similar components unless the context indicates otherwise. The illustrative embodiments described in the detailed description, drawings, and claims are not intended to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the scope of the subject matter presented herein. It will be readily understood that, as generally described herein and illustrated in the drawings, aspects of this disclosure can be arranged, replaced, combined, separated, and designed in a variety of different configurations, all of which are explicitly contemplated herein.

[0017] A radar system or unit can be used to detect objects and estimate their location in an environment by transmitting electromagnetic or radio signals (i.e., radar signals) and analyzing the returned signals backscattered or reflected from objects and other surfaces in the environment. A radar system can use one or more antennas to transmit (i.e., transmit) radar signals to measure aspects of the environment. For example, a radar system can estimate the range of an object by transmitting short pulses and / or coded waveforms (such as pulse Doppler radar signals). When the transmitted radar signal comes into contact with an object or surface in the environment, it may scatter in multiple directions, some penetrating into various surfaces, while others reflect off the surface and return towards one or more receiving antennas of the radar system. Once received by one or more receiving antennas, the radar system can process the reflected radar reflections to generate two-dimensional (2D) and / or three-dimensional (3D) measurements representing aspects of the environment, such as the location, orientation, and movement (including no movement) of nearby objects and other surfaces in the surrounding environment.

[0018] Because radar systems or units can be used to measure the distance and movement of nearby objects and other surfaces, they are increasingly being incorporated into vehicles to acquire and provide useful information for vehicle navigation, obstacle avoidance, and other vehicle operations that can improve overall vehicle safety. For example, radar systems can be used to detect and potentially identify the location, orientation, and movement (including stillness) of nearby vehicles, bicycles, pedestrians, animals, and objects around the vehicle. Radar systems can also provide information about other features in the vehicle's surrounding environment, such as location, layout, and the positioning of road boundaries, road conditions (e.g., smooth or bumpy surfaces), weather conditions (e.g., wet or snowy roads), and the relative location of traffic signs and signals. In this way, radar systems can provide vehicle systems with the ability to continuously monitor and understand changes during navigation in various environments, and can supplement radar sensor data from other types of sensors.

[0019] Furthermore, radar systems can provide information designed to assist the vehicle's driver. For example, radar measurements can be used to generate alerts when a vehicle veers outside its lane, or when it gets too close to another vehicle or object, and / or in other ways that help the driver maintain safe control of the vehicle. Radar measurements can also be used to help enable the vehicle to operate autonomously or semi-autonomously. In particular, control systems or computer systems can use radar data to navigate the vehicle's environment.

[0020] Vehicle radar systems can include one or more radar systems or units positioned at various locations on the vehicle. For example, one or more radar systems can be coupled to the vehicle at various locations, such as side mirrors, bumpers, roofs, front grilles, doors, trunks, or side panels. Using external locations to attach and position the radar system allows for rapid installation on standard vehicles without requiring redesign or specialized vehicle manufacturing. Furthermore, when the radar system is coupled to external vehicle locations, its orientation and positioning can be easily adjusted. This also speeds up the installation and calibration process. By using external positioning on the vehicle, the radar system may be able to capture measurements from optimal positioning and orientation on the vehicle.

[0021] When the radar system is located outside the vehicle, it may unintentionally encounter contact with road debris, which can damage and degrade its performance. For example, when the vehicle is navigating a path, debris (e.g., rocks, road fragments, etc.) may be kicked up by the vehicle and other nearby vehicles and propelled towards the radar system. This debris can damage the radar system and affect the overall subsequent performance of the vehicle's radar system. Furthermore, puddles and snow accumulated on the road may be propelled towards the vehicle by nearby vehicles, similarly degrading performance over time.

[0022] Furthermore, weather conditions can also create situations that unintendedly affect unprotected radar systems coupled to locations outside the vehicle. Rain, hail, sleet, snow, and other weather conditions can unintendedly come into contact with the radome and degrade the performance and condition of the radar system over time. Therefore, exposure to weather elements can lead to radar system degradation and poor performance. Additionally, any radar systems coupled to locations outside the vehicle are also exposed to unintended contact from pedestrians, such as when the vehicle is parked and not in use.

[0023] To overcome these potential problems and other issues that may arise when placing a radar system outside a vehicle, the radar system may include a radome or some form of enclosure or cover made of radio frequency transparent material. The radome can be designed to protect the environment and conceal one or more components of the radar system (e.g., the antenna). For example, the radome can enclose or cover the antenna of the radar system and provide protection against undesirable environmental factors such as debris and weather conditions. The radome can be made of a material that allows radar signals (e.g., transmitted and received radar signals) to pass through with minimal attenuation (e.g., minimal distortion, reflection, absorption, etc.). For example, the radome can be formed from one or more plastic materials.

[0024] However, in some embodiments, the outer surface of the radome may be susceptible to the accumulation of substances or materials (e.g., rain, snow, dirt, water, etc.). For example, under certain conditions, rain, snow, road splashes, and / or moisture may accumulate or build up on the outer surface of the radome, adversely affecting the performance of the radar system. To mitigate or help prevent the accumulation of substances or materials on the radome, the outer surface of the radome may be coated with a hydrophobic or superhydrophobic coating or film. For example, a hydrophobic coating or surface may be used to reduce or decrease the amount of materials or substances (e.g., rain, snow, dirt, water, etc.) that may accumulate on the radome. In some embodiments, the outer surface of the radome may be curved to further facilitate the outflow of water and / or snow.

[0025] Because radar capabilities can help a vehicle understand its surroundings, it may be desirable to determine the accuracy of radar measurements by the radar system and to detect damage or degradation to the radome. When the outer surface or coating / film of the radome degrades or is damaged, the transmission properties or characteristics of the radome (e.g., the outer coating or film) may be degraded, and the performance and / or sensitivity of the radar system may be reduced or weakened. For example, a damaged or degraded outer surface or coating / film of the radome may not be able to effectively disperse and / or resist materials or substances (e.g., rain, snow, moisture, water, splashes, etc.) from the radome. Therefore, water droplets or moisture may accumulate, build up, and / or remain on the outer surface of the radome.

[0026] The presence of water droplets or moisture on the radome can cause undesirable effects on radar signals passing through it (e.g., unwanted attenuation, reflection, refraction, absorption, beam deflection, beam broadening, etc.). These undesirable effects can reduce the detection and / or sensing capabilities of the radar system, as well as the accuracy of its measurements. Consequently, the performance of the radar system may be degraded or weakened because the signals transmitted and received by the radar elements may suffer attenuation and other undesirable effects caused by the condition of the radome. Therefore, allowing autonomous vehicles to navigate using radar systems with damaged and / or degraded radomes may be unsafe.

[0027] Vehicle-mounted radar systems or units may routinely undergo manual or offline inspection, testing, and / or verification to maintain proper performance and conform to radar and / or radome specifications and requirements. For example, manual supervision or cross-sensor verification can be used to detect damage and / or degradation of the radar system's radome. A typical vehicle-mounted radar verification process may involve technicians operating the radar system to observe specially planned and positioned calibration targets in a controlled calibration environment. Similarly, testing the scan range of a radar unit can be challenging due to the physical space required to test its entire scan range. Furthermore, routine radar inspection and verification processes may limit the use of the vehicle. Therefore, routine processes can be highly manual, time-consuming, and associated with high costs, such as the costs of establishing and maintaining a suitable calibration environment.

[0028] Furthermore, the amount of time involved in repeatedly or periodically (e.g., daily, monthly, etc.) testing a large number of radar systems to maintain continued compliance with radome / radar specifications and / or system requirements can result in significant costs and delays. Additionally, radome damage or degradation may not be detected until scheduled maintenance checks. Therefore, there is a need for techniques for evaluating the transmission characteristics and / or properties of radomes for radar units to increase radar performance reliability and improve the cost-effectiveness of radar operation and maintenance.

[0029] To overcome the drawbacks associated with manual inspection and offline testing of vehicle radar systems, exemplary embodiments of this disclosure describe techniques for monitoring, testing, and evaluating radomes. These techniques can measure and determine the transmission characteristics and / or properties of the radome of a vehicle radar system while the vehicle is operating in an environment. The techniques can use radar data as the basis for monitoring and evaluating radome characteristics. By implementing the techniques described herein, the computing devices of a radar system or vehicle can periodically (or continuously) monitor the transmittance and / or condition of the radome, thereby monitoring the performance of the radar system, while avoiding the downtime and costs associated with manual inspection and offline testing and evaluation.

[0030] Furthermore, the techniques described herein enable the transmission characteristics and / or properties of a radar system or unit's radome to be periodically evaluated before undesirable levels of degradation occur. For example, the transmittance of the radome can be monitored and evaluated without taking the radar system or vehicle out of service. This technique also facilitates continuous or periodic monitoring of the radome in the field without requiring a test chamber or highly controlled target. For instance, the technique can utilize radar data collected by the radar system and / or vehicle during typical operation. That is, the condition of the radome and the performance of the radar system can be determined based on radar reflections or returns obtained from the environment. This eliminates the need to remove the vehicle and its radar system from service and can significantly reduce downtime of the radar system and / or vehicle. Therefore, this technique can reduce the time and resources required for monitoring and evaluating the transmission characteristics of a radar system or vehicle's radome.

[0031] The techniques described herein can be implemented by systems, methods, and apparatus for determining the transmission characteristics of a radome (e.g., housing or cover) of a vehicle or radar system. Systems, methods, and apparatus may use one or more onboard computing devices (e.g., processors, field-programmable gate arrays (FPGAs), etc.), computing devices such as those for a vehicle radar system or unit, or a central computing system configured to control one or more systems of a vehicle. One or more computing devices can monitor and evaluate the radome's transmittance to ensure accurate performance of the radar system when the vehicle operates in an environment. For example, one or more computing devices may be configured to effectively and accurately monitor and / or evaluate the radome's transmission properties or characteristics to detect undesirable accumulations of matter or materials on the radome (e.g., rain, snow, water droplets, moisture, etc.). One or more computing devices may acquire radar data (e.g., radar reflections or returns) over multiple time intervals and compile the radar data over multiple intervals to assess the condition of the radome and the performance of the radar system. In some cases, one or more remote computing devices may assist in monitoring and evaluating the radome of the radar system and / or the vehicle.

