Object detection and ranging using one-dimensional radar arrays

Abstract

In some aspects, a system can receive, from a first one-dimensional radar array, first information based at least in part on first reflections associated with an azimuth angle plane. The system can also receive, from a second one-dimensional radar array, second information based at least in part on second reflections associated with an elevation angle plane. Thus, the system can detect an object based at least in part on the first information, and can determine a height associated with the object based at least in part on the second information. Numerous other aspects are described.

Description

[0001] Cross-references to related applications

[0002] This patent application claims priority to U.S. Nonprovisional Patent Application No. 17 / 337,614, filed June 3, 2021, entitled “OBJECT DETECTION AND RANGING USING ONE-DIMENSIONALRADAR ARRAYS,” which is hereby expressly incorporated herein by reference. Technical Field

[0003] This disclosure generally relates to radar, for example, object detection and ranging using a one-dimensional radar array. Background Technology

[0004] Mobile stations, such as autonomous vehicles, drones, and other automated or semi-automated transportation equipment, typically use radar (also known as "radio detection and ranging") sensors to detect objects in their vicinity. Typically, mobile stations use directional antenna arrays to perform beamforming (analog or digital) and scan the field of view (also known as "FoV") associated with the mobile station. Therefore, the mobile station can process the signals received from the scan to resolve the position (e.g., along the azimuth plane), extent, and height of objects within the FoV. Summary of the Invention

[0005] In some aspects, a system for object detection includes a first one-dimensional radar array comprising a plurality of first antenna elements arranged along a first axis in an azimuth plane and configured to transmit a first signal and receive a first reflection at least partially based on the first signal; a second one-dimensional radar array comprising a plurality of second antenna elements arranged along a second axis in an elevation plane and configured to transmit a second signal and receive a second reflection at least partially based on the second signal; and at least one processor configured to detect an object at least partially based on first information output from the first one-dimensional radar array and to determine the height associated with the object at least partially based on second information output from the second one-dimensional radar array.

[0006] In some aspects, a system for object detection includes at least one processor configured to receive first information from a first one-dimensional radar array based at least in part on a first reflection associated with an azimuth plane; receive second information from a second one-dimensional radar array based at least in part on a second reflection associated with a pitch plane; detect an object based at least in part on the first information; and determine the height associated with the object based at least in part on the second information.

[0007] In some aspects, a method for object detection includes receiving first information from a first one-dimensional radar array based at least in part on a first reflection associated with an azimuth plane; receiving second information from a second one-dimensional radar array based at least in part on a second reflection associated with a pitch plane; detecting an object based at least in part on the first information; and determining the height associated with the object based at least in part on the second information.

[0008] In some aspects, a non-transitory computer-readable medium storing a set of instructions for wireless communication includes one or more instructions that, when executed by one or more processors of an object detection system, cause the object detection system to receive, at least partially, first information based on a first reflection associated with an azimuth plane from a first one-dimensional radar array; receive, at least partially, second information based on a second reflection associated with a pitch plane from a second one-dimensional radar array; detect an object at least partially based on the first information; and determine, at least partially based on the second information, the height associated with the object.

[0009] In some aspects, an apparatus for wireless communication includes components for receiving first information from a first one-dimensional radar array based at least in part on a first reflection associated with an azimuth plane; components for receiving second information from a second one-dimensional radar array based at least in part on a second reflection associated with a pitch plane; components for detecting an object based at least in part on the first information; and components for determining the height associated with the object based at least in part on the second information.

[0010] The aspects generally include methods, apparatus, systems, computer program products, non-transitory computer-readable media, user equipment, user devices, wireless communication equipment, and / or processing systems as basically described with reference to the accompanying drawings and specifications.

[0011] The features and technical advantages of the examples according to this disclosure have been summarized quite extensively above to better understand the specific embodiments described below. Additional features and advantages will be described below. The disclosed concepts and specific examples can be readily used as the basis for modifying or designing other structures for achieving the same purpose of this disclosure. Such equivalent constructions do not depart from the scope of the appended claims. The features of the concepts disclosed herein, their organization and operation, and related advantages will be better understood from the following description when considered in conjunction with the accompanying drawings. Each drawing is provided for illustrative and descriptive purposes and is not intended to define limitations of the claims. Attached Figure Description

[0012] To enable a more detailed understanding of the foregoing features of this disclosure, reference can be made to various aspects (briefly outlined above), some of which are illustrated in the accompanying drawings. However, it should be noted that the drawings illustrate only certain typical aspects of this disclosure and should not be considered as limiting its scope, as the description may acknowledge other equally valid aspects. The same reference numerals in different drawings may denote the same or similar elements.

[0013] Figure 1 A schematic diagram illustrating an example environment in which a one-dimensional radar array as described herein can be implemented according to this disclosure.

[0014] Figure 2A To illustrate the provisions of this disclosure Figure 1 A schematic diagram of example components of one or more devices (such as autonomous vehicles).

[0015] Figure 2B To illustrate the provisions of this disclosure Figure 1 A schematic diagram of example components of one or more devices (such as radar).

[0016] Figure 3 A schematic diagram of an example one-dimensional radar array according to this disclosure is shown.

[0017] Figure 4 , Figure 5A and Figure 5B This is a schematic diagram illustrating an example of object detection and ranging using a one-dimensional radar array according to the present disclosure.

[0018] Figure 6 A flowchart illustrating an example process associated with object detection and ranging using a one-dimensional radar array according to this disclosure is provided. Detailed Implementation

[0019] The various aspects of this disclosure are described more fully below with reference to the accompanying drawings. However, this disclosure may be implemented in many different forms and should not be construed as limited to any particular structure or function presented throughout this disclosure. Rather, these aspects are provided to make this disclosure thorough and complete, and to fully convey the scope of this disclosure to those skilled in the art. Based on the teachings herein, those skilled in the art will understand that the scope of this disclosure is intended to cover any aspect of this disclosure disclosed herein, whether implemented independently of or in combination with any other aspect of this disclosure. For example, means or methods may be implemented or practiced by using any number of aspects set forth herein. Furthermore, the scope of this disclosure is intended to cover means or methods practiced using structures, functions, or structures and functions other than those set forth herein. It should be understood that any aspect of this disclosure may be embodied by one or more elements of the claims.

[0020] Autonomous vehicles (or semi-autonomous vehicles or other automated transportation equipment) must detect and respond to objects near the vehicle. For example, an autonomous vehicle should detect and respond to road signs (e.g., stop signs, yield signs, speed limit signs, etc.). An autonomous vehicle must also detect and respond to objects on the road or on other paths associated with the vehicle. For example, an autonomous vehicle should detect and avoid large obstacles (e.g., fallen rocks), stopped vehicles, pedestrians, and other objects in the vehicle's path.

[0021] To distinguish between objects on the road (e.g., rocks, vehicles, pedestrians) and objects near the vehicle but not on the road (e.g., signs and bridges), many autonomous vehicles use two-dimensional antenna arrays to scan the FoV associated with the vehicle. For example, an antenna array for a vehicle can perform beamforming (e.g., analog or digital) and scan the beam back and forth across the FoV to detect objects, determine the distance between the object and the vehicle, and estimate the object's height above the ground surface (e.g., the road the vehicle is traveling on). However, two-dimensional antenna arrays are expensive to manufacture, consume significant amounts of power (which is limited for autonomous vehicles, especially when the vehicle is electric and battery-powered), and result in high processing overhead for determining distance and height based on received signals.

