Classification of detected reflections in a sensor system

Abstract

Method (700), comprising: generating a first beamforming map (200) using at least one first response function of an antenna arrangement (108) and data representative of electromagnetic signals received at the antenna arrangement (108); determining multiple reflection detection points using at least the first beamforming map (200); generating a second beamforming map (500) using at least the data and a second response function of the antenna arrangement (108), wherein the second response function has a first minimum at a first reflection detection point of a subset of the multiple reflection detection points and a second minimum at a second reflection detection point of the subset;Determine a ratio between a first amplitude of a third reflection detection point in the second ray-shaping map (500) and a second amplitude of the third reflection point in the first ray-shaping map (200); determine that the ratio is less than a threshold value; and classify the third reflection detection point as an apparent reflection point;wherein generating the second beamforming map (500) comprises determining an array of multiple response functions corresponding to the first response function, which are assessed at each of the multiple reflection detection points, and wherein generating the second beamforming map (500) further comprises generating the second response function by solving an optimization problem with respect to an objective function at least based on the array and dependent on a constraint indicating a conservation rule, and wherein the conservation rule requires that the second response function maintains unit power at the third reflection detection point relative to the first response function.

Description

INTRODUCTION

[0001] This disclosure relates to the classification of reflection points in sensor systems that scan reflected electromagnetic radiation from an environment. Radar reflection points can be estimated by applying beamforming to signals received at an antenna array of a radar system. However, each reflection point obtained by conventional beamforming methods typically exhibits high-intensity, local amplitudes (usually referred to as a "main lobe") accompanied by less intense satellite amplitudes (usually referred to as "side lobes"). Therefore, a physical reflection point in an environment scanned by the radar system can be detected as a main lobe centered around the physical reflection point, with unwanted side lobes.Although sidelobes exhibit amplitudes that are less intense than those of the main lobe, sensor systems often mistakenly characterize sidelobes as "ghost" targets.

[0002] The detection of ghost targets can cause an unreliable characterization of a vehicle's (autonomous or otherwise) environment, resulting in potential problems or risks in the operation of the vehicle.

[0003] Consequently, it is desirable to provide technologies for classifying detected reflections in radar systems and other types of sensor systems that sample reflected electromagnetic radiation from an environment. SUMMARY

[0004] In one embodiment, the disclosure provides a method. The method includes: generating a first beamforming map using at least one first response function of an antenna array and data representative of electromagnetic signals received at the antenna array; and determining multiple reflection detection points using at least the first beamforming map. The method also includes generating a second beamforming map using at least the data and a second response function of the antenna array. The second response function has a first minimum at a first reflection detection point of a subset of the multiple reflection detection points and a second minimum at a second reflection detection point of the subset.The procedure further includes determining a ratio between a first amplitude of the third reflection detection point in the second ray-shaping map and a second amplitude of a third reflection point in the first ray-shaping map. The procedure also includes determining that the ratio is less than a threshold value. The procedure further includes classifying the third reflection detection point as an apparent reflection point.

[0005] In addition to one or more elements disclosed herein, the method also includes updating a data set displaying the multiple reflection detection points by removing the third reflection detection point from the data set. In addition to one or more elements disclosed herein, the method also includes supplying the updated data set to a control system configured to stop the operation of a vehicle using at least the updated data set.

[0006] In addition to the one or more elements disclosed herein, the method also includes: determining a ratio between a first amplitude of a fourth reflection detection point in the second beamforming map and a second amplitude of the fourth reflection point in the first beamforming map; determining that the ratio is greater than the threshold; and classifying the fourth reflection detection point as a physical reflection point.

[0007] In addition to the one or more elements disclosed herein, the method also includes determining that the ratio is less than the threshold, which includes determining that the ratio is less than about 15 dB.

[0008] In addition to the one or more elements disclosed herein in connection with the method, generating the second beamforming distribution map includes determining an arrangement that has multiple response functions corresponding to the first response function assessed at each of the multiple reflection detection points.

[0009] In addition to the one or more elements disclosed herein in connection with the method, generating the second beamforming distribution map further includes generating the second response function by solving an optimization problem with respect to an objective function based on at least one arrangement and dependent on a constraint indicating a conservation rule, wherein the conservation rule requires that the second response function preserves unit power at the third reflection detection point relative to the first response function.