[0032] When the transmission characteristics or properties of a radome are degraded or degraded due to substances or materials on the radome (e.g., water droplets, moisture, splashes, etc.), the vehicle operator, computing equipment, or technicians can be warned and / or notified. For example, water droplets and / or moisture on the radome may increase the reflection, absorption, and / or attenuation of transmitted and reflected signals. If the accumulation of substances or materials on the radome causes the transmitted and reflected signals propagating through the radome to degrade to an undesirable level, the vehicle operator, computing equipment, or technicians can be notified that the condition of the radome and / or the performance of the radar system may be potentially degraded, and the radome may require servicing (e.g., cleaning, repair, etc.) and / or replacement. As a result, the reliability of the radar system can be increased, and the cost-effectiveness of radar operation and maintenance can be improved.

[0033] In some examples, a system or apparatus may be configured to determine the transmission characteristics and / or properties of a radome. The system may include a fluid source and a radar system. The radar system can transmit and receive radar signals and can detect or identify one or more objects or targets at a distance in the environment based on the radar signals. For example, signs, vehicles, trees, buildings, walls, landmarks, portions of vehicles, and / or another object may be identified as targets. In some cases, the radar system may be configured to determine that a detected object meets a set of conditions before initializing the process for monitoring and / or evaluating the radome. For example, radar data indicating a detected object (e.g., a set of peaks in the radar data) may be required to meet one or more conditions, such as the radar data exceeding a specific signal-to-noise ratio (SNR) threshold and / or exceeding a range threshold. Within the example, the radar system may select portions of the radar data (e.g., peaks), each of which likely represents a single target or object (e.g., a car, truck, street sign, or another large and / or metallic object) associated with a high radar cross-section (RCS) that can more accurately identify one or more targets.

[0034] Once an object or target is identified in the environment, the radar system can transmit radar signals toward the object. The radar system can transmit radar signals on a first channel. The radar system can receive reflected signals from the transmitted radar signals and determine or measure one or more parameters of the reflected radar signals. One or more parameters can be determined at the start of a vehicle mission, before entering wet conditions, and / or after the end of a vehicle mission. One or more parameters can be used as initial or baseline parameters for comparison with parameters of subsequent reflected radar signals. In some examples, the radar system can receive reflected radar signals and determine a first parameter associated with a first reflected radar signal. Once the radar system has received the first reflected radar signal, a fluid handling device can be operated to apply fluid to the radar system's radome.

[0035] After fluid is applied to the radome, the radar system can transmit radar signals toward an object. The radar system can transmit radar signals on a first channel (e.g., the same channel). The radar system can receive reflected signals of the transmitted radar signals and determine or measure one or more parameters of the reflected signals. In some examples, the radar system can receive reflected radar signals and determine a second parameter associated with a second reflected radar signal.

[0036] After determining the parameters associated with each reflected radar signal, the system can compare the parameters of the reflected signals. For example, the radar system can compare the initial or baseline parameters of a first reflected radar signal with the parameters of a subsequent reflected radar signal received after fluid has been applied to the radome. In some examples, a first parameter of the first reflected radar signal can be compared with a second parameter of the second reflected radar signal. The first and second parameters of the reflected radar signals can each include power characteristics (e.g., maximum power level, average power level, spectral power density, etc.), radar bandwidth, radar duration, magnitude, amplitude, and / or phase. For example, the power level of the first reflected radar signal can be compared with the power level of the second reflected radar signal.

[0037] Comparison of parameters reflecting radar signals can be used to determine the transmittance or condition of the radar system's radome, and whether the radar system is providing accurate radar results. For example, the comparison can indicate a loss of radome transmittance due to damage or degradation (e.g., radome loss). In some examples, damage or degradation of the radome may lead to the accumulation of undesirable materials or substances (e.g., moisture, water droplets, etc.) on the radome that reduce its transmittance.

[0038] Furthermore, the radar system can use this comparison to determine differences between parameters of the reflected radar signals. In some examples, the radar system can determine a power difference (e.g., transmission loss) between the power level associated with a first reflected radar signal and the power level associated with a second reflected signal. This difference can be used to detect a reduction in radome transmittance, damage or degradation of the radome, and / or the accumulation of materials or substances (e.g., moisture, water droplets, etc.) on the radome. For example, the formation and / or accumulation of water droplets or moisture on the radome of a radar element may lead to a reduction in the radome's transmittance. Therefore, the radar system can detect materials or substances (e.g., water droplets, moisture, etc.) on the radome based on this difference.

[0039] A radar system can compare differences between parameters of reflected radar signals to a threshold. This threshold can be a reference value associated with radar / radome specifications and / or system requirements for a specific type of radome. When differences between parameters (e.g., power levels) of different reflected radar signals meet or exceed a threshold level or difference (e.g., power or loss threshold), the radar system or computing device can determine how to respond based on that difference. For example, precipitation and / or the formation of water droplets on the radome of a radar element may cause the radome's transmittance to fall outside radar and / or radome specifications.

[0040] When the transmission characteristics of the radome fail to meet a threshold (e.g., reference values ​​for radar and / or radome specifications, pre-stored thresholds, etc.) based on differences between parameters of the reflected radar signal, the computing device can be configured to generate or provide notifications or alarms indicating an undesirable condition of the radome. For example, the radar system can provide alarms to the vehicle operator, computing device, or technician investigating the performance of the radar system, such as alarms indicating poor radar system performance and / or that the radar signal passing through the radome has degraded to an undesirable level. For instance, when the differences between parameters of the reflected radar signal (e.g., power level) meet a threshold difference, the computing device can be configured to provide notifications or alarms indicating the condition of the radome and / or that the performance of the radar system may potentially degrade and that the radome may require repair or replacement.

[0041] In some examples, the computing device can provide an alarm indicating that the radome requires cleaning and / or initiate an automated process to help remove material from the radome. For example, the computing device or vehicle system can activate cleaning mechanisms (e.g., liquid splashing, high-pressure gas hoses, windshield wipers, etc.) to attempt to clean the radome. Furthermore, the radome may include heating options, compressed air blowing devices, fans, and / or windshield wipers that can be used to assist in material removal. In other examples, an alarm can indicate that the radome's transmittance or condition has deteriorated to an undesirable level. As a result, the radome can be serviced (e.g., cleaned, removed, replaced, repaired, secured, recalibrated, etc.) and / or replaced before the radar system and vehicle are put back into operation. Therefore, the reliability of the radar unit can be increased, and the cost-effectiveness of radar operation and maintenance can be improved.

[0042] Example systems, apparatuses, and methods for implementing the techniques described herein will now be described in more detail with reference to the accompanying drawings. Typically, the example systems can be implemented in, or take the form of, a radar or computer system for a vehicle. However, the systems can also be implemented in, or take the form of, other systems of a vehicle, such as cars, trucks, motorcycles, buses, boats, airplanes, helicopters, lawnmowers, bulldozers, snowmobiles, aircraft, recreational vehicles, amusement park vehicles, farm equipment, construction equipment, trams, golf carts, trains, handcarts, and robotic equipment. Other vehicles are also possible.

[0043] Now refer to the attached diagram, Figure 1This is a functional block diagram illustrating a system of example vehicle 100, which can be configured to operate fully or partially in autonomous mode. More specifically, vehicle 100 can operate in autonomous mode without human interaction by receiving control commands from a computing system. As part of autonomous mode operation, vehicle 100 can use sensors to detect and, possibly, identify objects in the surrounding environment for safe navigation. In some embodiments, vehicle 100 may also include a subsystem that enables a driver to control the operation of vehicle 100.

[0044] like Figure 1 As shown, vehicle 100 includes various subsystems, such as a propulsion system 102, a sensor system 104, a control system 106, one or more peripheral devices 108, a power supply 110, a computer or computing system 112, a data storage device 114, and a user interface 116. In other instances, vehicle 100 may include more or fewer subsystems, each of which may include multiple elements. The subsystems and components of vehicle 100 may be interconnected in various ways. Furthermore, within embodiments, the functions of vehicle 100 described herein may be divided into additional functions or physical components, or combined into fewer functions or physical components. For example, control system 106 and computer system 112 may be combined into a single system that operates vehicle 100 according to various operations.

[0045] The propulsion system 102 may include one or more components operable to provide powered motion to the vehicle 100, and may include an engine / motor 118, an energy source 119, a transmission 120, and wheels / tires 121, as well as other possible components. For example, the engine / motor 118 may be configured to convert the energy source 119 into mechanical energy, and may correspond to one or a combination of an internal combustion engine, an electric motor, a steam engine, or a Stirling engine, as well as other possible options. For example, in some embodiments, the propulsion system 102 may include multiple types of engines and / or motors, such as gasoline engines and electric motors.

[0046] Energy source 119 refers to a source of energy that can provide power, in whole or in part, to one or more systems of vehicle 100 (e.g., engine / motor 118). For example, energy source 119 may correspond to a source of gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and / or other electrical energy. In some embodiments, energy source 119 may include a combination of a fuel tank, battery, capacitor, and / or flywheel.

[0047] The transmission 120 can transmit mechanical power from the engine / motor 118 to the wheels / tires 121 and / or other possible systems of the vehicle 100. Therefore, the transmission 120 may include a gearbox, clutch, differential, and drive shaft, as well as other possible components. The drive shaft may include an axle connected to one or more wheels / tires 121.