[0022] Reducing the number of antenna elements associated with the elevation plane lowers the manufacturing cost, power consumption, and processing overhead associated with two-dimensional antenna arrays. However, this reduces the accuracy of altitude measurements, and accurate altitude measurements are required to ensure that vehicles do not attempt to pass under bridges or other structures with an associated clearance smaller than the vehicle's height. Furthermore, precise altitude measurements are needed to ensure that vehicles do not attempt to drive over rocks or other obstacles high enough to damage them.

[0023] Some embodiments described herein enable mobile stations, such as autonomous vehicles, to estimate the distance to detected objects in the azimuth plane using a first one-dimensional radar array and to estimate the height of detected objects using a second one-dimensional radar array. Compared to two-dimensional radar arrays, one-dimensional radar arrays can achieve higher accuracy with less power consumption and lower processing overhead, and are also less expensive to manufacture. Furthermore, the one-dimensional radar arrays can be sized such that the height of objects not within a threshold distance of the mobile station's path (e.g., billboards, trees, and other objects not on or near the road) is not measured. As a result, the mobile station saves power and processing resources while still determining the height of some objects (e.g., bridges, road signs, and other objects on or near the road) with sufficient accuracy to protect vehicles (e.g., preventing attempts to pass under bridges or other structures with associated clearance smaller than the vehicle's height, or attempts to drive over rocks or other obstacles high enough to damage the vehicle, etc.).

[0024] Figure 1 This is a schematic diagram of an example environment 100 in which the systems and / or methods described herein can be implemented. Figure 1 As shown, environment 100 may include multiple mobile stations, such as autonomous vehicles 110a and 110b. While the description herein focuses on autonomous vehicles, the description is equally applicable to other mobile stations, such as unmanned aerial vehicles or other automated or semi-automated transportation equipment. Autonomous vehicles 110a and 110b can communicate with each other and with controller 120. Controller 120 can communicate with network 130, enabling autonomous vehicles 110a and 110b to receive and send data to network 130 via controller 120. Additionally or alternatively, autonomous vehicles 110a and 110b can receive and send data directly to network 130.

[0025] Therefore, the devices in environment 100 can be connected via wired connections (e.g., controller 120 can be connected to network 130 via wired backhaul), wireless connections (e.g., autonomous vehicles 110a and 110b can be connected to controller 120 via an over-the-air (OTA) interface such as a Uu interface, autonomous vehicles 110a and 110b can be interconnected via an OTA interface such as a PC5 interface, etc.), or a combination of wired and wireless connections (e.g., controller 120 can be connected to network 130 via wireless backhaul in addition to or instead of wired backhaul).

[0026] Autonomous vehicle 110a and autonomous vehicle 110b may each include communication equipment and / or computing equipment. For example, autonomous vehicle 110a and autonomous vehicle 110b may each include wireless communication equipment, mobile phones, user equipment (UE), laptop computers, tablet computers, game consoles, wearable communication devices (e.g., smartwatches, smart glasses, head-mounted displays, or virtual reality headsets) or similar types of devices. Figure 1 As shown, autonomous vehicles 110a and 110b may each further include one or more sensors, such as radar 112a and radar 112b, respectively. Figure 1 As shown, radar 112a can transmit a signal reflected from one or more external objects (e.g., object 114a, which is another vehicle in Example 100). The reflected signal can be detected by radar 112a (e.g., when radar 112a uses at least one transceiver) and / or another receiving device (such as a separate antenna). Similarly, radar 112b can transmit a signal reflected from one or more external objects (e.g., object 114b, which is another vehicle in Example 100). The reflected signal can be detected by radar 112b (e.g., when radar 112b uses at least one transceiver) and / or another receiving device (such as a separate antenna). Therefore, autonomous vehicle 110a and autonomous vehicle 110b can use radar 112a and radar 112b respectively to detect and measure nearby objects. In other examples, autonomous vehicle 110a and / or autonomous vehicle 110b can use additional radars (e.g., two or more radars) and / or other sensors (e.g., one or more cameras and / or one or more infrared sensors, and other examples). In some implementations, autonomous vehicle 110a and / or autonomous vehicle 110b may implement systems and / or methods for object detection and ranging as described elsewhere herein.

[0027] Controller 120 may include one or more devices capable of communicating with autonomous vehicles 110a and 110b, such as a base station (BS) of a cellular network, a mobile terminal (MT) unit in an integrated access and backhaul (IAB) network, a distributed unit (DU) in an IAB network, a central unit (CU) in an IAB network, a wireless local area network (WLAN) access point (AP), a queuing control system (PCS), a roadside unit (RSU), and / or another autonomous vehicle control system, among other examples. Therefore, controller 120 may include one or more devices capable of receiving coordination and control signals from network 130 via backhaul. For example, controller 120 may be connected via network 130 to a telecommunications core network, such as a 5G Next Generation Core (NG Core), a Long Term Evolution (LTE) Evolution Packet Core (EPC), and / or another similar telecommunications core network. Additionally or alternatively, controller 120 may be connected via network 130 to a remote server associated with a fleet of autonomous vehicles including autonomous vehicles 110a and 110b. Controller 120 may provide communication coverage for a specific geographic area. In the standards issued by the 3rd Generation Partnership Project (3GPP), the term "cell" can refer to the coverage area of ​​a BS and / or the BS subsystem serving that coverage area, depending on the context in which the term is used.

[0028] Figure 1 The number and arrangement of devices and networks shown are provided as an example. In reality, with... Figure 1 Compared to what is shown, there may be additional equipment and / or networks, fewer equipment and / or networks, different equipment and / or networks, or different arrangements of equipment and / or networks. Furthermore, Figure 1 The two or more devices shown can be implemented within a single device, or Figure 1 The single device shown can be implemented as multiple distributed devices. Additionally or alternatively, the set of devices in environment 100 (e.g., one or more devices) can perform one or more functions described as being performed by another set of devices in environment 100.

[0029] Figure 2A This is a schematic diagram illustrating example components of device 200 according to the present disclosure. Device 200 may correspond to autonomous vehicle 110a and / or autonomous vehicle 110b. In some aspects, autonomous vehicle 110a and / or autonomous vehicle 110b may each include one or more devices 200 and / or one or more components of device 200. Figure 2A As shown, device 200 may include bus 205, processor 210, memory 215, storage component 220, input component 225, output component 230, communication interface 235, position sensor 240, antenna array 245, radar controller 250 and / or drive controller 255.

[0030] Bus 205 includes components that allow communication between components of device 200. Processor 210 is implemented in hardware or a combination of hardware and software. Processor 210 is a central processing unit (CPU), graphics processing unit (GPU), accelerated processing unit (APU), microprocessor, microcontroller, digital signal processor (DSP), field-programmable gate array (FPGA), application-specific integrated circuit (ASIC), or other type of processing component. In some aspects, processor 210 includes one or more processors that can be programmed to perform functions. Memory 215 includes random access memory (RAM), read-only memory (ROM), and / or another type of dynamic or static storage device (e.g., flash memory, magnetic storage, and / or optical storage) that stores information and / or instructions for use by processor 210.

[0031] Storage component 220 stores information and / or software associated with the operation and use of device 200. For example, storage component 220 may include a solid-state drive (SSD), flash memory, RAM, ROM, and / or another type of non-transitory computer-readable medium.

[0032] Input component 225 includes components that allow device 200 to receive information, such as via user input (e.g., touchscreen display, keyboard, keypad, mouse, button, switch, and / or microphone). Output component 230 includes components that provide output information from device 200 (e.g., display, speaker, haptic feedback component, and / or audio or visual indicator).