[0010] In a further embodiment, the disclosure provides a system. The system includes at least one processor and at least one memory device coupled to the at least one processor. The at least one memory device, which contains encoded instructions, causes the at least one processor, in response to its execution, to perform or facilitate operations that include: generating a first beamforming map using at least one first response function of an antenna arrangement and data representative of electromagnetic signals received at the antenna arrangement; determining multiple reflection detection points using at least the first beamforming map;Generating a second beamforming map using at least the data and a second response function of the array of antennas, wherein the second response function has a first minimum at a first reflection capture point of a subset of the multiple reflection capture points and a second minimum at a second reflection capture point of the subset; determining a ratio between a first amplitude of the third reflection capture point in the second beamforming map and a second amplitude of a third reflection point in the first beamforming map; determining that the ratio is less than a threshold; and classifying the third reflection capture point as an apparent reflection point.

[0011] In addition to the one or more elements disclosed herein in connection with the system, the operations also include updating a data set that displays the multiple reflection capture points by removing the third reflection capture point from the data set.

[0012] In addition to one or more elements disclosed herein in connection with the system, the operations also include delivering the updated data set to a control system configured to stop the operation of a vehicle using at least the updated data set.

[0013] In addition to the one or more elements disclosed herein in connection with the system, the work processes also include determining a ratio between a first amplitude of a fourth reflection detection point in the second beamforming map and a second amplitude of the fourth reflection point in the first beamforming map; determining that the ratio is greater than the threshold; and classifying the fourth reflection detection point as a physical reflection point.

[0014] In addition to the one or more elements disclosed herein in connection with the system, determining that the ratio is less than the threshold also includes determining that the ratio is less than about 15 dB.

[0015] In addition to the one or more elements disclosed herein in connection with the system, generating the second beamforming distribution map includes determining an arrangement that has multiple response functions corresponding to the first response function assessed at each of the multiple reflection detection points.

[0016] In addition to the one or more elements disclosed herein in connection with the system, generating the second beamforming distribution map further includes generating the second response function by solving an optimization problem with respect to an objective function based on at least one array and dependent on a constraint indicating a conservation rule, wherein the conservation rule requires that the second response function maintains unity of power at the third reflection detection point relative to the first response function. In addition to the one or more elements disclosed herein in connection with the system, the antenna array is functionally coupled to at least one radar system or a light detection and rangefinding system.

[0017] In yet another embodiment, the disclosure provides a vehicle. The vehicle includes an antenna array configured to receive electromagnetic signals and a beamforming device functionally coupled to the antenna array. The beamforming device is configured to generate at least one first beamforming map using at least one first response function of the antenna array and data representative of the electromagnetic signals. The beamforming device is also configured to determine multiple reflection detection points using at least the first beamforming map. The beamforming device is further configured to generate a second beamforming map using at least the data and a second response function of the antenna array.The second response function has a first minimum at a first reflection capture point of a subset of multiple reflection capture points and a second minimum at a second reflection capture point of the subset. The beamforming device is further configured to determine a ratio between a first amplitude of the third reflection capture point in the second beamforming map and a second amplitude of a third reflection point in the first beamforming map. The beamforming device is further configured to determine that the ratio is less than a threshold value and to classify the third reflection capture point as an apparent reflection point.In addition to the one or more elements disclosed herein, the beam-shaping device is further configured to determine a ratio between a first amplitude of a fourth reflection detection point in the second beam-shaping map and a second amplitude of the fourth reflection point in the first beam-shaping map. The beam-shaping device is further configured to determine that the ratio is greater than the threshold value. The beam-shaping device is also configured to classify the fourth reflection detection point as a physical reflection point.In addition to the one or more elements disclosed herein, the beam shaping device for generating the second beam shaping distribution map is further configured to determine an arrangement having multiple response functions corresponding to the first response function assessed at each of the multiple reflection detection points.

[0018] In addition to the one or more elements disclosed herein, the beam-shaping device for generating the second beam-shaping distribution map is further configured to generate the second response function by solving an optimization problem with respect to an objective function based on at least one arrangement and dependent on a constraint indicating a conservation rule. The conservation rule requires that the second response function maintains unit power at the third reflection detection point relative to the first response function.

[0019] In addition to one or more elements disclosed herein, the vehicle further includes a control device, and the beam shaping device is further configured to supply the updated data set to a control system to set the operation of the vehicle using at least the updated data set.