[0048] In the example implementation, the wheels / tires 121 of the vehicle 100 can have various configurations. For example, the vehicle 100 can exist as a unicycle, bicycle / motorcycle, tricycle, or car / truck four-wheeled vehicle, as well as other possible configurations. Therefore, the wheels / tires 121 can be connected to the vehicle 100 in various ways and can be made of different materials (such as metal and rubber).

[0049] Sensor system 104 may include various types of sensors or sensor devices, such as a Global Positioning System (GPS) 122, an Inertial Measurement Unit (IMU) 124, one or more radar units 126, a laser rangefinder / LiDAR unit 128, a camera 130, a steering sensor 123, and a throttle / brake sensor 125, as well as other possible sensors. In some embodiments, sensor system 104 may also include sensors configured to monitor the internal systems of vehicle 100 (e.g., O2 monitor, fuel gauge, engine oil temperature, brake wear).

[0050] GPS 122 may include a transceiver operable to provide information about the positioning of vehicle 100 relative to the Earth. IMU 124 may be configured to use one or more accelerometers and / or gyroscopes and may sense changes in the positioning and orientation of vehicle 100 based on inertial acceleration. For example, when vehicle 100 is stationary or in motion, IMU 124 may detect the pitch and yaw of vehicle 100.

[0051] Radar unit 126 may represent one or more systems configured to use radio signals to sense objects within the local environment of vehicle 100, including the object's speed and trajectory. Therefore, radar unit 126 may include an antenna configured to transmit and receive radio signals. In some embodiments, radar unit 126 may correspond to an installable radar unit or system configured to obtain measurements of the surrounding environment of vehicle 100.

[0052] The laser rangefinder / LiDAR 128 may include one or more laser sources, a laser scanner, and one or more detectors and sensors, as well as other system components, and may operate in a coherent mode (e.g., using heterodyne detection) or an incoherent detection mode. In some embodiments, one or more detectors or sensors of the laser rangefinder / LiDAR 128 may include one or more photodetectors. In some examples, the photodetector may be a single-photon avalanche diode (SPAD). Furthermore, such photodetectors may be arranged (e.g., via series electrical connections) in an array (e.g., as in a silicon photomultiplier (SiPM)).

[0053] Camera 130 may include one or more devices (e.g., a still camera or video camera) configured to capture images of the environment of vehicle 100. In some examples, the camera may include an image sensor configured to capture a series of images (e.g., image frames) in a temporal manner. The image sensor may capture images at a specific rate or at a specific time interval between consecutive frame exposures.

[0054] The steering sensor 123 can sense the steering angle of the vehicle 100, which may involve measuring the angle of the steering wheel or measuring an electrical signal representing the angle of the steering wheel. In some embodiments, the steering sensor 123 can measure the angle of the wheels of the vehicle 100, such as detecting the angle of the wheels relative to the front axle of the vehicle 100. The steering sensor 123 can also be configured to measure a combination (or subset) of the steering wheel angle, an electrical signal representing the steering wheel angle, and the angles of the wheels of the vehicle 100.

[0055] Throttle / brake sensor 125 can detect the positioning of the throttle or brake of vehicle 100. For example, throttle / brake sensor 125 can measure the angle of both the accelerator pedal (throttle) and the brake pedal, or it can measure an electrical signal that can represent, for example, the angle of the accelerator pedal (throttle) and / or the angle of the brake pedal. Throttle / brake sensor 125 can also measure the angle of the throttle body of vehicle 100, which may include a portion of the physical mechanism (e.g., a butterfly valve or carburetor) that provides modulation of the energy source 119 to the engine / motor 118. Furthermore, throttle / brake sensor 125 can measure the pressure of one or more brake pads on the rotor of vehicle 100, or a combination (or subset) of the angle of the accelerator pedal (throttle) and the brake pedal, an electrical signal representing the angle of the accelerator pedal (throttle) and the brake pedal, the angle of the throttle body, and the pressure applied by at least one brake pad to the rotor of vehicle 100. In other embodiments, the throttle / brake sensor 125 may be configured to measure the pressure applied to a pedal (such as a throttle or brake pedal) of the vehicle.

[0056] The control system 106 may include components configured to assist in navigating the vehicle 100, such as a steering unit 132, a throttle valve 134, a braking unit 136, a sensor fusion algorithm 138, a computer vision system 140, a navigation / path system 142, and an obstacle avoidance system 144. More specifically, the steering unit 132 may be operable to adjust the direction of the vehicle 100, and the throttle valve 134 may control the operating rate of the engine / motor 118 to control the acceleration of the vehicle 100. The braking unit 136 may decelerate the vehicle 100, which may involve using friction to slow down the wheels / tires 121. In some embodiments, the braking unit 136 may convert the kinetic energy of the wheels / tires 121 into electrical current for subsequent use by one or more systems of the vehicle 100.

[0057] The sensor fusion algorithm 138 of the control system 106 may include a Kalman filter, a Bayesian network, or other algorithms capable of processing data from the sensor system 104. In some embodiments, the sensor fusion algorithm 138 may provide evaluations based on incoming sensor data, such as evaluations of individual objects and / or characteristics, evaluations of specific situations, and / or evaluations of potential impacts within a given situation.

[0058] The computer vision system 140 of the control system 106 may include hardware and software operable to process and analyze images in an effort to determine objects, environmental objects (e.g., stop lights, road boundaries, etc.), and obstacles. Therefore, the computer vision system 140 may use object recognition, structure-of-motion (SFM), video tracking, and other algorithms used in computer vision, such as to identify objects, map an environment, track objects, estimate object rates, etc.

[0059] The navigation / path system 142 of the control system 106 can determine the driving path of the vehicle 100, which may involve dynamically adjusting the navigation during operation. Accordingly, the navigation / path system 142 can use data from sensor fusion algorithm 138, GPS 122, maps, and other sources to navigate the vehicle 100. The obstacle avoidance system 144 can evaluate potential obstacles based on sensor data and enable the vehicle 100's systems to avoid or otherwise successfully negotiate potential obstacles.

[0060] like Figure 1As shown, vehicle 100 may also include peripheral devices 108, such as wireless communication system 146, touchscreen 148, microphone 150, and / or speaker 152. Peripheral devices 108 may provide controls or other elements for user interaction with user interface 116. For example, touchscreen 148 may provide information to the user of vehicle 100. User interface 116 may also accept input from the user via touchscreen 148. Peripheral devices 108 may also enable vehicle 100 to communicate with devices such as other vehicle equipment.

[0061] The wireless communication system 146 can communicate wirelessly with one or more devices, either directly or wirelessly via a communication network. For example, the wireless communication system 146 can use 3G cellular communication, such as Code Division Multiple Access (CDMA), Evolved Data Optimization (EVDO), Global System for Mobile Communications (GSM) / General Packet Radio Service (GPRS), or cellular communication, such as 4G Global Microwave Access Interoperability (WiMAX) or Long Term Evolution (LTE), or 5G. Alternatively, the wireless communication system 146 can use... Or other possible connections to communicate with a wireless local area network (WLAN). For example, the wireless communication system 146 may also communicate directly with the device using an infrared link, Bluetooth, or ZigBee. Within the context of this disclosure, other wireless protocols, such as various vehicle communication systems, are possible. For example, 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 the vehicle and / or roadside station.

[0062] The carrier 100 may include a power supply 110 for powering components. In some embodiments, the power supply 110 may include a rechargeable lithium-ion or lead-acid battery. For example, the power supply 110 may include one or more batteries configured to provide power. The carrier 100 may also use other types of power supplies. In an example embodiment, the power supply 110 and the energy source 119 may be integrated into a single energy source.

[0063] The vehicle 100 may also include a computer system 112 to perform operations such as those described herein. Thus, the computer system 112 may include at least one processor 113 (which may include at least one microprocessor) operable to execute instructions 115 stored in a non-transitory computer-readable medium such as a data storage device 114. In some embodiments, the computer system 112 may represent multiple computing devices that may serve individual components or subsystems controlling the vehicle 100 in a distributed manner.

[0064] In some embodiments, the data storage device 114 may include various functions of the vehicle 100 that can be executed by the processor 113 to perform (including those combined above) Figure 1The instructions 115 (e.g., program logic) described herein. The data storage device 114 may also contain additional instructions, including instructions for sending data to, receiving data from, interacting with, and / or controlling one or more of the propulsion system 102, sensor system 104, control system 106, and peripheral devices 108.

[0065] In addition to command 115, data storage device 114 can also store data such as road maps, route information, and other information. This information can be used by vehicle 100 and computer system 112 during autonomous, semi-autonomous, and / or manual operation.

[0066] Vehicle 100 may include a user interface 116 for providing information to or receiving input from a user of vehicle 100. User interface 116 may control or enable control over the content and / or layout of interactive images that may be displayed on touchscreen 148. Furthermore, user interface 116 may include one or more input / output devices within a set of peripheral devices 108, such as wireless communication system 146, touchscreen 148, microphone 150, and speaker 152.

[0067] Computer system 112 can control the functions of vehicle 100 based on input received from various subsystems (e.g., propulsion system 102, sensor system 104, and control system 106) and from user interface 116. For example, computer system 112 can utilize input from sensor system 104 to estimate the outputs generated by propulsion system 102 and control system 106. Depending on the implementation, computer system 112 may be operable to monitor many aspects of vehicle 100 and its subsystems. In some implementations, computer system 112 may disable some or all functions of vehicle 100 based on signals received from sensor system 104.