[0033] Communication interface 235 includes transceiver-like components (e.g., a transceiver and / or separate receiver and transmitter) enabling device 200 to communicate with other devices, such as via a wired connection, a wireless connection, or a combination of wired and wireless connections. Communication interface 235 may allow device 200 to receive information from and / or provide information to another device. For example, communication interface 235 may include an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency interface, a universal serial bus (USB) interface, a wireless LAN interface (e.g., a Wi-Fi interface), and / or a cellular network interface.

[0034] Position sensor 240 includes components for determining the location associated with device 200. In some embodiments, position sensor 240 may generate measurements of the absolute location associated with device 200 (e.g., using inertial coordinates) or measurements of the relative location associated with device 200 (e.g., referenced to a stationary point such as the center of the earth or a base station, and / or referenced to a surface such as the Earth's surface). For example, position sensor 240 may include a Global Positioning System (GPS) Global Navigation Satellite System (GNSS) device, a magnetometer, a gyroscope, an accelerometer, and / or another similar sensor.

[0035] Antenna array 245 includes multiple one-dimensional radar arrays (as combined below) Figure 3 Each radar array may include a controller and multiple phase shifters that control the orientation of the radar array along an associated plane. In some embodiments, antenna array 245 may include a set of antennas for transmitting within a one-dimensional radar array and a separate set of antennas for receiving. Alternatively, antenna array 245 may use the same set of antennas within the one-dimensional radar array for both transmitting and receiving. Thus, each one-dimensional radar array within antenna array 245 can function as a transceiver.

[0036] The radar controller 250 includes components for detecting and measuring the motion of objects outside the device 200. For example, the radar controller 250 may transmit control signals to the antenna array 245 to perform radio frequency radar. The radar controller 250 may receive signals from the antenna array 245 and, as described elsewhere herein, use these signals to determine the distance and height associated with objects outside the device 200.

[0037] The drive controller 255 includes components for determining and transmitting instructions to drive components associated with the device 200. For example, the drive controller 255 may receive distance and / or height associated with an external object from the radar controller 250 and determine instructions for the drive components based at least in part on said distance and / or height. The drive controller 255 may send instructions to accelerator devices, braking devices, steering devices, headlights, turn signals, and / or other components associated with the automated transport equipment including the device 200.

[0038] Device 200 can perform one or more of the processes described herein. Device 200 can perform these processes based on software instructions stored on a non-transitory computer-readable medium, such as memory 215 and / or storage component 220, executed by processor 210. Computer-readable medium is defined herein as a non-transitory storage device. A memory device includes memory space within a single physical storage device or memory space distributed across multiple physical storage devices.

[0039] Software instructions may be read into memory 215 and / or storage component 220 from another computer-readable medium or another device via communication interface 235. When executed, the software instructions stored in memory 215 and / or storage component 220 may cause processor 210 to perform one or more of the processes described herein. Additionally or alternatively, hard-wired circuitry may be used in place of or in combination with software instructions to perform one or more of the processes described herein. Therefore, the aspects described herein are not limited to any particular combination of hardware circuitry and software.

[0040] In some aspects, device 200 includes components for performing one or more processes described herein and / or components for performing one or more operations of the processes described herein. For example, device 200 may include components for receiving first information from a first one-dimensional radar array based at least partially on a first reflection associated with an azimuth plane; components for receiving second information from a second one-dimensional radar array based at least partially on a second reflection associated with an elevation plane; components for detecting an object based at least partially on the first information; and / or components for determining the altitude associated with the object based at least partially on the second information. In some aspects, such components may include combinations of... Figure 2A One or more components of the device 200, such as bus 205, processor 210, memory 215, storage component 220, input component 225, output component 230, communication interface 235, position sensor 240, antenna array 245, radar controller 250 and / or drive controller 255.

[0041] Figure 2A The number and arrangement of components shown are provided as an example. In reality, device 200 may include more than [a specific number of components]. Figure 2A The components shown may be more, fewer, different, or arranged differently. Additionally or alternatively, the component set of device 200 (e.g., one or more components) may perform one or more functions described as being performed by another component set of device 200.

[0042] Figure 2B This is a schematic diagram illustrating example components of device 260 according to the present disclosure. Device 260 may be a radar device. Device 260 may be included in... Figure 2A In device 200. Therefore, in some embodiments, autonomous vehicle 110a and / or autonomous vehicle 110b may include one or more devices 260 and / or one or more components of device 260. Figure 2B As shown, device 260 may include bus 265, processor 270, memory 275, modulator 280, demodulator 285, communication interface 290 and / or one or more antennas 295.

[0043] Bus 265 includes components that allow communication between parts of device 260. Processor 270 is implemented in hardware or a combination of hardware and software. Processor 210 is a CPU, GPU, APU, microprocessor, microcontroller, DSP, FPGA, ASIC, or other type of processing component. In some embodiments, processor 270 includes one or more processors that can be programmed to perform functions. For example, processor 270 may send signals to modulator 280 and / or antenna 295, resulting in the transmission of one or more radar signals. Additionally or alternatively, processor 270 may perform some preprocessing on received signals from demodulator 285 and / or antenna 295, and then send the preprocessed signals (e.g., via communication interface 290) to another processor (e.g., processor 210 of device 200) for further processing. Memory 275 includes RAM, ROM, and / or another type of dynamic or static storage device (e.g., flash memory, magnetic storage, and / or optical storage) that stores information and / or instructions for use by processor 270.

[0044] Modulator 280 includes components for generating analog signals for transmission (e.g., using antenna 295). For example, modulator 280 can encode digital signals into electromagnetic signals that can be transmitted via OTA (e.g., via antenna 295). Similarly, demodulator 285 includes components for generating digital signals for processing based at least in part on analog signals (e.g., signals received using antenna 295). For example, demodulator 285 can decode digital signals based at least in part on electromagnetic signals received (e.g., via antenna 295). In some embodiments, device 260 may support beamforming, such that processor 270 and / or modulator 280 cause antenna 295 to scan a radio beam along an axis of an associated plane, and demodulator 285 and / or processor 270 filters the analog signal from antenna 295 at least in part based on a stable frequency, such that objects near device 260 and within a threshold distance of the axis can be detected (e.g., using the Doppler effect).

[0045] Communication interface 290 includes transceiver-like components (e.g., a transceiver and / or separate receiver and transmitter) enabling device 200 to communicate with other devices, such as via a wired connection, a wireless connection, or a combination of wired and wireless connections. Communication interface 290 may allow device 200 to receive information from and / or provide information to another device. For example, communication interface 290 may include an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency interface, a USB interface, a wireless LAN interface (e.g., a Wi-Fi interface), a cellular network interface, etc.

[0046] Antenna 295 includes one or more antenna elements that transmit electromagnetic signals at least partially based on analog signals and / or generate analog signals at least partially based on received electromagnetic signals. In some embodiments, antenna 295 may include or be included in one or more antenna panels, antenna groups, sets of antenna elements, and / or antenna arrays. Antenna panels, antenna groups, sets of antenna elements, and / or antenna arrays may include one or more antenna elements. Antenna panels, antenna groups, sets of antenna elements, and / or antenna arrays may include sets of coplanar antenna elements and / or sets of non-coplanar antenna elements. Antenna panels, antenna groups, sets of antenna elements, and / or antenna arrays may include antenna elements within a single housing and / or multiple antenna elements within housings.

[0047] Device 260 can perform one or more of the processes described herein. Device 260 can perform these processes based on software instructions stored in a non-transitory computer-readable medium, such as memory 275, executed by processor 270. Computer-readable medium is defined herein as a non-transitory storage device. Storage devices include storage space within a single physical storage device or storage space distributed across multiple physical storage devices.