[0020] The above features and advantages and other elements and benefits of the disclosure will be readily apparent from the following detailed description in conjunction with the accompanying drawings. List of characters

[0021] Other features, advantages, and details appear only as examples in the following detailed description, which refers to the drawings in which: Fig.1 represents an example of an operating environment for classifying reflection detection points in a sensor system according to one or more embodiments of the disclosure; Fig. 2 represents an example of a beam shaping map according to one or more embodiments of the disclosure; Fig. 3 represents a schematic arrangement of detection points for classifying reflection detection points in a sensor system according to one or more embodiments of this disclosure; Fig. 4 represents an example of a beam shaping map according to one or more embodiments of the disclosure; Fig. 5 represents another example of a beam shaping map according to one or more embodiments of the disclosure; Fig.6 represents an example of a vehicle having a system for classifying reflection detection points in a sensor system according to one or more embodiments of the disclosure; Fig. 7 represents an exemplary method for classifying a reflection point in a sensor system according to one or more embodiments of the disclosure, and Fig. 8 represents an example of a computer system that can be used to implement one or more embodiments of the disclosure. DETAILED DESCRIPTION

[0022] The following description is merely exemplary and is not intended to limit the present disclosure, its application or uses.

[0023] The disclosure understands and addresses, at least in some embodiments, the problem of distinguishing apparent reflection points from physical reflection points in sensor systems that scan reflected electromagnetic radiation to detect objects in the environment. Embodiments of this disclosure include systems, devices, vehicles, and techniques that, individually or in combination, allow or otherwise facilitate the classification of reflection detection points in a sensor system. The reflection detection points can be classified using a methodology consistent with the beamforming approach used to determine the reflection detection points.In particular, in one example, a false reflection point of the beam-shaping sidelobes can be detected by applying beam shaping to a sidelobe point to be classified, while other reflection detection points in the vicinity of the sidelobe point are zeroed out. It is noted that in some cases, zeroing out is practically achieved by obtaining a finite amplitude that is several orders of magnitude smaller than that obtained without zeroing out. In some embodiments, reflection detection points classified as apparent reflection points can be removed from further processing at the sensor system of another system that is functionally coupled to it.

[0024] With reference to the drawings, it states Fig. 1. An example of an operating environment 100to classify reflection detection points in a sensor system according to one or more embodiments of the disclosure. The operating environment shown 100 includes an antenna arrangement 108 one that has a first antenna 1101 , a second antenna 1102 , a third antenna 1103 , and a fourth antenna 1104 includes. However, the revelation is not limited to four antennas. The antenna arrangement 108 In some embodiments, it can include more than four antennas or fewer than four antennas. Regardless of the number of antennas, the arrangement of antennas can affect electromagnetic radiation. 102 emit. For this purpose, the arrangement of the antennas can be functionally (e.g., mechanically, electrically, and / or electromagnetically) connected to a communications processing unit. 120be coupled in a way that allows or otherwise facilitates the generation of an alternating electrical signal, which causes each (or, in some embodiments, at least one) of the antennas to 1101-1104 in the arrangement of antennas that emits electromagnetic radiation (EM).

[0025] Electromagnetic radiation 102 The emitted radiation can be scattered in the environment surrounding the antenna array. At least a portion of the electromagnetic radiation 102 can be through an object 105 are reflected in the environment. At least part of the reflected radiation 106 can be received by the antenna array. In particular, the electromagnetic radiation can be received. 106 from one or more of the antennas 1101-1104 , depending on the object emitting the electromagnetic radiation 102reflected, by the environmental conditions for the propagation of the reflected electromagnetic radiation 106 and the like.

[0026] The communication processing unit 120 can generate data that is relevant for at least a portion of the reflected electromagnetic radiation 106 are representative, which are determined by the antenna arrangement 108 is received. The data can include one or more data streams and can be formatted according to a defined protocol for digital data transmission. Furthermore, the communication processing unit can 120 the generated data to a beam shaping system 130 deliver (e.g., send and / or make available). A communication structure 125 can the communication processing unit 120 and the beam shaping system 130 functionally couple. The communication structure 125may be embodied in or include a bus architecture, a wired connection(s), a wireless connection(s), a router device(s), a gateway device(s), a combination thereof, or the like.

[0027] The beam shaping system 130 can the data that is for the reflected electromagnetic radiation 106 are representative of which antenna arrangement 108 The system receives the signal and can perform a beamforming process that processes the data. For this purpose, the beamforming system can... 130 a beam shaping component 140 Include. Performing such a beam process allows the detection of reflection points in the environment that affect the antenna arrangement. 108 including antennas 1101-1104surrounding. Executing the beam shaping process can be described as applying beam shaping to the data or performing beam shaping on the data. Regardless of the technical term, executing the beam shaping process can produce a two-dimensional map that represents the amplitude (or strength) of electromagnetic radiation scattering in a defined area. R and a defined azimuth angle i with respect to a horizon (x-direction in the reference frame, which is in Fig. 1 is shown), is representative. Here is R a real number in distance units and i is a real number in angular units (for example, radians or degrees).