[0068] The components of vehicle 100 can be configured to operate in a manner interconnected with other components within or outside their respective systems. For example, in an example embodiment, camera 130 can capture multiple images that may represent information about the state of the environment of vehicle 100 operating in autonomous mode. The state of the environment may include parameters of the road on which the vehicle operates. For example, computer vision system 140 may be able to identify slopes (gradients) or other features based on multiple images of the road. Furthermore, a combination of features identified by GPS 122 and computer vision system 140 can be used with map data stored in data storage device 114 to determine specific road parameters. Additionally, radar unit 126 may also provide information about the environment surrounding the vehicle. In other words, a combination of various sensors (which may be referred to as input indication and output indication sensors) and computer system 112 can interact to provide indications of inputs provided to control the vehicle or indications of the environment surrounding the vehicle.

[0069] In some implementations, computer system 112 can determine various objects based on data provided by systems other than radio systems. For example, vehicle 100 may have lasers or other optical sensors configured to sense objects (e.g., the vehicle) in its field of view. Computer system 112 can use the outputs from various sensors to determine information about objects in the vehicle's field of view and can determine distance and orientation information to various objects. Computer system 112 can also determine whether an object is desired or undesirable based on the outputs from various sensors.

[0070] although Figure 1 Various components of the vehicle 100, namely the wireless communication system 146, the computer system 112, the data storage device 114, and the user interface 116, are integrated into the vehicle 100. However, one or more of these components may 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. Therefore, the vehicle 100 can be provided in the form of device elements that can be positioned separately or together. The device elements constituting the vehicle 100 can be communicatively coupled together in a wired and / or wireless manner.

[0071] Figure 2 An example physical configuration of vehicle 200 is depicted, which can represent a reference. Figure 1 The described vehicle 100 has one possible physical configuration. Depending on the implementation, vehicle 200 may include sensor unit 202, wireless communication system 204, radio unit 206, deflector 208, and camera 210, as well as other possible components. For example, vehicle 200 may include Figure 1 Some or all of the components described in the document. Although vehicle 200 is in Figure 2The vehicle is depicted as a car, but vehicle 200 in this example may have other configurations, such as a truck, van, semi-trailer truck, motorcycle, golf cart, off-road vehicle, or farm vehicle, as well as other possible examples.

[0072] Sensor unit 202 may include one or more sensors configured to capture information about the surrounding environment of vehicle 200. For example, sensor unit 202 may include any combination of cameras, radar, LiDAR, rangefinders, wireless devices (e.g., Bluetooth and / or 802.11), acoustic sensors, and other possible types of sensors. In some embodiments, sensor unit 202 may include one or more movable bases operable to adjust the orientation of the sensors in sensor unit 202. For example, the movable base may include a rotating platform that can scan the sensors to obtain information from every direction around vehicle 200. The movable base of sensor unit 202 may also be movable in a scanning manner within a specific angular and / or azimuth range.

[0073] In some embodiments, sensor unit 202 may include a mechanical structure that enables sensor unit 202 to be mounted on the roof of a car. Furthermore, other mounting locations are possible within this example.

[0074] like Figure 2 As shown, the wireless communication system 204 may have a position relative to the vehicle 200, but may also have different positions in different embodiments. The wireless communication system 200 may include one or more wireless transmitters and one or more receivers capable of communicating with other external or internal devices. For example, the wireless communication system 204 may include one or more transceivers for communicating with user equipment, other vehicles and road elements (e.g., signs, traffic signals), and other possible entities. Therefore, the vehicle 200 may include one or more vehicle communication systems for facilitating communication, such as Dedicated Short Range Communication (DSRC), Radio Frequency Identification (RFID), and other communication standards proposed for intelligent transportation systems.

[0075] Camera 210 can have various positions relative to vehicle 200, such as a position on the windshield of vehicle 200. Therefore, camera 210 can capture images of the environment surrounding vehicle 200. Figure 2 As shown, camera 210 can capture images from a forward-looking perspective relative to carrier 200, but other mounting locations (including movable bases) and viewing angles of camera 210 are also possible in embodiments. In some examples, camera 210 may correspond to one or more visible light cameras. Alternatively or additionally, camera 210 may include infrared sensing capabilities. Camera 210 may also include optics that can provide an adjustable field of view.

[0076] Figure 3 This is a conceptual illustration of wireless communication between various computing systems associated with an autonomous vehicle, according to an exemplary embodiment. Specifically, wireless communication can occur between remote computing system 302 and vehicle 200 via network 304. Wireless communication can also occur between server computing system 306 and remote computing system 302, and between server computing system 306 and vehicle 200.

[0077] Vehicle 200 can correspond to various types of vehicles capable of transporting passengers or objects between locations, and can take any one or more of the aforementioned forms. In some cases, vehicle 200 can operate in an autonomous mode, which enables the control system to use sensor measurements to safely navigate vehicle 200 between destinations. When operating in autonomous mode, vehicle 200 can navigate with or without passengers. As a result, vehicle 200 can pick up and drop off passengers between desired destinations.

[0078] Remote computing system 302 can represent any type of device associated with remote assistance technology, including but not limited to those described herein. Within the example, remote computing system 302 can represent any type of device configured to (i) receive information related to vehicle 200, (ii) provide an interface through which a human operator can sequentially perceive information and input responses related to the information, and (iii) transmit responses to vehicle 200 or other devices. Remote computing system 302 can take various forms, such as workstations, desktop computers, laptops, tablets, mobile phones (e.g., smartphones), and / or servers. In some examples, remote computing system 302 may include multiple computing devices operating together in a network configuration.

[0079] The remote computing system 302 may include one or more subsystems and components similar to or identical to those of the vehicle 200. At a minimum, the remote computing system 302 may include a processor configured to perform the various operations described herein. In some embodiments, the remote computing system 302 may also include a user interface including input / output devices such as a touchscreen and speakers. Other examples are also possible.

[0080] Network 304 represents the infrastructure that enables wireless communication between remote computing system 302 and vehicle 200. Network 304 also enables wireless communication between server computing system 306 and remote computing system 302, and between server computing system 306 and vehicle 200.

[0081] Within this example, the location of the remote computing system 302 can vary. For instance, the remote computing system 302 may be located remotely from vehicle 200, which has wireless communication via network 304. In another example, the remote computing system 302 may correspond to a computing device separate from and within vehicle 200, but which a human operator can use to interact with passengers or the driver of vehicle 200. In some examples, the remote computing system 302 may be a computing device with a touchscreen operable by passengers of vehicle 200.

[0082] In some implementations, the operations performed by the remote computing system 302 described herein may additionally or alternatively be performed by the vehicle 200 (i.e., by any system or subsystem of the vehicle 200). In other words, the vehicle 200 may be configured to provide a remote assistance mechanism with which the vehicle's driver or passengers can interact.

[0083] Server computing system 306 can be configured to wirelessly communicate with remote computing system 302 and vehicle 200 via network 304 (or possibly directly with remote computing system 302 and / or vehicle 200). Server computing system 306 can represent any computing device configured to receive, store, determine, and / or transmit information related to vehicle 200 and its remote assistance. Therefore, server computing system 306 can be configured to perform any operation or part of such operation, which is described herein as being performed by remote computing system 302 and / or vehicle 200. Some implementations of wireless communication related to remote assistance may utilize server computing system 306, while others may not.

[0084] Server computing system 306 may include one or more subsystems and components similar to or the same as those of remote computing system 302 and / or vehicle 200, such as processors configured to perform the various operations described herein, and wireless communication interfaces for receiving and providing information to remote computing system 302 and vehicle 200.

[0085] The various systems described above can perform a variety of operations. For example, computing or sensor systems (e.g., remote computing system 302, server computing system 306, or a computing system local to vehicle 200) can operate sensors or sensor devices to capture sensor information about the autonomous vehicle's environment. Typically, at least one computing device or system will be able to analyze the sensor information and may control the autonomous vehicle.

[0086] In some implementations, to facilitate autonomous operation, the vehicle (e.g., vehicle 200) can receive data (also referred to herein as “environmental data”) representing objects in the environment in which the vehicle operates, in various ways. Sensors or computing systems on the vehicle can provide environmental data representing environmental objects. For example, the vehicle may have various sensors, including cameras, radar sensors, laser rangefinder / LiDAR sensors, image sensors, microphones, and other sensors. Each of these sensors can communicate data about the information received by each respective sensor to a computing device (e.g., a processor) on the vehicle.

[0087] In some implementations, a computing device (e.g., a controller or processor) or computing system may be able to combine information from various sensors to further determine the vehicle's environment. For example, a processing system may combine data from lidar sensors or radar sensors and image sensors to determine whether another vehicle or pedestrian is in front of the autonomous vehicle. In other implementations, the computing system may use other combinations of sensor data to make determinations about the environment.

[0088] When operating in autonomous mode, a vehicle can control its operation with little to no human input. For example, a human operator can input an address into the vehicle, which may then be able to drive to the designated destination without further human input (e.g., the human does not need to steer or touch the brake / accelerator pedal). Furthermore, when the vehicle is operating autonomously, sensor systems may be receiving environmental data. The vehicle's computing or processing systems can modify the vehicle's control based on the environmental data received from various sensors. In some examples, the vehicle may change its speed in response to environmental data from various sensors. The vehicle can change its speed to avoid obstacles, obey traffic regulations, etc. When the processing system in the vehicle identifies an object in its vicinity, the vehicle may be able to change its speed or modify its movement in another way.

[0089] When a vehicle detects an object but lacks high confidence in the detection, it may request a human operator (or a more powerful computer) to perform one or more remotely assisted tasks, such as (i) confirming whether the object actually exists in the environment (e.g., whether a stop sign actually exists or does not actually exist), (ii) confirming whether the vehicle's identification of the object is correct, (iii) correcting the identification if it is incorrect, and / or (iv) providing supplementary instructions to the autonomous vehicle (or modifying current instructions). Remotely assisted tasks may also include instructions provided by the human operator to control the vehicle's operation (e.g., instructing the vehicle to stop at the stop sign if the human operator determines the object is one), although in some scenarios, the vehicle itself may control its own operation based on feedback from the human operator regarding object identification.