[0048] Software instructions may be read into memory 275 from another computer-readable medium or another device via communication interface 290. When executed, the software instructions stored in memory 275 may cause processor 270 to perform one or more processes described herein. Additionally or alternatively, hard-wired circuitry may be used in place of or in combination with the software instructions to perform one or more processes described herein. Therefore, the aspects described herein are not limited to any particular combination of hardware circuitry and software.

[0049] In some embodiments, device 260 includes components for performing one or more processes described herein and / or components for performing one or more operations of the processes described herein. For example, device 260 may include components for transmitting a first signal and for receiving a first reflection at least partially based on the first signal; components for transmitting a second signal and for receiving a second reflection at least partially based on the second signal; components for generating first information at least partially based on the first reflection; and / or components for generating second information at least partially based on the second reflection. In some embodiments, these components may include combinations of... Figure 2B The described device 260 includes one or more components such as bus 265, processor 270, memory 275, modulator 280, demodulator 285, communication interface 290, and / or antenna 295.

[0050] Figure 2B The number and arrangement of components shown are provided as an example. In reality, device 260 may include more than Figure 2BThe components shown may be more, fewer, different, or arranged differently. Additionally or alternatively, the component set of device 260 (e.g., one or more components) may perform one or more functions described as being performed by another component set of device 260.

[0051] Figure 3 A schematic diagram illustrating an example 300 of a one-dimensional radar array according to this disclosure is provided. Figure 3 As shown, Example 300 includes a transmitter (Tx) 301 that uses a modulator to generate digital and / or analog signals (e.g., using a digital-to-analog converter) for transmission as radio signals by an antenna array 303.

[0052] Antenna array 303 may include multiple antenna elements arranged along a single dimension. Therefore, antenna array 303 is one-dimensional. In example 300, antenna array 303 both transmits radio signals and receives reflections of those radio signals from objects within the FoV associated with antenna array 303. Alternatively, in some embodiments, a separate set of antenna elements arranged along the same dimension as antenna array 303 may receive reflections.

[0053] like Figure 3 As further shown, the controller 305 can instruct multiple phase shifters 307, corresponding to multiple antenna elements included in the antenna array 303. The phase shifters 307 can control the transmission timing from the antenna array 303 to form a directional beam from the antenna array 303 by superimposing radio waves from different antenna elements in the antenna array 303. For example, Figure 3 The diagram illustrates a directional beam associated with an angle (e.g., denoted by θ in example 300) from the normal vector associated with antenna array 303. Therefore, controller 305 can delay transmissions from antenna elements closer to controller 305 compared to those farther away, allowing the superposition of radio waves to generate a beam similar to... Figure 3 The directional beam shown.

[0054] Figure 3 The number and arrangement of components shown are provided as an example. In reality, a one-dimensional radar array can include more than... Figure 3 The diagram shows more components, fewer components, different components, or components arranged differently. Additionally or alternatively, other beamforming techniques, such as Butler matrix beamforming, multi-signal classification (MUSIC) beamforming, and / or iterative sparse asymptotic minimum variance (SAMV) beamforming, and other examples, can be used by the one-dimensional radar array described herein.

[0055] As mentioned above, Figure 3 This is provided as an example. Other examples may differ from those provided. Figure 3 As described.

[0056] Figure 4 A schematic diagram of example 400, relating to object detection and ranging using a one-dimensional radar array, is shown below. Figure 4 As shown, Example 400 includes a first one-dimensional radar array 403 and a second one-dimensional radar array 405. Radar array 403 and radar array 405 can each be combined as described above. Figure 3 The configuration is described above. Radar arrays 403 and 405 may be associated with a mobile station (e.g., fixed to a surface of the mobile station, such as surface 401). For example, the mobile station may include an autonomous or semi-autonomous vehicle, such that surface 401 includes the vehicle's bumper or another fixed surface of the vehicle.

[0057] The radar array 403 may include a plurality of first antenna elements, which are arranged corresponding to a first axis along the azimuth plane. Therefore, as... Figure 4 As shown, radar array 403 can also be referred to as azimuth radar 403. Azimuth radar 403 can be configured to transmit a first signal and receive a first reflection based at least in part on the first signal.

[0058] In some implementations, the azimuth radar 403 is configured to scan along a first axis by generating a first signal using beamforming. For example, the azimuth radar 403 may include a controller (and / or another type of processor) configured to perform beamforming using the antenna elements of the azimuth radar 403 (e.g., as described above). Figure 3 (As described) and adjust beamforming to change the directionality associated with the transmission from azimuth radar 403, thereby scanning along the first axis (in Figure 4 (This is shown as "azimuth scan").

[0059] In some implementations, such as Figure 4 As shown, the azimuth radar 403 is associated with a range along a first axis and a range along a second axis, with the range along the first axis being larger than the range along the second axis. Therefore, in Example 400, the azimuth radar 403 covers a portion of the FoV associated with the mobile station, where this portion is associated with an ellipse (or rectangle or other similar shape) projection on the azimuth plane. Thus, the semi-major axis of the ellipse can correspond to the range along the first axis, and the semi-minor axis of the ellipse can correspond to the range along the second axis.

[0060] Radar array 405 may include multiple second radar elements, which correspond to a second axis arranged along the elevation plane. Therefore, as... Figure 4As shown, radar array 405 can also be referred to as elevation radar 405. Elevation radar 405 can be configured to transmit a second signal and receive a second reflection based at least in part on the second signal.

[0061] In some implementations, the elevation radar 405 is configured to generate a second signal by using beamforming, thereby scanning along a second axis. For example, the elevation radar 405 may include a controller (and / or another type of processor) configured to perform beamforming using the antenna elements of the elevation radar 405 (e.g., as described above). Figure 3 (As described) and adjust beamforming to change the directivity associated with the transmission from the elevation radar 405, thereby scanning along the second axis (in Figure 4 (This is shown as "tilt angle scan").

[0062] In some implementations, such as Figure 4 As shown, the elevation radar 405 is associated with a range along a first axis and a range along a second axis, with the range along the second axis being larger than the range along the first axis. Therefore, in Example 400, the elevation radar 405 covers a portion of the FoV associated with the mobile station, where this portion is associated with an elliptical (or rectangular or other similar shape) projection on the elevation plane. Thus, the semi-major axis of the ellipse can correspond to the range along the second axis, and the semi-minor axis of the ellipse can correspond to the range along the first axis.

[0063] like Figure 4 Furthermore, the first range associated with the azimuth radar 403 may be larger than the first range associated with the elevation radar 405. For example, the azimuth radar 403 may cover a larger portion of the FoV along the azimuth plane than the elevation radar 405. Additionally, the second range associated with the azimuth radar 403 may be smaller than the second range associated with the elevation radar 405. For example, the azimuth radar 403 may cover a smaller portion of the FoV along the elevation plane than the elevation radar 405.

[0064] The mobile station may also include at least one processor. The at least one processor may be integrated, at least partially, with a controller included in the azimuth radar 403 and / or the elevation radar 405 (e.g., physically, virtually, and / or logically). Alternatively, the at least one processor may be separate from the controller (e.g., physically, virtually, and / or logically).

[0065] At least one processor may receive, from azimuth radar 403, first information based at least in part on a first reflection associated with an azimuth plane. Similarly, at least one processor may receive, from elevation radar 405, second information based at least in part on a second reflection associated with a elevation plane. For example, the first and second information may include digital information generated, respectively, based at least in part on analog-to-digital conversion and / or filtering of the first and second reflections. The first and second information may be associated with a single direction (e.g., a single beam) or multiple directions (e.g., a scan performed using multiple beams). In some embodiments, the first and second information may be associated with synchronized time frames (e.g., based at least in part on simultaneous radio transmissions and / or scans from azimuth radar 403 and elevation radar 405).