[0028] In particular, executing the beam shaping process generates an output vector of complex numbers for a defined group of angles { i} and a defined area Ra target acquisition point. The output vector of complex numbers is derived from both ( i ) a vector y of data indicating analog signals that respond to the antenna array 108 received electromagnetic radiation is generated, as well as ( ii ) a matrix of observed received signals at each antenna of the antenna array 108 An arrival angle is generated for each target acquisition point. An arrival angle is determined by the horizon (x-direction in the x-axis). Fig. 1) opposite, the i and defines a line of sight from the antenna to the target acquisition point. The matrix can be considered a response function of the antenna arrangement. 108 be designated.

[0029] As an illustration, consider applying beam shaping to data intended for EM radiation (e.g., reflected electromagnetic radiation). 106 ) are representative of the antenna arrangement 108is received, to the beamforming map 200 , which in Fig. As shown in section 2, the beamforming map is shown. As mentioned, this is how it works. 200 for a defined area R and a defined azimuth angle i a defined amplitude (in Fig. 2 (marked with "I"), which can be expressed in dB. Furthermore, regions of the beamforming map indicate 200 Amplitudes occur that are much larger than a baseline amplitude (which is approximately -50 dB in the example shown). In such areas, a detection point ( R , i ) correspond to an apparent reflection or a physical reflection. In particular, the ray-shaping map includes 200 a first point of reflection P1 and a second reflection capture point P2 one. The amplitude of detection points near P1 is larger than the orders of magnitude of the detection points nearP2 Therefore, P2 a candidate to be an artifact (e.g., side mace of P1 ).

[0030] With further reference to Fig. 1, closes the beam shaping system 130 to classify whether a capture point ( R , i ) corresponds to an apparent reflection or corresponds to a physical reflection, an analysis component 150 one. The beam shaping system 130 can the analysis component 150 use or otherwise utilize to create a set of N areas ( R1 , R2 ... R N } ( N is a natural number) and a set of N Azimuth angles { θ1 , θ2 ... i N } to determine. Each area R n (1 ≤ n ≤ N) lies in a defined interval ΔR and every azimuth angle i n lies within a defined interval Dth The intervals ΔRand Dth define a region that potentially includes a side lobe. Thus, each detection point ( R n , i n ) (1 ≤ n ≤ N) relative to a test capture point ( R0 , θ0 ) can be selected, which is a candidate for the classification of a physical reflection. For example, with reference to 200 in Fig. 2 the region which is through ΔR and Dth is determined P2 contain and ( R0 , θ0 ) can P1 are equivalent to.

[0031] The beam shaping system 130 can the analysis component 150 also use or otherwise utilize to provide a response function to the antenna arrangement 108 for each defined detection point ( R n , i n ) (1 ≤ n ≤ N). Furthermore, the beam shaping system can be 130 using analysis component 150 For example, configure the following matrix: A N u l l = [ a ( R 1 , θ 1 ) a ( R 2 , θ 2 ) ⋯ a ( R n , θ n ) ] .

[0032] The Matrix A Null exhibits order response signals that correspond to the entire set of defined points ( R n , i n ) are equivalent to.

[0033] Furthermore, the beam shaping system determines 130 a beam shaping vector w( R , i ) for an area R and azimuth i , which, in response to being applied to a vector y, results in a beam shaping distribution that is present at each detection point ( R n , i n ) is compared to zero (e.g., has a zero amplitude). Therefore, in this revelation, a( R n , i n ) represents a vector of response signals that are relevant for the area R n and azimuth i n to be compared to zero.

[0034] The beam shaping vector w( R , i ) can be defined as a solution to the following optimization problem: w ( R , θ ) = a r g m i n w w H A n u l l A N u l l H w + λ w H w , w . r . t w H a ( R , θ ) = 1

[0035] Here, λ is a scalar control parameter that controls a noise expansion. A N u l l H is the Hermitian matrix A Null and w H is the Hermitian matrix of the beam-shaping vector w. In other words, solving the optimization problem allows the preservation of the beam-shaping vector w( R , i ) for area and angle ( R , i ), which has a unit of energy directed to the area and angle R , i , while simultaneously minimizing the energy of the other unwanted reflection directions.