[0090] To facilitate this operation, the vehicle can analyze environmental data representing objects in the environment to identify at least one object with a detection confidence level below a threshold. A computing device or processor within the vehicle can be configured to detect various objects in the environment based on environmental data from various sensors. For example, in one embodiment, the computing device can be configured to detect objects that may be important for vehicle identification. Such objects may include pedestrians, street signs, other vehicles, indicator signals on other vehicles, and various other objects detected in the captured environmental data.

[0091] Detection confidence indicates the likelihood that a identified object is correctly identified or exists in an environment. For example, a processor can perform object detection on objects within image data in received environmental data, and determine that at least one object has a detection confidence below a threshold, based on the inability to identify objects with a detection confidence above a threshold. If the result of object detection or object identification is uncertain, the detection confidence may be low or below a set threshold.

[0092] Depending on the source of the environmental data, the vehicle can detect objects in the environment in various ways. In some embodiments, the environmental data can be received from a camera and includes image or video data. In other embodiments, environmental data can be received from a lidar sensor. The vehicle can analyze the captured image or video data to identify objects in the image or video data. Methods and apparatus can be configured to monitor image and / or video data for the presence of objects in the environment. In other embodiments, the environmental data can be radar, audio, or other data. The vehicle can be configured to identify objects in the environment based on radar, audio, or other data.

[0093] In some implementations, the technology used by the vehicle to detect objects can be based on a set of known data. For example, data related to environmental objects can be stored in a memory located within the vehicle. The vehicle can compare the received data with the stored data to determine objects. In other implementations, the vehicle can be configured to determine objects based on the context of the data. For example, street signs associated with construction are typically orange. Therefore, the vehicle can be configured to detect orange objects located near the side of the road as construction-related street signs. Furthermore, when the vehicle's processing system detects objects in the captured data, it can also calculate a confidence level for each object.

[0094] Furthermore, the vehicle may also have a confidence threshold. The confidence threshold can vary depending on the type of object being detected. For example, for objects that may require a rapid response from the vehicle, such as brake lights on another vehicle, the confidence threshold might be lower. However, in other implementations, the confidence threshold can be the same for all detected objects. When the confidence associated with a detected object is greater than the confidence threshold, the vehicle can assume that the object has been correctly identified and responsively adjust the vehicle's control based on that assumption.

[0095] The vehicle's actions may change when the confidence level associated with the detected object is less than a confidence threshold. In some implementations, the vehicle may react as if the detected object were present, even with a low confidence level. In other implementations, the vehicle may react as if the detected object were not present.

[0096] When a vehicle detects objects in its environment, it can also calculate a confidence level associated with a particular detected object. Depending on the implementation, the confidence level can be calculated in various ways. In one example, when detecting objects in the environment, the vehicle can compare environmental data with predetermined data relating to known objects. The closer the match between the environmental data and the predetermined data, the higher the confidence level. In other implementations, the vehicle can use mathematical analysis of the environmental data to determine the confidence level associated with an object.

[0097] In response to determining that an object has a detection confidence level below a threshold, the vehicle may transmit a request for remote assistance in identifying the object to a remote computing system. As mentioned above, the remote computing system can take various forms. For example, the remote computing system may be a computing device separate from and within the vehicle, but which a human operator can use to interact with the vehicle's passengers or driver, such as a touchscreen interface for displaying remote assistance information. Additionally or alternatively, as another example, the remote computing system may be a remote computer terminal or other device located at a location not near the vehicle.

[0098] Requests for remote assistance may include environmental data containing the object, such as image data, audio data, etc. The vehicle may transmit the environmental data to the remote computing system via a network (e.g., network 304), and in some embodiments, via a server (e.g., server computing system 306). The human operator of the remote computing system can then use the environmental data as the basis for responding to the request.

[0099] In some implementations, when an object is detected as having a confidence level below a confidence threshold, the object can be given preliminary identification, and the vehicle can be configured to adjust its operation in response to the preliminary identification. Such adjustments can take the form of stopping the vehicle, switching the vehicle to human control mode, changing the vehicle's speed (e.g., rate and / or direction), and other possible adjustments.

[0100] In other implementations, even if the vehicle detects an object with a confidence level that meets or exceeds a threshold, the vehicle may operate based on the detected object (e.g., stop if the object is identified as a stop flag with high confidence), but it may also be configured to request remote assistance while the vehicle is operating based on the detected object (or at a later time).

[0101] Figure 4 This is a simplified block diagram depicting the components of an example system 400 for monitoring and evaluating a radome. An autonomous vehicle may include one or more systems 400. For example, the vehicle may include a system (e.g., system 400) mounted on top of the vehicle, and another system may be located at the front of the vehicle. In other examples, various systems may be located at various different positions throughout the vehicle.

[0102] System 400 may include a fluid source 410, an air source or blower (e.g., a jet system) 420, and a radar system 430. The radar system 430 may correspond to... Figure 1 The radar system or unit 126. The radar system 430 can be operated to repeatedly (e.g., periodically) scan the surrounding environment and generate radar data 432 (e.g., location data). In this way, the radar system 430 can be used to dynamically estimate the location of reflective features in the environment. In some examples, autonomous vehicles (e.g., those combined with the above) Figures 1-2 The control system of the autonomous vehicle (100, 200) discussed can use radar data 432 to make navigation decisions. For example, radar data 432 can be refreshed at a frequency sufficient to provide information useful for the real-time navigation and / or obstacle avoidance of the autonomous vehicle.

[0103] like Figure 4 As shown, radar system 430 includes an radome or cover 434 and internal radar components 436. The radome 434 can have any suitable shape and can be configured to house one or more internal radar components 436 of radar system 430. In some examples, the radome 434 may be a dome-shaped cover. The radome 434 can be made of any suitable material to allow radar signals to pass through, such as plastics, glass, polycarbonate, polystyrene, acrylic, polyester, etc. In some examples, the radome 434 may be formed of a light-filtering material that is at least partially transparent to the wavelength of the radar signal.

[0104] To mitigate or help prevent the accumulation of moisture, rain, snow, water, and / or other substances on the outer surface of the radome, the outer surface of the radome 434 may be coated with a hydrophobic or superhydrophobic coating or film. For example, the outer surface of the radome may have a hydrophobic or superhydrophobic coating or film that reduces or minimizes the amount of material or substance (e.g., rain, dirt, water, etc.) that may accumulate on the radome 434. In some embodiments, the outer surface of the radome may be curved to further facilitate the outflow of water and / or snow. Other configurations of the radome 434 are also possible.

[0105] The internal radar component 436 of the radar system 430 can be located within a radome 434 and can transmit and receive one or more radar signals through the radome 434. The internal radar component 436 may include a receiver 438 configured to receive signals from a receiving antenna 440 and a transmitter 442 configured to transmit signals from a transmitting antenna 446. The receiver 438 and transmitter 442 can each be connected to a computing device 450, which provides commands and control instructions to both the transmitter 442 and the receiver 438.

[0106] The computing device 450 can send instructions to the transmitter 442 to cause radar signals to be transmitted from the transmitting antenna 446. The transmitter 442 may include a local oscillator, mixer, amplifier, etc., to create drive signals to operate the transmitting antenna 446 according to the instructions from the computing device 450. The transmitting antenna 446 can receive drive signals from the transmitter 442 and transmit radar signals or waves. The transmitted signal from the transmitting antenna 446 can be reflected back by surfaces in the environment and detected by the receiving antenna 440. For example, when it comes into contact with an object or surface in the environment, the transmitted radar signal may scatter in multiple directions, some of which penetrate into various surfaces, while others are reflected from the surface and return towards the receiving antenna 440 of the radar system 430.

[0107] The reflected signal received at receiving antenna 440 can be provided to receiver 438. Receiver 438 can condition the signal for further processing by computing device 450. For example, receiver 438 may include one or more mixers, filters, amplifiers, samplers, downconverters, analog-to-digital converters, etc., to generate digital data or output. Based on the reflected signal received at receiving antenna 440, digital data can be provided to computing device 450.

[0108] like Figure 4As shown, a signal can be transmitted from a local oscillator 452 included in transmitter 442 to receiver 438. The transmitted signal can be transmitted radiation or a copy of the signal. Receiver 438 may include mixer 454 to mix the signal from local oscillator 452 (i.e., a copy of the transmitted signal) with the reflected signal or radiation received via receiving antenna 440. The output of mixer 454 can then indicate the relative frequency shift of the reflected signal or radiation, such as a frequency shift due to the Doppler effect in the reflected signal. Thus, local oscillator 452 can be used as a reference signal to compare with the received reflected signal, thereby making radar system 430 sensitive to reflected signals from objects moving relative to radar system 430. The local oscillator signal sent back to mixer 454 in receiver 438 can then be used as a reference signal to compensate for time-varying frequency patterns.

[0109] In some examples, one or both of antennas 440, 446 may be directional antennas that scan across a scanning area. For example, one or both of antennas 440, 446 may scan across a scanning area with an azimuth span. Information indicating the orientation of one or both antennas can then be used to determine the direction toward any detected reflection feature. Thus, a map of reflection features around radar system 430 can be constructed by combining range information (based on the time of frequency offset between transmitted and received signals) and direction information (based on the orientation of transmitting and / or receiving antennas 440, 446).

[0110] The computing device 450 of system 400 can process the received reflected radar signals to generate radar data 432. In some examples, radar data 432 may include two-dimensional (2D) and / or three-dimensional (3D) measurements representing aspects of the environment, such as the location, orientation, and movement (including non-movement) of nearby objects and other surfaces in the surrounding environment. Furthermore, radar data 432 may indicate the estimated location of reflective features. Radar data 432 may be output by computing device 410.