[0066] Therefore, at least one processor can detect objects based at least in part on the first information output by the azimuth radar 403. For example, at least one processor can identify the brightness and / or wavelength profile within the first reflection in order to detect one or more objects in the FoV associated with the mobile station (e.g., "Object 1", "Object 2", and "Object 3" in Example 400). In some embodiments, at least one processor can also estimate (e.g., the distance from the azimuth radar 403) the distance associated with the object. For example, at least one processor can estimate the distance using the Doppler shift and / or other wavelength shifts associated with the first reflection.

[0067] Furthermore, at least one processor can determine the height associated with the object based at least in part on the second information output by the elevation radar 405. For example, at least one processor can use the Doppler frequency shift and / or other wavelength frequency shift associated with the second reflection to estimate the height associated with the object. In some embodiments, at least one processor can also detect the object in the second reflection based at least in part on brightness and / or wavelength distribution.

[0068] In some implementations, at least one processor may associate an object detected in a first reflection with an object detected in a second reflection (e.g., to identify the presence of the same object in both reflections). In one example, at least one processor may determine a first distance associated with an object based at least in part on first information from azimuth radar 403 (e.g., using Doppler shift and / or other wavelength shifts). Similarly, at least one processor may determine a second distance associated with an object based at least in part on second information from elevation radar 405 (e.g., using Doppler shift and / or other wavelength shifts). Thus, at least one processor may associate a determined height (e.g., at least in part on the second information) with an object (e.g., detected at least in part on the first information) based at least in part on the correspondence between the first and second distances. For example, when the first and second distances are within a distance threshold (e.g., approximately equal and / or within an error tolerance, such as 1%, 2%, etc.), at least one processor may determine that the same object was detected in both the first and second reflections. Additionally or alternatively, when the difference between the first and second distances is within a distance threshold of the distance between the azimuth radar 403 and the elevation radar 405, at least one processor can determine that the same object was detected in the first and second reflections. For example, the azimuth radar 403 and the elevation radar 405 can be fixed to different portions of surface 401 (or different surfaces of the mobile station) such that a non-zero distance exists between the azimuth radar 403 and the elevation radar 405. Therefore, when the difference between the first and second distances is approximately equal to the distance between the azimuth radar 403 and the elevation radar 405 and / or within a distance error tolerance (e.g., 1%, 2%, etc.), at least one processor can determine that the same object was detected in the first and second reflections.

[0069] Additionally or alternatively, at least one processor may associate an object detected in a first reflection with an object detected in a second reflection, at least in part, based on cross-frame object tracking (e.g., azimuth radar 403 and elevation radar 405 perform different scan cycles). For example, at least one processor may identify an object in the first frame at least in part based on first information from azimuth radar 403, and identify an object in a second frame following the first frame at least in part based on the first information from azimuth radar 403. Similarly, at least one processor may identify an object in the first frame at least in part based on second information from elevation radar 405, and identify an object in a second frame following the first frame at least in part based on the second information from elevation radar 405. Thus, based at least in part on object tracking across the first and second frames, at least one processor may determine that the same object is detected in both the first and second reflections. For example, at least one processor may determine that the translation of the object in the first reflection from the first frame to the second frame is within a threshold of the translation of the object in the second reflection from the first frame to the second frame. In some implementations, at least one processor may apply a spatial filter to the translation associated with the first reflection to estimate the expected translation associated with the second reflection, and / or apply a spatial filter to the translation associated with the second reflection to estimate the expected translation associated with the first reflection. Therefore, at least one processor may associate the determined height with the object at least in part based on the translation associated with the first reflection being within a threshold of the expected translation associated with the second reflection and / or the translation associated with the second reflection being within a threshold of the expected translation associated with the first reflection.

[0070] Therefore, at least one processor may output (e.g., to a display and / or other output device) a height for transmission to a user and / or for further processing (e.g., as described below). For example, the user may be notified of the height associated with a bridge, rock, and / or other object detected by the mobile station. In addition to determining the height, at least one processor may determine a set of coordinates associated with the object (e.g., in the mobile station's local coordinate system, in an inertial coordinate system, and / or in a global coordinate system) based at least in part on (e.g., estimated at least in part based on the first information and / or the second information as described above) the distance associated with the object and the height associated with the object. In some embodiments, at least one processor may output (e.g., to a display and / or other output device) the set of coordinates for transmission to a user and / or for further processing (e.g., as described below). For example, the user may be notified of the coordinates associated with a bridge, rock, and / or other object detected by the mobile station.

[0071] In some implementations, at least one processor may additionally generate a 3D map indicating objects, at least partially based on a coordinate set. For example, the 3D map may include point clouds or other visual representations that include objects at least partially based on said coordinate set. In some implementations, at least one processor may output (e.g., to a display and / or other output device) the 3D map for transmission to a user and / or for further processing (e.g., as described below). For example, a user may view a 3D map displaying bridges, rocks, and / or other objects detected by the mobile station.

[0072] In some implementations, in addition to or instead of outputting a set of distances, heights, and / or coordinates associated with an object to a user, at least one processor may generate instructions for an autonomous vehicle, including at least one processor (e.g., a mobile station), based at least partially on height. For example, at least one processor may instruct accelerator devices, braking devices, and / or steering devices such that the autonomous vehicle passes an object in the road when the height meets a threshold. Conversely, when the height does not meet the threshold, at least one processor may instruct accelerator devices, braking devices, and / or steering devices such that the autonomous vehicle goes around an object in the road. In another example, at least one processor may instruct accelerator devices, braking devices, and / or steering devices such that the autonomous vehicle travels under an object (e.g., which could be a bridge or other elevated structure) when the height meets a threshold. Conversely, at least one processor may instruct accelerator devices, braking devices, and / or steering devices such that the autonomous vehicle stops and / or changes course when the height does not meet the threshold (e.g., when the autonomous vehicle will not cross a bridge or other elevated structure).

[0073] As described above, compared to the elevation radar 405, the azimuth radar 403 can cover a larger portion of the FoV along the azimuth plane. Therefore, in some embodiments, at least one processor can detect an additional object at least partially based on first information from the azimuth radar 403 and determine that the additional object is outside the range associated with the elevation radar 405 (e.g., as combined below). Figure 5A (As described by object 509). Therefore, at least one processor can avoid determining the height associated with the additional object, at least in part, based on the fact that the additional object is outside the range. As a result, at least one processor saves power and computational resources by not determining the height of an object whose height will not interfere with or affect the movement of the mobile station. Furthermore, the second reflection may not even include the additional object, since the elevation radar 405 covers a smaller portion of the FoV along the azimuth plane than the azimuth radar 403. Therefore, at least one processor does not waste power and computational resources attempting to detect the additional object, at least in part, based on the second information, because at least one processor can determine that the additional object cannot be included in the second reflection.

[0074] By using combination Figure 4 The described technology allows the mobile station to use a one-dimensional azimuth radar 403 to estimate the distance to objects in the azimuth plane and a one-dimensional elevation radar 405 to estimate the height of detected objects. Compared to a two-dimensional radar array, the azimuth radar 403 and elevation radar 405 can achieve higher accuracy with less power consumption and lower processing overhead, and at a lower manufacturing cost. Furthermore, the azimuth radar 403 and elevation radar 405 can be sized such that the height of objects outside a threshold distance from the mobile station's path is not measured (e.g., as described below). Figure 5A and Figure 5B As described. As a result, the mobile station saves power and processing resources while still determining the height of objects (e.g., bridges, road signals, and other objects on or near the road) with sufficient accuracy to protect vehicles (e.g., preventing attempts to pass under bridges or other structures with associated clearance less than the vehicle's height, or attempts to drive over rocks or other obstacles high enough to damage the vehicle, etc.).