[0036] As stated, the optimization problem in Eq. (2) depends on w H a( R , i ) = 1, solved, which represents a conservation of the total received EM energy. In other words, a transformation of beam shaping vector a( R , i ) to w( R , i ) the reflection intensity of R , i , while minimizing the reflection intensity of the areas and angles used to A Null to form.

[0037] One solution to the optimization problem in Eq. (2) is: w ( R , θ ) = ( A N u l l A N u l l H + λ I ) − 1 a ( R , θ ) a H ( R , θ ) ( A n u l l A N u l l H + λ I ) − 1 a ( R , θ ) <?page 7=""?>

[0038] The beam shaping system 130 Can such a solution be implemented in one or more storage devices? 160 store (generally as beam shaping data) 160 designated).

[0039] The beam shaping system 130 can perform a second beam shaping process by w( R , i ) in the vector y of data representing analog signals, in response to electromagnetic radiation (e.g., reflected electromagnetic radiation) 106 ), which are part of the antenna arrangement 108The received signal is applied. For this purpose, the beam shaping component can be used. 140 w H ( R , i )y calculate. The output of the execution of the second beam shaping process can be found in the beam shaping data. 160 be stored. Such an output allows or otherwise facilitates the determination of whether a detection point corresponds to a physical reflection point in an environment of the multi-antenna receiver.

[0040] The beam shaping system can be used for this purpose. 130 more specifically, a first point of detection ( R k , i k ) (k is a natural number), which is a first detection point, select - the first detection point has a beam-shaping amplitude |a H (R k , θ k )y|, which is greater than a defined threshold. The first reflection point can have a neighboring second reflection point ( R l , i l ) (l is a natural number) and a neighboring reflection point ( R m , i m ) (m is a natural number). For illustration, reference is made to Fig. 3. Assuming that the first reflection point is the detection point 320 corresponds to the second and third reflection point, and that the second and third reflection point each correspond to the recording point. 310 and the recording point 330 are equivalent to.

[0041] The beam shaping system 130 beam shaping can occur at the first reflection point ( R k , i k ) (e.g., detection point) 320 ) apply, while the response from the second capture point ( R l , i l ) (e.g., data collection point) and the third data collection point ( R m , i m ) (e.g., detection point) is simultaneously aligned with zero. In a scenario where the first reflection point (e.g., detection point) 320) is an apparent reflection point, since the first reflection point corresponds to a satellite (or sidelobe) beamforming signal of the second reflection point (e.g., detection point). 310 ) and / or the third reflection point (e.g., recording point) 330 In a scenario where the first reflection point (e.g., acquisition point) is located at a specific location, the output of beam shaping can result in an amplitude at the first reflection point that is significantly smaller than the amplitude produced by applying beam shaping without zeroing. Conversely, in a scenario where the first reflection point (e.g., acquisition point) is located at a specific location, the output of beam shaping can be significantly smaller than the amplitude produced by applying beam shaping without zeroing. 320 ) a physical reflection point, the output of the beam shaping will produce an amplitude at the first reflection point that is comparable to or substantially equal to the amplitude produced by applying beam shaping without zeroing.

[0042] As such, a measure µ (for the purposes of technical notation) can be defined based on such beam shaping if a detection point corresponds to a physical reflection point. In one embodiment, the measure µ = |w H (R, θ)y| / |a H(R, θ)y|, where µ is a real number. A rule or other type of criterion can be applied to the measure µ to determine whether the detection point can be classified as a physical reflection point. For example, in scenarios where µ is approximately 1, a detected reflection point then corresponds to a physical reflection point. In some embodiments, a measure µ that is less than a defined threshold can allow the determination that the detection point corresponds to an apparent reflection point. In one example, the threshold can be 0.3 (or 10 dB). In other embodiments, the threshold can be selected from a range of approximately 5 dB to approximately 15 dB. Alternatively, the detection point can be classified as a physical reflection point.

[0043] With further reference to Fig. 1. Can the beam shaping system 130 a set of defined detection points {R} = {(Rn , θ n )} n=1,2 ... N analyze to classify each (or in some embodiments at least one) detection point as an apparent reflection point or a physical reflection point. In particular, the beam shaping system can 130 For each acquisition point in {R}, the array response is focused on the acquisition point while leveling off the response from at least one neighboring acquisition point to zero. Additionally, the beamforming system can 130 The focused EM energy, as represented by the beam shaping amplitude, is compared in the absence of a zero adjustment and with a zero adjustment included. Based on the result of such a comparison, the beam shaping system can be 130 a classification 180 provide for one or more of the capture points in {R}.