[0111] The computing device 450 of system 400 can monitor and evaluate the transmittance of the radome 434 of radar system 430 to ensure the accurate and reliable performance of radar system 430. For example, computing device 450 can be configured to effectively and accurately monitor and / or evaluate the transmission properties or characteristics of radome 434 to detect the accumulation of substances or materials (e.g., water droplets, precipitation, etc.) on radome 434. Computing device 450 can receive radar data 432 over multiple time intervals (e.g., radar return) and compile radar data 432 over multiple intervals to evaluate the performance of radar system. In some cases, one or more remote computing devices or vehicle computing devices can assist in monitoring and evaluating radar system 430.

[0112] The computing device 450 of system 400 may include one or more electronic components and / or elements arranged to facilitate certain operations of system 400. For example, computing device 450 may include one or more general-purpose processors, one or more special-purpose processors, servo systems, and / or other types of computing devices or controllers. Additionally or alternatively, in some examples, computing device 450 may include circuitry wired to perform one or more of the operations described herein. For example, computing device 450 may include one or more pulse circuits that provide pulse timing signals for triggering transmitter 442 to transmit pulses or other signals.

[0113] The computing device 450 may also include a memory or data storage device (not shown) for storing program instructions executable by the computing device 450 to cause the system 400 to perform the various operations described herein. The data storage device may optionally be integrated wholly or partially with the computing device 450. The data storage device may include one or more volatile and / or one or more non-volatile storage components, such as optical, magnetic, and / or organic storage devices. Furthermore, the computing device 450 may communicate with external computing devices, controllers, etc., to facilitate the transmission of control signals and / or data between the external computing devices and various components of the system 400.

[0114] The computing device 450 of system 400 can analyze radar data provided by receiver 438 to estimate the range of radio reflection characteristics as the cause of reflected radar signals detected by receiving antenna 440. The computing device 450 can, for example, determine the time delay between the transmitted radiation or signal from transmitting antenna 446 and the corresponding reflected radiation or signal received at receiving antenna 440. The determined time delay can then be used to determine the range of radio reflection characteristics based on measured time of flight. Additionally or alternatively, radar system 430 can operate in frequency modulated continuous wave (FMCW) mode, wherein transmitter 440 causes transmitting antenna 446 to transmit a signal with a time-varying frequency. For example, the transmitted signal may have a frequency that changes over time according to a frequency sawtooth pattern. When the time-varying frequency pattern of the transmitted signal is well characterized, the frequency difference between the received reflected signal and the transmitted signal can be mapped to the corresponding time delay between transmission and reception.

[0115] In some examples, computing device 450 can receive radar data during vehicle operation and can be configured to determine or identify one or more objects or targets in the environment based on the radar data. For example, signs, vehicles, trees, buildings, walls, landmarks, parts of vehicles, and / or other objects can be identified as targets. In some examples, computing device 450 can determine static objects (e.g., trees, street signs, lampposts, parts of vehicles, etc.) as targets within the radar system's field of view. Once an object or target is identified, its radar reflection can be determined based on the received radar signals.

[0116] In some cases, computing device 450 may be configured to determine that a detected object satisfies a set of conditions. For example, radar data indicating a detected target or object (e.g., a set of peaks in the radar data) may be required to satisfy one or more conditions, such as the radar data exceeding a specific signal-to-noise ratio (SNR) threshold and / or meeting a range threshold (e.g., the target's minimum or maximum distance). In some examples, computing device 450 may select portions of the radar data (e.g., peaks), each of which likely represents a single target or object (e.g., a vehicle or a portion thereof, a street sign, or another large and / or metallic object) associated with a high radar cross-section (RCS) that can more accurately identify one or more targets.

[0117] Once an object or target in the environment is identified by the computing device 450, the computing device 450 can direct a radar signal toward the object. The computing device 450 can receive data representing reflected radar signals of the transmitted radar signal and determine or measure one or more parameters of the reflected radar signal. The computing device can determine parameters for each of a plurality of reflected radar signals. One or more parameters can be determined at the start of a vehicle mission, before entering wet conditions, and / or after the end of a vehicle mission. For example, the computing device 450 can determine a first or baseline parameter associated with a first reflected radar signal of the transmitted radar signal at the start of a mission. In some examples, the computing device 450 can determine an average of the parameters associated with a plurality of reflected radar signals. In other examples, the computing device 450 can determine the parameters associated with a plurality of reflected radar signals for a new radome before any degradation or damage to the outer surface of the radome.

[0118] Once the radar system 430 receives the reflected signal, the computing device 450 can cause fluid to be applied to the radome 434 of the radar system 430. For example, a fluid source can be operated to apply fluid to the radome 434, as further described below. After the fluid is applied, the computing device 450 can cause the radar signal to be transmitted toward the object. In some examples, the radar signal can be transmitted after a predetermined time and has substantially the same or different intervals between the transmitted signals. The computing device 450 can receive data representing the reflected signal of the transmitted radar signal at a specific time and determine or measure one or more parameters of the reflected signal. In some examples, the computing device 450 can determine a second parameter associated with a second reflected radar signal of the transmitted radar signal. In other examples, the computing device 450 can determine an average value of parameters associated with multiple or a series of reflected radar signals.

[0119] The computing device 450 can compare one or more baseline parameters associated with the reflected radar signal with one or more parameters of a subsequent reflected signal received after the application of fluid. The comparison can be used to determine the transmittance of the radome of the radar system 430 and whether the radar system 430 is providing accurate radar results. For example, when the transmission characteristics of the radar system's radome fail to meet or exceed a threshold level (e.g., a power or loss threshold) based on the parameters of the reflected radar signal, the radar system or computing device can determine how to respond based on that difference.

[0120] In some examples, a first parameter of the first reflected radar signal can be compared with a second parameter of the second reflected radar signal. The parameters of the first and second reflected radar signals can each include power characteristics (e.g., maximum power level, average power level, spectral power density, etc.), radar bandwidth, radar duration, signal strength, amplitude, and / or phase. For example, the power level of the first reflected radar signal can be compared with the power level of the second reflected radar signal. In some examples, the computing device 450 can compare one or more parameters (or the average of the parameters) associated with a plurality of first reflected radar signals received before fluid application with the average of the parameters associated with a plurality of reflected radar signals received after fluid is applied to the radome. In other examples, the computing device 450 can compare the parameters associated with the reflected radar signals with each of a series of parameters associated with a plurality of reflected radar signals received after fluid is applied to the radome. Therefore, the computing device 450 can determine the drainage rate of the radome (e.g., how quickly water is cleared from the outer surface of the radome).

[0121] In some examples, computing device 450 can determine differences (e.g., power or loss thresholds) between reflected radar signals. These differences can be compared to predetermined specification levels or limiting thresholds, such as those of a type of radome. In some cases, the comparison can indicate damage or degradation of the radome's transmittance due to accumulated materials or substances (e.g., moisture, water droplets, etc.) on the radome. When the differences between parameters of the reflected radar signals (e.g., power levels) meet a threshold, computing device 454 can be configured to provide notification or alerts to technicians or operators of the computing device or vehicle investigating the performance of the radar system, such as alerts indicating that radar signals passing through radome 434 have degraded to an undesirable level, that the radome's transmittance or condition has degraded, that the radar system's performance may potentially degrade, and / or that the radar system is performing poorly, and that the radar radome may require repair or replacement.

[0122] In some examples, the computing device can provide alerts indicating that the radome requires cleaning and / or initiate automated processes to help remove material from the radome. For example, the computing device or system can activate cleaning mechanisms (e.g., liquid splashing, high-pressure gas hoses, windshield wipers, etc.) to attempt to clean the radome. Furthermore, the system may include heating options, compressed air blowing devices, fans, and / or windshield wipers that can be used to assist in material removal. Additionally, the computing device may include information about whether the radome may need to be replaced, repaired, and / or secured. Therefore, the radome can be serviced (e.g., cleaned, replaced, repaired, secured, etc.) and / or replaced before the radar system and vehicle are put back into operation. This can increase the reliability of the radar unit and improve the cost-effectiveness of radar operation and maintenance.

[0123] A fluid source or device 410 of system 400 may be configured to apply fluid or liquid to the radome 434 of radar system 430. For example, fluid source 410 may include a splasher configured to apply or spray fluid onto radome 434. Fluid source 410 may also be used to facilitate cleaning of the radome or components of radar system 430. For example, fluid may be applied to the radome to attempt to dissolve or remove material or substance (e.g., water droplets, moisture, dirt, etc.) placed on the surface of radome 434. In some examples, a wiper (e.g., similar to a windshield wiper) may be configured to attempt to remove substance or material from the surface of radome 434. Other examples are possible.

[0124] An air source (e.g., a jet device) 420 of system 400 may be configured to facilitate the drying and / or cleaning of the radome 434 of radar system 430. In some examples, air source 420 may include a fan or blower and / or a heater. Furthermore, air source 420 may include a high-pressure pump configured to apply air or gas to the surface of radome 434 to dry radome 434. For example, air or gas may be applied to attempt to dissolve or remove materials and / or substances (e.g., water droplets, dirt, dust, etc.) accumulated on the surface of radome 434.

[0125] Note that this arrangement of system 400 is described for illustrative purposes only and is not intended to be limiting. As mentioned above, in some examples, system 400 may alternatively be implemented with fewer or more components than shown.

[0126] Figure 5 This is a flowchart of an example method 500 for an operating system according to one or more embodiments. As depicted in one or more of blocks 502-516, method 500 may include one or more operations, functions, or actions, each of which may be performed by any means, system, or device shown in the preceding figures, as well as other possible systems.

[0127] Those skilled in the art will understand that the flowcharts described herein exemplify the functionality and operation of certain embodiments of this disclosure. In this regard, each block of the flowchart may represent a module, a portion or segment of program code, which includes one or more instructions executable by one or more processors 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 storage devices including disks or hard disk drives.