[0075] As mentioned above, Figure 4 This is provided as an example. Other examples may differ from those provided. Figure 4 As described.

[0076] Figure 5A and Figure 5B Schematic diagrams of examples 500 and 550, respectively, related to object detection and ranging using a one-dimensional radar array according to this disclosure, are shown. Figure 5A As shown, Example 500 includes an autonomous vehicle 110 (or another mobile station) traveling along a road (or another path). The autonomous vehicle 110 may include a first one-dimensional radar, which corresponds to a first axis arranged along an azimuth plane (e.g., similar to the combination above). Figure 4 The azimuth radar 403 described herein is associated with the FoV portion 503 of the autonomous vehicle 110. Furthermore, the autonomous vehicle 110 may include a second one-dimensional radar, which corresponds to a second axis arranged along the elevation plane (e.g., similar to the one described above). Figure 4 The elevation angle radar 405 is described, and is associated with the FoV portion 505 associated with the autonomous vehicle 110. (As described) Figure 5AAs shown, portion 503 may be larger than portion 505 along the first axis, and portion 503 may be smaller than portion 505 along the second axis. Therefore, the autonomous vehicle 110 can use a second one-dimensional radar to determine the height associated with objects on or within a threshold distance of the road (e.g., object 507, which could be a road sign in example 500), while avoiding determining the height associated with objects not within a threshold distance of the road (e.g., object 509, which could be a shop sign or billboard in example 500). Thus, the autonomous vehicle 110 can use one-dimensional radar to obtain accurate estimates of the heights of some objects (such as object 507) while saving power and processing resources by not estimating the heights of other objects (such as object 509).

[0077] Figure 5B Example 550 similarly includes an autonomous vehicle 110 (or another mobile station) traveling along a road (or another path). The autonomous vehicle 110 may include a first one-dimensional radar, which corresponds to an arrangement along a first axis in the azimuth plane (e.g., similar to the combination above). Figure 4 The azimuth radar 403 described herein is associated with the FoV portion 503 associated with the autonomous vehicle 110. Furthermore, the autonomous vehicle 110 may include a second one-dimensional radar, which corresponds to a second axis arranged along the elevation plane (e.g., similar to the one described above). Figure 4 The elevation angle radar 405 is described, and is associated with the FoV portion 505 associated with the autonomous vehicle 110. (As described) Figure 5B As shown, portion 503 may be larger than portion 505 along the first axis, and portion 503 may be smaller than portion 505 along the second axis. Therefore, the autonomous vehicle 110 can use a second one-dimensional radar to determine the height associated with an object (e.g., object 551, which could be the bridge in example 500) on or within a threshold distance of the road. Thus, the autonomous vehicle 110 can use one-dimensional radar to obtain an accurate estimate of the height of elevated objects (such as object 551), ensuring that the autonomous vehicle 110 does not fail to traverse elevated objects due to inaccurate height estimates.

[0078] By using combination Figure 5A and Figure 5B The described technique allows the autonomous vehicle 110 to determine altitude using a smaller portion 505 of the FoV, compared to the portion 503 used for determining distance. Therefore, compared to using the same portion of the FoV for both distance and altitude, the autonomous vehicle 110 can achieve higher accuracy with less power consumption and lower processing overhead. Furthermore, as... Figure 5A and Figure 5BAs shown, the height of objects not within a threshold distance of the road (e.g., object 509 in example 500) is not measured. As a result, the autonomous vehicle 110 saves power and processing resources while still determining the height of some objects (e.g., object 507 in example 500 and object 551 in example 550) with sufficient accuracy to protect the vehicle (e.g., when an attempt is made to pass under object 551 when object 551 has an associated clearance less than the height of the autonomous vehicle 110, etc.).

[0079] As mentioned above, Figure 5A and 5B This is provided as an example. Other examples may differ from those provided. Figure 5A and 5B As described.

[0080] Figure 6 This is a flowchart of an example process 600 associated with object detection and ranging using a one-dimensional radar array. In some implementations, Figure 6 One or more process blocks can be executed by a mobile station (e.g., mobile station 110). In some implementations, Figure 6 One or more process blocks may be performed by another device or group of devices, separate from or including the mobile station, such as an antenna array (e.g., antenna array 245), a radar controller (e.g., radar controller 250), and / or a drive controller (e.g., drive controller 255). Additionally or alternatively, Figure 6 One or more process blocks may be performed by one or more components of device 200, such as bus 205, processor 210, memory 215, storage component 220, input component 225, output component 230, communication interface 235 and / or position sensor 240.

[0081] like Figure 6 As shown, process 600 may include receiving first information from (e.g., including or included in device 260) a first one-dimensional radar array, at least partially based on a first reflection associated with an azimuth plane (block 610). For example, as described herein, an object detection system of a mobile station may receive first information from the first one-dimensional radar array (e.g., using communication interface 235) at least partially based on a first reflection associated with an azimuth plane.

[0082] like Figure 6As further shown, process 600 may include receiving second information from (e.g., including or contained in device 260) a second one-dimensional radar array, at least partially based on a second reflection associated with the elevation angle plane (block 620). For example, as described herein, an object detection system of a mobile station may receive second information from a second one-dimensional radar array (e.g., using communication interface 235) at least partially based on a second reflection associated with the elevation angle plane.

[0083] like Figure 6 As further shown, process 600 may include detecting an object at least in part based on the first information (box 630). For example, as described herein, an object detection system for a mobile station may detect an object at least in part based on the first information (e.g., using processor 210 and / or radar controller 250).

[0084] like Figure 6 As further shown, process 600 may include determining the height associated with an object based at least in part on the second information (box 640). For example, as described herein, the object detection system of the mobile station may determine (e.g., using processor 210 and / or radar controller 250) the height associated with an object based at least in part on the second information.

[0085] Process 600 may include additional implementations, such as any single implementation or any combination of implementations described below, and / or in combination with one or more other processes described elsewhere herein.

[0086] In the first embodiment, process 600 further includes instructing (e.g., using processor 210, communication interface 235 and / or radar controller 250) the first one-dimensional radar array to scan along the axis of the azimuth plane by generating first information through beamforming.

[0087] In the second embodiment, alone or in combination with the first embodiment, process 600 further includes (e.g., using processor 210, communication interface 235 and / or radar controller 250) instructing a second one-dimensional radar array to scan along the axis of the elevation plane by generating second information through beamforming.

[0088] In the third embodiment, either alone or in combination with one or more of the first and second embodiments, process 600 further includes detecting an additional object at least in part based on first information (e.g., using processor 210 and / or radar controller 250), determining that the additional object is outside the range associated with the second one-dimensional radar array (e.g., using processor 210 and / or radar controller 250), and at least in part based on the fact that the additional object is outside the range, avoiding (e.g., using processor 210 and / or radar controller 250) determining the height associated with the additional object.

[0089] In the fourth embodiment, determining the height associated with an object, alone or in combination with one or more of the first to third embodiments, includes determining a first distance associated with the object based at least in part on first information (e.g., using processor 210 and / or radar controller 250), determining a second distance associated with the object based at least in part on second information (e.g., using processor 210 and / or radar controller 250), and associating the determined height with the object based at least in part on the correspondence between the first and second distances (e.g., using processor 210 and / or radar controller 250).