[0044] In some embodiments, the classification 180It can be used to update a dataset that displays reflection capture points. The beam shaping system 130 For example, by removing one or more reflection capture points that are classified as apparent reflection points, existing reflection capture point data (e.g., the data) can be improved. 170 ) update (or in one embodiment cause another system to update). Additionally, or in other embodiments, the beam shaping system can 130 the updated data set for a tax system (in Fig. 1 (not shown) deliver (e.g., send or make available) that is configured to set up the operation of a vehicle using at least the updated data set. The vehicle closes the beam shaping system. 130 a.

[0045] With regard to the classification of a reflection detection point, the beamforming map concludes200 , which in Fig. As shown in point 2, an initial point for reflection is presented in a more concrete example. P1 and a second reflection capture point P2 one. The amplitude of detection points in the vicinity of P1 is larger than the orders of magnitude of the detection points in the vicinity of P2 Therefore, P2 a candidate to be an artifact (e.g., side mace of P1 While conventional beam shaping approaches generally fail to classify such points, and even less so employ quantitative analysis in accordance with an applied beam shaping process, embodiments of the disclosure can P1 and P2 classify and therefore differentiate these points without resorting to an ad-hoc analysis of a beamforming map.

[0046] In particular, the environment of a reflection detection point can be zeroed out by implementing the classification analysis described herein while beamforming is being performed to align to another detection point. As mentioned, such an environment is defined by specific range and azimuth intervals. Fig. Figure 4 illustrates a beam shaping map. 400 , which is determined according to such an approach to this revelation. As with other ray-shaping maps of the revelation, the ray-shaping map represents 400 a defined amplitude (in Fig. 4 marked with “I”) ready, which at a defined area R and azimuth angle i can be expressed in dB. As from Fig. As can be seen in section 4, the recording point P1 (as in Fig. 2 shown) can be classified as an apparent reflection point, since the beam shaping amplitude at the detection pointP1 during zero alignment (which in Fig. 4 (shown with a large arrow) to point P2 significantly smaller than the beam shaping amplitude at P1 is obtained through beamforms in the absence of such a zero adjustment. Furthermore, it illustrates Fig. 5 a beam shaping map 500 , which is determined according to aspects of this revelation. As mentioned, the beamforming map represents 500 for a defined area R and a defined azimuth angle i a defined amplitude (in Fig. 5 (marked with "I") ready, which can be expressed in dB. As in Fig. As illustrated in Figure 5, the amplitudes remain in the vicinity of the point. P2 (also in Fig. 2 shown) in response to the application of a beam shaping that is based on P2 is directed, almost unchanged, while an environment of P1 (see Fig.2), defined by specific intervals ΔR and Dth is defined, is adjusted to zero (or in some cases minimized). Such a zero adjustment is indicated by a large arrow in Fig. 5 shown. Therefore, P2 can be identified as a physical reflection point.

[0047] Without wanting to be bound to theory and / or modeling, the essentially unchanged amplitude of the measurement point P2 in the presence of a zero adjustment (see e.g. large arrow in Fig. 5) from the fact that signal contributions in beamforming are not made by fictitious sources of a signal that are attached to the antenna arrangement 108 are not received, but rather caused by a signal generated by a physical object in the vicinity of the antenna arrangement. 108 is scattered. Thus, a zero adjustment in the vicinity of P1 (whose zero adjustment with a large arrow in Fig. 5 is shown) or another section of the beamforming map 200 , which from the detection point P2 When the source of the received signal is removed, there are no changes, resulting in an essentially unchanged amplitude. In contrast, the amplitude arises P1 or another detection point in a side lobe from the beamforming in the presence of a physical signal from the physical object, the detection point P2 is assigned. Therefore, a zero adjustment (or in some cases a minimization) in a vicinity of the acquisition point removes P2 efficiently the signal source for the detection point P1 and therefore the amplitude of the detection point increases P1relative to the beam shaping in the absence of such a zero adjustment, the beam shape differs significantly. Accordingly, the disclosure provides an analysis scan that includes the zero adjustment described herein in combination with the determination of a beam shaper in the presence of the zero adjustment, wherein the beam shaper is subject to a conservation gain relative to the beam shaping in the absence of a zero adjustment.

[0048] While the principles of classification of the reflection points revealed herein in conjunction with detection points P1 and P2 As illustrated in an exemplary beamforming map, the disclosure is neither limited to a pair of detection points, nor is the disclosure limited to the beamforming map illustrated herein. 200 limited. However, each detection point can P in a beamforming map based on other acquisition points { P' , P", ...} can be analyzed in the beamforming map.