[0128] Furthermore, each block may represent a circuit that is wired to perform a specific logical function in the process. Alternative implementations are included within the scope of the exemplary embodiments of this application, wherein, as those skilled in the art will understand, depending on the functions involved, the functions may not be performed in the order shown or discussed, including substantially simultaneously or in reverse order.

[0129] Method 500 may be performed wholly or partially by a computing device, such as a device similar to or the same as computing device 450 described above. In some embodiments, the computing device may be part of the radar system or vehicle-mounted, such as a central computing device. In other embodiments, one or more operations of method 500 may be performed by a computing device (e.g., remote computing device 304 or server 306) located remotely to the vehicle and wirelessly coupled to it. For example, the server may perform each of blocks 502-516 and adjust the operation of the radar system by sending instructions to the vehicle's central control system, which, upon receipt, causes the central control system to control the vehicle's radar system to adjust its operation. Furthermore, some examples involve the use of multiple computing devices, such as a combination of computing devices and an FPGA associated with the radar system.

[0130] In box 502, the method relates to receiving radar data. For example, the system may include a radar system or unit configured to receive radar signals reflected back to the radar system from one or more surfaces in the environment. For example, the system may transmit radar signals that can be reflected by various objects in the surrounding environment and subsequently received by an antenna of the radar system. In some examples, the antenna may include at least one receiving antenna that receives signals or electromagnetic energy from the environment for subsequent processing. In some examples, at least one receiving antenna may correspond to a first receiving channel, which may be a physical channel of the radar unit. The physical channel may be a single antenna or a single antenna array of the radar system. In other examples, at least one receiving antenna may include one or more uniform linear arrays (ULAs). Other types of antennas may also be used.

[0131] Once at least one receiving antenna receives the reflected radar signal, the system can estimate the location of objects in the environment by analyzing the returned signals backscattered or reflected from objects and other surfaces in the environment. The system can process the received radar reflections to generate two-dimensional (2D) and / or three-dimensional (3D) measurements representing various aspects of the environment, such as the location, orientation, and movement (including immobility) of nearby objects and other surfaces in the surrounding environment. The system can estimate the range of objects by transmitting short pulses and / or coded waveforms, such as pulse Doppler radar signals.

[0132] The system may include one or more computing devices to determine or identify objects or targets in an environment based on radar data. For example, signs, vehicles, trees, buildings, walls, landmarks, parts of vehicles, and / or other objects can be identified as targets based on radar data. Upon initial detection of a potential object, an FPGA or another device may filter the radar data to ensure that the detection corresponds to an object in the vehicle environment. In some examples, the system may identify static objects (e.g., trees, street signs, lampposts, parts of vehicles, etc.) as targets within the radar system's field of view. Once an object or target is identified, its radar reflection can be determined based on the received radar signal. The computing device may select portions of the radar data (e.g., peaks), each of which likely represents a single target object (e.g., a car, truck, street sign, or another large and / or metallic object) associated with a high radar cross-section (RCS) that can more accurately identify the object or target.

[0133] In some cases, the computing device can be configured to determine whether a detected object meets a set of conditions before performing an evaluation of the radome. For example, radar data indicating the detected object (e.g., a set of peaks in the radar data) may be required to meet one or more conditions, such as the radar data exceeding a specific signal-to-noise ratio (SNR) threshold and / or meeting or being within a range threshold. Furthermore, this set of conditions can be used to filter out object detections that are not very useful for determining the condition of the radome. In some examples, this set of conditions can be adjustable and predefined. Additionally, the set of conditions may include one or more conditions depending on the vehicle's current environment.

[0134] In block 504, method 500 may include transmitting a first radar signal toward an object. Once an object is identified in the environment, the radar system may transmit one or more initial radar signals toward that object. The radar system may transmit the radar signal at a certain frequency on a first channel of a plurality of channels of the radar system. In some examples, the system may include a radome that provides protection for components of the system. To monitor and / or evaluate the transmittance of the radome, the system may transmit radar signals toward objects in the environment through the radome and may receive one or more reflected radar signals through the radome.

[0135] At block 506, method 500 relates to receiving first radar data representing a first reflected radar signal, the first reflected radar signal including at least a portion of a first radar signal reflected from an object. After the system transmits an initial radar signal at block 504, the transmitted radar signal may be reflected by an object or target in the environment and subsequently received by at least one receiving antenna. For example, at least one receiving antenna of the system may be configured to receive radar signals reflected back to the system by one or more objects or targets in the environment. The first reflected radar signal may include at least a portion of the transmitted radar signal reflected from an object. The first reflected signal may be transformed into first radar data representing the first reflected radar signal. For example, the system may receive radar data representing the first reflected radar signal, the first reflected radar signal including at least a portion of the first radar signal reflected from an object.

[0136] In block 508, method 500 may involve determining a first parameter associated with a first reflected radar signal, at least based on first radar data. Once the system receives a reflected signal of the transmitted radar signal, the system may determine or measure one or more parameters of the reflected radar signal. In some examples, the system receives the first reflected radar signal and determines the first parameter associated with the first reflected radar signal. The parameter associated with the first reflected signal may include power characteristics (e.g., maximum power level, average power level, spectral power density, etc.), radar bandwidth, radar duration, signal strength, amplitude, or phase. For example, the system may determine the power level associated with the first reflected radar signal.

[0137] In block 510, method 500 may involve transmitting a second radar signal toward an object after fluid is applied to the radome of the system. The system may transmit the radar signal on the same channel as the initial radar signal. Therefore, apart from the effects caused by the radome, the same or substantially similar signals should be received by at least one receiving antenna, and the reflected radar signals of that channel should be substantially the same. Thus, the system may be able to determine the transmittance of the radome based on the difference between the two reflected signals, as further described below.

[0138] Once the system receives the reflected signal of the transmitted radar signal, the system can apply fluid or liquid to the radome. For example, a fluid handling device can be operated to apply fluid or liquid to the radome. After the fluid is applied to the radome, the system can transmit the radar signal toward the object. The transmission of the radar signal can be performed on the same frequency and / or the same channel as the initial radar signal transmitted in block 504. Therefore, in some examples, block 510 of method 500 can be performed after a predetermined time period once the fluid is applied to the radome of the radar system. In some cases, the predetermined time period can be very short, on the order of tens of milliseconds. In some cases, block 510 can be performed immediately after the application of fluid (e.g., within a few milliseconds or seconds).

[0139] In block 512, the method may involve receiving second radar data representing a second reflected radar signal, the second reflected radar signal including at least a portion of a second radar signal reflected from an object. After the system transmits a radar signal in block 510, the transmitted radar signal may be reflected by an object or target in the surrounding environment and subsequently received by at least one receiving antenna. For example, at least one receiving antenna of the system may be configured to receive radar signals reflected back to the system by an object or target in the environment. In some examples, the system may receive a second reflected radar signal. The second reflected radar signal may include at least a portion of a radar signal reflected from an object or target. The second reflected signal may be transformed into second radar data representing the second reflected radar signal. For example, the system may receive second radar data representing a second reflected radar signal, the second reflected radar signal including at least a portion of a second radar signal reflected from an object.

[0140] In box 514, the method may include determining a second parameter associated with the second reflective radar signal based at least on second reflective radar data. After receiving the reflected signal of the transmitted radar signal, the system may determine or measure one or more parameters of the reflective radar signal. In some examples, the system receives the second reflective radar signal and determines the second parameter associated with the second reflective radar signal. The parameters of the second reflective radar signal may include power characteristics (e.g., maximum power level, average power level, power spectrum, etc.), radar bandwidth, radar duration, signal strength, amplitude, and / or phase. For example, the system may determine the power level associated with the second reflective radar signal.

[0141] In box 516, the method may involve comparing a first parameter with a second parameter. The system may be able to determine the condition or transmittance of the radome by comparing reflected radar signals. After determining the parameters associated with each reflected radar signal, the system may compare the parameters of the reflected signals. For example, the system may compare an initial or baseline parameter of a first reflected radar signal with one or more parameters of subsequent reflected radar signals received after fluid has been applied to the radome. In some examples, a first parameter of the first reflected radar signal may be compared with a second parameter of a second reflected radar signal. The first and second parameters of the reflected radar signals may each include power characteristics (e.g., maximum power level, average power level, etc.), radar bandwidth, radar duration, signal strength, amplitude, and / or phase. For example, the power level of the first reflected radar signal may be compared with the power level of the second reflected radar signal. In other examples, the system may compare the initial power level of the first reflected radar signal with the power levels of a series of subsequent reflected radar signals received after fluid has been applied to the radome.

[0142] Comparison of parameters reflecting radar signals can be used to determine the transmittance or condition of the radar system's radome, and whether the radar system is providing accurate radar results. For example, the comparison can indicate a loss of radome transmittance due to damage or degradation (e.g., radome loss). In some examples, damage or degradation of the radome may lead to the accumulation of undesirable materials or substances (e.g., moisture, water droplets, etc.) on the radome that reduce its transmittance.

[0143] Furthermore, the radar system can use this comparison to determine differences between parameters of the reflected radar signals. In some examples, the radar system can determine a power difference (e.g., transmission loss) between the power level associated with a first reflected radar signal and the power level associated with a second reflected signal. This difference can be used to detect a reduction in radome transmittance, damage or degradation of the radome, and / or the accumulation of materials or substances (e.g., moisture, water droplets, etc.) on the radome. For example, the formation and / or accumulation of water droplets or moisture on the radome of a radar element may lead to a reduction in the radome's transmittance. Therefore, the radar system can detect materials or substances (e.g., water droplets, moisture, etc.) on the radome based on this difference.