[0090] In the fifth embodiment, determining the height associated with an object, either alone or in combination with one or more of the first to fourth embodiments, includes identifying an object in a first frame at least partially based on first information (e.g., using processor 210 and / or radar controller 250), identifying an object in a second frame following the first frame at least partially based on second information (e.g., using processor 210 and / or radar controller 250), and associating the determined height with the object at least partially based on tracking the object across the first and second frames (e.g., using processor 210 and / or radar controller 250).

[0091] In the sixth embodiment, alone or in combination with one or more of the first to fifth embodiments, process 600 further includes determining, at least in part, the distance associated with the object based on first information (e.g., using processor 210 and / or radar controller 250), and determining, at least in part, the set of coordinates associated with the object based on distance and height (e.g., using processor 210 and / or radar controller 250).

[0092] In the seventh embodiment, alone or in combination with one or more of the first to sixth embodiments, process 600 further includes generating a three-dimensional map indicating the object based at least in part on a set of coordinates (e.g., using processor 210, output component 230 and / or radar controller 250).

[0093] In the eighth embodiment, alone or in combination with one or more of the first to seventh embodiments, process 600 further includes generating instructions at least in part based on the highly automated vehicle (e.g., using processor 210, communication interface 235 and / or drive controller 255).

[0094] although Figure 6 Example blocks of process 600 are shown, but in some implementations, process 600 may include more than Figure 6The number of boxes shown can be more, fewer, different, or arranged differently. Additionally or alternatively, two or more boxes in process 600 can be executed in parallel.

[0095] The following provides an overview of some aspects of the invention:

[0096] Aspect 1: A method for object detection, comprising: receiving first information from a first one-dimensional radar array based at least in part on a first reflection associated with an azimuth plane; receiving second information from a second one-dimensional radar array based at least in part on a second reflection associated with a pitch plane; detecting an object based at least in part on the first information; and determining a height associated with the object based at least in part on the second information.

[0097] Aspect 2: The method according to aspect 1 further includes: instructing the first one-dimensional radar array to generate the first information by using beamforming, thereby scanning along the axis of the azimuth plane.

[0098] Aspect 3: The method according to any one of aspects 1 to 2 further includes: instructing the second one-dimensional radar array to generate the second information by using beamforming, thereby scanning along the axis of the elevation angle plane.

[0099] Aspect 4: The method according to any one of aspects 1 to 3 further includes: detecting an additional object based at least in part on the first information; determining that the additional object is outside the range associated with the second one-dimensional radar array; and avoiding determining the height associated with the additional object based at least in part on the fact that the additional object is outside the range.

[0100] Aspect 5: The method according to any one of Aspects 1 to 4, wherein determining the height associated with the object comprises: determining a first distance associated with the object based at least in part on the first information; determining a second distance associated with the object based at least in part on the second information; and associating the determined height with the object based at least in part on the correspondence between the first distance and the second distance.

[0101] Aspect 6: The method according to any one of aspects 1 to 5, wherein determining the height associated with the object comprises: identifying the object in a first frame at least in part based on the first information; identifying the object in a second frame following the first frame at least in part based on the second information; and associating the determined height with the object at least in part based on tracking the object across the first and second frames.

[0102] Aspect 7: The method according to any one of aspects 1 to 6 further includes: determining a distance associated with the object based at least in part on the first information; and determining a set of coordinates associated with the object based at least in part on the distance and the height.

[0103] Aspect 8: The method according to aspect 7 further includes: generating a three-dimensional map indicating the object based at least in part on the coordinate set.

[0104] Aspect 9: The method according to any one of aspects 1 to 8 further includes: generating instructions for the autonomous vehicle based at least in part on the altitude.

[0105] Aspect 10: An apparatus for object detection, comprising a processor; a memory coupled to the processor; and instructions stored in the memory and executable by the processor to cause the apparatus to perform one or more of the methods of aspects 1 to 9.

[0106] Aspect 11: An apparatus for object detection, comprising a memory and one or more processors coupled to the memory, the one or more processors being configured to perform the methods of one or more aspects of aspects 1 to 9.

[0107] Aspect 12: An apparatus for object detection, comprising a first one-dimensional radar array, a second one-dimensional radar array, and at least one processor, said at least one processor being configured to perform the methods of one or more aspects of aspects 1 to 9.

[0108] Aspect 13: An apparatus for object detection, comprising a first one-dimensional radar array, a second one-dimensional radar array, and at least one processor, said at least one processor being configured to perform the methods of one or more aspects of aspects 1 to 9.

[0109] Aspect 14: An apparatus for object detection, comprising at least one component for performing the methods of one or more aspects of aspects 1 to 9.

[0110] Aspect 15: A non-transitory computer-readable medium storing code for object detection, the code including instructions executable by a processor to perform the methods of one or more of aspects 1 to 9.

[0111] Aspect 16: A non-transitory computer-readable medium storing a set of instructions for object detection, the set of instructions comprising one or more instructions, which, when executed by one or more processors of a device, cause the device to perform the methods of one or more aspects of aspects 1 to 9.

[0112] The foregoing disclosure provides explanations and descriptions, but is not intended to be exhaustive or to limit the aspects to the precise form disclosed. Modifications and variations can be made based on the foregoing disclosure, or modifications and variations can be derived from practice in these areas.

[0113] As used herein, the term "component" is intended to be interpreted broadly as hardware, firmware, and / or a combination of hardware and software. As used herein, a processor is implemented as a combination of hardware, firmware, and / or hardware and software. Clearly, the systems and / or methods described herein can be implemented using various forms of hardware, firmware, and / or combinations of hardware and software. The actual dedicated control hardware or software code used to implement these systems and / or methods does not limit these aspects. Therefore, while this document describes the operation and behavior of systems and / or methods without reference to specific software code, it should be understood that software and hardware can be designed to implement systems and / or methods, at least in part, based on the descriptions herein.

[0114] As used in this article, depending on the context, satisfying the threshold can mean greater than the threshold, greater than or equal to the threshold, less than the threshold, less than or equal to the threshold, equal to the threshold, not equal to the threshold, etc.

[0115] Even if specific combinations of features are listed in the claims and / or disclosed in the specification, these combinations are not intended to limit the disclosure of the aspects. In fact, many of these features can be combined in ways not specifically stated in the claims and / or not disclosed in the specification. Although each dependent claim listed below may depend directly on only one claim, the disclosure of the aspects includes combinations of each dependent claim with each other claim in the claim set. As used herein, the phrase “at least one” referring to a series of items means any combination of those items, including single members. For example, “at least one of a, b, or c” is intended to cover a, b, c, ab, ac, bc, and abc, as well as any combination having multiple identical elements (e.g., aa, aaa, aab, aac, abb, acc, bb, bbb, bbc, cc, and ccc, or any other order of a, b, and c).

[0116] Unless explicitly stated otherwise, no element, action, or instruction used herein should be considered critical or necessary. Furthermore, as used herein, the articles “a” and “an” are intended to include one or more items and may be used interchangeably with “one or more.” Furthermore, as used herein, the article “described” is intended to include one or more items associated with the article “described” and may be used interchangeably with “described one or more.” Furthermore, as used herein, the terms “set” and “group” are intended to include one or more items (e.g., related items, unrelated items, or a combination of related and unrelated items) and may be used interchangeably with “one or more.” If referring to only one item, the phrase “only one” or similar language is used. Furthermore, as used herein, the terms “have,” “have,” etc., are intended to be open-ended terms. Furthermore, the phrase “based on” is intended to mean “at least partially based on,” unless explicitly stated otherwise. Furthermore, as used herein, the term “or” is inclusive when used in a series of contexts and may be used interchangeably with “and / or” unless explicitly stated otherwise (e.g., if used in conjunction with “any” or “only one of…”).