[0049] It should also be noted that the antenna arrangement 108 , the communication structure 125 and the beam shaping system 130 (including embodiments in which such a system is stored in a memory and is configured to be executed by a processor) may embody or otherwise contain a radar system, a light detection and distance (LIDAR) system, or almost any sensor system that samples EM radiation to detect objects in the environments of the sensor system.

[0050] Fig. Figure 6 illustrates an example of a vehicle 600 , a computer system 605 for classifying reflection detection points in a sensor system according to this disclosure. The illustrated computer system 605 includes one or more processor(s) 610and one or more storage devices 620 (generally known as storage) 620 designated) that include machine-accessible instructions (e.g., computer-readable and / or computer-executable instructions) to which at least one of the processor(s) 610 can access and execute them. In one example, the processor(s) 610 in or comprising a graphics processing unit (GPU), a plurality of GPUs, a central processing unit (CPU), a plurality of CPUs, an application-specific integrated circuit (ASIC), a microcontroller, a programmable logic controller (PLC), a field-programmable gate array (FPGA), a combination thereof, or the like. In some embodiments, the processor(s) 610in a single computing device (e.g., an electronic control unit (ECU), and in a vehicle infotainment (ICI) system or the like). In other embodiments, the processor(s) 610 be distributed across two or more computing units (e.g., multiple ECUs; a combination of an ICI and one or more of the ECUs; or the like).

[0051] The one or more processors 610 can function with the memory 620 through a communication structure 615 be coupled. The communication structure 615 is for the specific arrangement (localized or distributed) of the processor(s) 610 suitable. In some embodiments, the communication structure 615include one or more bus architectures, such as an Ethernet-based industrial bus, a Controller Area Network (CAN) bus, a Modbus, other types of fieldbus architectures, or the like.

[0052] As in Fig. As illustrated in section 6, the vehicle 600 the antenna arrangement 108 , the communication processing unit 120 and the communication structure 125 one. The antenna arrangement 108 is configured to detect an electromagnetic system, for example, one created by an object in the vehicle's vicinity. 600 is reflected, to be received. As mentioned, the communication processing unit can 120 The communication processing unit processes signals representative of received electromagnetic radiation to generate data representative of such electromagnetic radiation. 120can transmit at least some of the data via the communication structure 125 deliver. At least one of the processor(s) 610 and / or the memory 620 can be via one or more components of the communication structure 120 with the communication processing unit 108 and therefore with the antenna arrangement 615 be coupled.

[0053] As in Fig. As illustrated in 6, the memory closes 620 the beam shaping system 130 a. Therefore, in such an embodiment, machine-accessible instructions (e.g., computer-readable and / or computer-executable instructions) embody the beam shaping system. 130 or form it in some other way. The machine-accessible instructions are stored in memory. 620 encoded and can be arranged into software components that can be built (e.g., linked and compiled) and stored in computer-executable form in memory 620(as shown) or stored in one or more other machine-accessible non-transient storage media. The beam shaping system 130 , which is in memory 620 stored, at least part of the communication structure 615 , and at least one of the processor(s) 610 They may embody or otherwise form a beam-shaping device. Such a beam-shaping device may be configured to classify reflection capture points according to aspects of this disclosure. In one aspect, the beam-shaping device may be configured to provide reflection capture point data and / or a classification of reflection capture points (e.g., classification). 180 ) to deliver (e.g., to send or make available). In some cases, the reflection capture point data may exclude records that show apparent reflection points.

[0054] In the computer system 605Can the machine-accessible instructions for the beam shaping system 130 form, from at least one processor of the processor (or processors) 460 The execution of the instructions can cause the at least one processor—and thus the computer system 605—to provide the classification functionality as disclosed herein. In other words, the execution of the beamforming system can 130 or a part of it cause the computer system 600 a reflection detection point in a sensor system (e.g. a radar or lidar system) classified according to aspects of this disclosure.

[0055] The storage 620 A tax system can also 630 to store or otherwise preserve. Accordingly, machine-accessible instructions (e.g., computer-readable and / or computer-executable instructions) embody the control system. 630or form it in some other way. The machine-accessible instructions are then stored in memory. 620 coded and can be arranged in software components that can be built (e.g., linked and compiled) and stored in computer-executable form in memory 620 (as shown) or stored on one or more other machine-accessible non-transient storage media. The control system 630 , which is in memory 620 stored is at least part of the communication structure 615 and at least one of the processor(s) 610 They can embody or otherwise form a control unit. This control unit can be configured to control the operation of the vehicle. 600 in accordance with aspects of this revelation.