[0144] A radar system can compare differences between parameters of reflected radar signals to a threshold. This threshold can be a reference value associated with radar / radome specifications and / or system requirements for a specific type of radome. When differences between parameters (e.g., power levels) of different reflected radar signals meet or exceed a threshold level or difference (e.g., power or loss threshold), the radar system or computing device can determine how to respond based on that difference. For example, precipitation and / or the formation of water droplets on the radome of a radar element may cause the radome's transmittance to fall outside radar and / or radome specifications.

[0145] When the transmission characteristics of the radome fail to meet a threshold (e.g., reference values ​​for radar and / or radome specifications, pre-stored thresholds, etc.) based on differences between parameters of the reflected radar signal, the computing device can be configured to generate or provide notifications or alarms indicating an undesirable condition of the radome. For example, the radar system can provide alarms to the vehicle operator, computing device, or technician investigating the performance of the radar system, such as alarms indicating poor radar system performance and / or that the radar signal passing through the radome has degraded to an undesirable level. For instance, when the differences between parameters of the reflected radar signal (e.g., power level) meet a threshold difference, the computing device can be configured to provide notifications or alarms indicating the condition of the radome and / or that the performance of the radar system may potentially degrade and that the radome may require repair or replacement.

[0146] In some examples, the computing device can provide an alarm indicating that the radome requires cleaning and / or initiate an automated process to help remove material from the radome. For example, the computing device or vehicle system can activate cleaning mechanisms (e.g., liquid splashing, high-pressure gas hoses, windshield wipers, etc.) to attempt to clean the radome. Furthermore, the radome may include heating options, compressed air blowing devices, fans, and / or windshield wipers that can be used to assist in material removal. In other examples, an alarm can indicate that the radome's transmittance or condition has deteriorated to an undesirable level. As a result, the radome can be serviced (e.g., cleaned, removed, replaced, repaired, secured, recalibrated, etc.) and / or replaced before the radar system and vehicle are put back into operation. Therefore, the reliability of the radar unit can be increased, and the cost-effectiveness of radar operation and maintenance can be improved.

[0147] The transmittance or condition of the system's radome can be monitored and evaluated based on various standard repeating frames 502-516.

[0148] Figure 6 This is a schematic diagram of a computer program according to an example implementation. In some implementations, the disclosed method can be implemented as computer program instructions encoded in a machine-readable format on a non-transitory computer-readable storage medium or on other non-transitory media or articles of art.

[0149] In an example implementation, a computer program product 600 is provided using a signal bearer medium 602, which may include one or more programming instructions 604 that, when executed by one or more processors, can provide the above-mentioned... Figures 1-6 The described function or part of a function. In some examples, signal-bearing medium 602 may encompass non-transitory computer-readable medium 606, such as, but not limited to, hard disk drives, CDs, DVDs, digital magnetic tapes, memory, components for remote (e.g., in the cloud) storage, etc. In some embodiments, signal-bearing medium 602 may encompass communication media (e.g., optical fibers, waveguides, wired communication links), computer-recordable medium 608, such as, but not limited to, memory, read / write (R / W) CDs, R / W DVDs, etc. In some embodiments, signal-bearing medium 602 may encompass communication medium 610, such as, but not limited to, digital and / or analog wireless communication links, etc. Similarly, signal-bearing medium 602 may correspond to a remote storage device (e.g., the cloud). The computing system may share information with the cloud, including sending or receiving information. For example, the computing system may receive additional information from the cloud to enhance information obtained from a sensor or another entity. Therefore, for example, signal-bearing medium 602 may be communicated by communication medium 610 in the form of a wireless communication medium.

[0150] One or more programming instructions 604 can be, for example, computer-executable and / or logically implemented instructions. In some examples, such as Figure 1 Computer system 112 or Figure 3 The computing devices of the remote computing system 302 and possibly the server computing system can be configured to provide various operations, functions or actions in response to programming instructions 604 conveyed to the computer system 112 by one or more of the computer-readable medium 606, the computer-recordable medium 608 and / or the communication medium 610.

[0151] Non-transitory computer-readable media can also be distributed across multiple data storage elements and / or the cloud (e.g., remotely), which may be geographically dispersed. The computing device executing some or all of the stored instructions can be a vehicle, such as... Figure 2 The vehicle 200 is illustrated in the example. Alternatively, the computing device that executes some or all of the stored instructions can be another computing device, such as a server.

[0152] The above detailed description, with reference to the accompanying drawings, illustrates various features and operations of the disclosed systems, apparatus, and methods. While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent. The various aspects and embodiments disclosed herein are for illustrative purposes and not intended to be limiting; the true scope is indicated by the appended claims.

[0153] The above detailed description, with reference to the accompanying drawings, illustrates various features and functions of the disclosed systems, devices, and methods. While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent. The various aspects and embodiments disclosed herein are for illustrative purposes and are not intended to be limiting; the true scope is indicated by the appended claims. Therefore, those skilled in the art will understand that other arrangements and other elements (e.g., machines, devices, interfaces, functions, sequences, and groups of functions, etc.) may be used instead, and some elements may be omitted entirely depending on the desired result. 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 location.

Claims

1. An apparatus for determining the transmission characteristics of an radome, comprising: Memory, used to store radar data; The computing device is configured as follows: To direct the first radar signal toward the target; Receive first radar data representing a first reflected radar signal, the first reflected radar signal including at least a portion of a first radar signal reflected from an object, wherein the transmitted first radar signal and the received first reflected radar signal pass through the radome; The first parameter associated with the first reflective radar signal is determined based at least on the first radar data; This causes the fluid to be sprayed onto the radome; After the fluid is sprayed onto the radome, the second radar signal is transmitted toward the target; Receive second radar data representing a second reflected radar signal, the second reflected radar signal including at least a portion of a second radar signal reflected from an object, wherein the transmitted second radar signal and the received second reflected radar signal pass through the radome; The second parameter associated with the second reflective radar signal is determined based at least on the second radar data; Compare the first parameter with the second parameter; as well as The transmission characteristics of the radome are determined by comparing the first parameter and the second parameter.

2. The apparatus according to claim 1, wherein, The radome is formed of one or more plastic materials.

3. The apparatus according to claim 1, wherein, The outer surface of the radome includes a hydrophobic material or coating.

4. The apparatus according to claim 1 further includes an antenna for transmitting radar signals and receiving reflected radar signals, wherein, The antenna is covered by an antenna radome.

5. The apparatus according to claim 4, wherein, The antenna includes at least one transmitting antenna and at least one receiving antenna configured to receive reflected radar signals through a radome.

6. The apparatus according to claim 1, wherein, Each of the first and second radar signals is transmitted at a first frequency or on a first channel.

7. The apparatus of claim 1 further includes a transmitter configured to generate radar signals and a receiver configured to generate first radar data.

8. The apparatus according to claim 1, wherein, The computing device is also configured to determine the difference between the first parameter and the second parameter.

9. The apparatus according to claim 8, wherein, The computing device is also configured to determine the transmission loss of the radome based on the difference.

10. The apparatus according to claim 8, wherein, The computing device is also configured to compare the difference between the first parameter and the second parameter with a threshold.

11. The apparatus according to claim 10, wherein, The threshold includes a predetermined transmission loss value.

12. The apparatus according to claim 10, wherein, The computing device is also configured to provide notifications based on a threshold being met by the difference between the first parameter and the second parameter.

13. The apparatus according to claim 1, wherein, The first parameter of the first reflected radar signal includes power characteristics, magnitude, amplitude, or phase, and the second parameter of the second reflected radar signal includes power characteristics, magnitude, amplitude, or phase.

14. The apparatus according to claim 1, wherein, The computing device is also configured to receive initial radar data and determine objects in the environment based on the initial radar data, wherein the objects include targets.

15. The apparatus according to claim 1, wherein, The computing device is also configured to apply air to the radome after comparing the first parameter with the second parameter.

16. The apparatus according to claim 1, wherein, The device is coupled to the vehicle.

17. A method for determining the transmission characteristics of an radome, comprising: To direct the first radar signal toward the target; At the computing device, first radar data representing a first reflected radar signal is received, the first reflected radar signal including at least a portion of a first radar signal reflected from an object, wherein the transmitted first radar signal and the received first reflected radar signal pass through the radome. At the computing device, a first parameter associated with the first reflected radar signal is determined based at least on the first radar data; This causes the fluid to be sprayed onto the radome; After the fluid is sprayed onto the radome, the second radar signal is transmitted toward the target; At the computing device, second radar data representing a second reflected radar signal is received, the second reflected radar signal including at least a portion of a second radar signal reflected from an object, wherein the transmitted second radar signal and the received second reflected radar signal pass through the radome; At the computing device, a second parameter associated with the second reflective radar signal is determined, at least based on the second radar data. At the computing device, the first parameter is compared with the second parameter; as well as At the computing device, the transmission characteristics of the radome are determined based on a comparison of the first parameter and the second parameter.

18. A non-transitory computer-readable medium configured to store instructions that, when executed by a computing system including one or more processors, cause the computing system to perform operations, the operations including: The first radar signal is transmitted toward the target through the radome; Receive first radar data representing a first reflected radar signal, the first reflected radar signal including at least a portion of a first radar signal reflected from an object, wherein the transmitted first radar signal and the received first reflected radar signal pass through the radome; The first parameter associated with the first reflective radar signal is determined based at least on the first radar data; This causes the fluid to be sprayed onto the radome; After the fluid is sprayed onto the radome, the second radar signal is transmitted through the radome toward the target. Receive second radar data representing a second reflected radar signal, the second reflected radar signal including at least a portion of a second radar signal reflected from an object, wherein the transmitted second radar signal and the received second reflected radar signal pass through the radome; The second parameter associated with the second reflective radar signal is determined based at least on the second radar data; Compare the first parameter with the second parameter; as well as The transmission characteristics of the radome are determined by comparing the first parameter and the second parameter.

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