Claims

1. A system for object detection, comprising: A first one-dimensional radar array includes a plurality of first antenna elements, the plurality of first antenna elements being arranged along a first axis along an azimuth plane and configured to transmit a first signal and receive a first reflection at least in part based on the first signal; The second one-dimensional radar array includes a plurality of second second-line elements, which correspond to a second axis arranged along the elevation plane and are configured to transmit a second signal and receive a second reflection based at least in part on the second signal; as well as At least one processor is configured to detect an object based at least in part on first information output from a first one-dimensional radar array, and to determine the height associated with the object based at least in part on second information output from a second one-dimensional radar array and the object being within a range associated with the second one-dimensional radar array.

2. The system of claim 1, wherein the first one-dimensional radar array is configured to generate the first signal by using beamforming, thereby scanning along the first axis.

3. The system of claim 1, wherein the second one-dimensional radar array is configured to generate the second signal by using beamforming, thereby scanning along the second axis.

4. The system of claim 1, wherein the first one-dimensional radar array is associated with a range along the first axis and a range along the second axis, and the range along the first axis is greater than the range along the second axis.

5. The system of claim 1, wherein the second one-dimensional radar array is associated with a range along the first axis and a range along the second axis, and the range along the second axis is greater than the range along the first axis.

6. The system of claim 1, wherein the first one-dimensional radar array is associated with a first range along the first axis, the second one-dimensional radar array is associated with a second range along the first axis, and the first range is larger than the second range.

7. The system of claim 1, wherein the first one-dimensional radar array is associated with a first range along the second axis, the second one-dimensional radar array is associated with a second range along the second axis, and the second range is larger than the first range.

8. The system of claim 1, wherein the at least one processor is further configured to: Additional objects are detected based at least in part on the first information from the first one-dimensional radar array; Determine that the additional object is outside the range associated with the second one-dimensional radar array; and At least in part, the height associated with the additional object is avoided because it is outside the range.

9. The system of claim 1, wherein the at least one processor for determining the height associated with the object is configured to: The first distance associated with the object is determined at least in part based on the first information from the first one-dimensional radar array; The second distance associated with the object is determined at least in part based on the second information from the second one-dimensional radar array; as well as The determined height is associated with the object, at least in part, based on the correspondence between the first distance and the second distance.

10. The system of claim 1, wherein the at least one processor for determining the height associated with the object is configured to: The object is identified in the first frame, at least in part, based on the first information from the first one-dimensional radar array; The object is identified in a second frame following the first frame, based at least in part on the first information from the first one-dimensional radar array; as well as The determined height is associated with the object, at least in part, based on tracking the object across the first and second frames.

11. The system of claim 1, wherein the at least one processor is further configured to: The distance associated with the object is determined at least in part based on the first information from the first one-dimensional radar array; and The set of coordinates associated with the object is determined at least in part based on the distance and the height.

12. The system of claim 11, wherein the at least one processor is further configured to: A three-dimensional map indicating the object is generated, at least in part, based on the coordinate set.

13. The system of claim 1, wherein the at least one processor is further configured to: Instructions are generated for autonomous vehicles, including the system, based at least in part on the altitude.

14. A system for object detection, comprising: At least one processor is configured as follows: Receive first information from the first one-dimensional radar array, at least in part, based on a first reflection associated with the azimuth plane; Receive second information from the second one-dimensional radar array, at least in part, based on a second reflection associated with the elevation plane; The object is detected based at least in part on the first information; as well as The height associated with the object is determined at least in part based on the second information and the fact that the object is within the range associated with the second one-dimensional radar array.

15. The system of claim 14, wherein the at least one processor is further configured to: Additional objects are detected based at least in part on the first information; Determine that the additional object is outside the range associated with the second one-dimensional radar array; and The determination of the height associated with the additional object is avoided, at least in part, based on the fact that the additional object is outside the range.

16. The system of claim 14, wherein the at least one processor for determining the height associated with the object is configured to: A first distance associated with the object is determined at least in part based on the first information; The second distance associated with the object is determined at least in part based on the second information; as well as The determined height is associated with the object, at least in part, based on the correspondence between the first distance and the second distance.

17. The system of claim 14, wherein the at least one processor for determining the height associated with the object is configured to: The object in the first frame is identified at least in part based on the first information; Based at least in part on the second information, the object is identified in a second frame following the first frame; and The determined height is associated with the object, at least in part, based on tracking the object across the first and second frames.

18. The system of claim 14, wherein the at least one processor is further configured to: The distance associated with the object is determined at least in part based on the first information; and The set of coordinates associated with the object is determined at least in part based on the distance and the height.

19. The system of claim 18, wherein the at least one processor is further configured to: A three-dimensional map indicating the object is generated, at least in part, based on the coordinate set.

20. The system of claim 14, wherein the at least one processor is further configured to: Instructions are generated for autonomous vehicles, including the system, based at least in part on the altitude.

21. A method for object detection, comprising: Receive first information from the first one-dimensional radar array, at least in part, based on a first reflection associated with the azimuth plane; Receive second information from the second one-dimensional radar array, at least in part, based on a second reflection associated with the elevation plane; The object is detected based at least in part on the first information; as well as The height associated with the object is determined at least in part based on the second information and the fact that the object is within the range associated with the second one-dimensional radar array.

22. The method of claim 21, further comprising: The first one-dimensional radar array is instructed to generate the first information by using beamforming, thereby scanning along the axis of the azimuth plane.

23. The method of claim 21, further comprising: The second one-dimensional radar array is instructed to generate the second information by using beamforming, thereby scanning along the axis of the elevation angle plane.

24. The method of claim 21, further comprising: Additional objects are detected based at least in part on the first information; Determine that the additional object is outside the range associated with the second one-dimensional radar array; as well as The determination of the height associated with the additional object is avoided, at least in part, based on the fact that the additional object is outside the range.

25. The method of claim 21, wherein determining the height associated with the object comprises: A first distance associated with the object is determined at least in part based on the first information; The second distance associated with the object is determined at least in part based on the second information; as well as The determined height is associated with the object, at least in part, based on the correspondence between the first distance and the second distance.

26. The method of claim 21, wherein determining the height associated with the object comprises: The object in the first frame is identified at least in part based on the first information; The object is identified in a second frame following the first frame, based at least in part on the second information; as well as The determined height is associated with the object, at least in part, based on tracking the object across the first and second frames.

27. The method of claim 21, further comprising: The distance associated with the object is determined at least in part based on the first information; as well as The set of coordinates associated with the object is determined at least in part based on the distance and the height.

28. The method of claim 27, further comprising: A three-dimensional map indicating the object is generated, at least in part, based on the coordinate set.

29. The method of claim 21, further comprising: Instructions are generated for autonomous vehicles based at least in part on the altitude.

30. A non-transitory computer-readable medium storing a set of instructions for wireless communication, the instruction set comprising: One or more instructions, when executed by one or more processors of the object detection system, cause the object detection system to: Receive first information from the first one-dimensional radar array, at least in part, based on a first reflection associated with the azimuth plane; Receive second information from the second one-dimensional radar array, at least in part, based on a second reflection associated with the elevation plane; The object is detected based at least in part on the first information; as well as The height associated with the object is determined at least in part based on the second information and the fact that the object is within the range associated with the second one-dimensional radar array.

31. An apparatus for wireless communication, comprising components for performing the steps of the method according to any one of claims 21-29.

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