[0056] At least one of the one or more processors 610 can the tax system 630execute to cause the computer system 605—and thus the vehicle 600—to implement a control process to operate the vehicle. 600 to adjust or otherwise control. For this purpose, the control process can, in one aspect, control at least a portion of the reflection capture point data. 170 and / or the classification 180 (see Fig. 1 and corresponding description), which is achieved by the beam shaping system 130 was generated, use, or are otherwise based on. For example, the control device may be configured to use a subset of the reflection detection point data. 170 to receive. Such a subset can exclude data records that show apparent reflection points. In response, the control unit can adjust the operation of the vehicle. 600 using at least the updated data set.

[0057] It should be noted that, although it is not in Fig. As illustrated in section 6, the computer system 600 This may also include other types of computing resources (e.g., interface(s) (such as I / O interfaces; control device(s); power supplies, and the like)) that allow or otherwise facilitate the execution of the software components (e.g., machines and modules). At this point, for example, the memory may be 620 This also includes a programming interface(s) (such as application programming interfaces (APIs)), an operating system, firmware, and the like.

[0058] In view of various aspects described herein, an example of the procedures that may be implemented in accordance with this disclosure may be given with reference to Fig.7. For the sake of clarity, the exemplary procedures (and other techniques disclosed herein) are presented and described as a series of operations. However, it should be noted that the exemplary procedures and all other techniques of this disclosure are not limited by the sequence of operations. Some operations may occur in a different order than that presented and described herein. Additionally, or alternatively, some operations may be performed substantially concurrently with other operations (illustrated or otherwise). Furthermore, it may not be necessary to implement all illustrated operations in order to implement an exemplary procedure or technique according to this disclosure.Furthermore, in some embodiments, two or more of the exemplary methods and / or other techniques disclosed herein can be implemented in combination to achieve one or more elements and / or technical improvements disclosed herein.

[0059] In some embodiments, one or more of the exemplary methods and / or other techniques disclosed herein may be represented as a series of interrelated states or events, such as in a state machine diagram. Other representations are also possible. For example, interaction diagram(s) may represent an exemplary method and / or technique according to this disclosure in scenarios where different units execute different parts of the disclosed methods.

[0060] It is noted that at least some of the techniques disclosed herein may be contained or otherwise stored in a manufactured article (such as a computer program product) to enable or otherwise facilitate the transport and transfer of such exemplary methods to a computing device for execution and thus implementation by a processor(s) or for storage in a memory.

[0061] The techniques disclosed in this description and in the accompanying drawings can be stored on a manufactured article to facilitate the transport and transfer of such methods to computers or other types of information processing machines or processing circuits for execution and thus implementation by a processor, or for storage in a storage device or other type of computer-readable storage device. In one example, one or more processors executing a method or a combination of methods disclosed herein can be used to execute program code instructions stored in a storage device or any computer-readable or machine-readable storage device or non-transitory storage medium to implement one or more of the exemplary methods and / or other methods disclosed herein.The program code instructions, when executed by one or more processors, can implement or execute the various operations in the exemplary methods and / or other techniques disclosed herein.

[0062] The program code instructions therefore provide a computer-executable or machine-executable framework for implementing the exemplary procedures and / or other techniques disclosed herein. In particular, but not exclusively, any block of the representations in the flowcharts and / or combinations of blocks in the flowcharts can be implemented by the program code instructions.

[0063] Fig. Figure 7 presents a flowchart of an exemplary procedure. 700 for classifying a reflection point in a sensor system according to one or more embodiments of the disclosure. The exemplary method 700can be implemented wholly or partially by a computer system comprising one or more processors; one or more memory devices; other types of computing resources; a combination thereof; or the like. In some embodiments, the computer system can be integrated into the beam shaping system. 130 , Fig. 1, which is revealed herein, is embodied, or includes it.

[0064] At Block 710 The computer system can receive data representative of EM signals received by an array of antennas. (Block) 720 Can the computer system generate an initial beamforming map (e.g., beamforming map)? 200 in Fig. 2) generate using at least the data and the first response function of the array of antennas. For example, the first response function a( R , i ) be or include. (In the case of a block) 730The computer system can determine multiple reflection detection points using at least the first beamforming map.

[0065] At Block 740 Can the computer system use a second beamforming map (e.g., beamforming map)? 500 in Fig. 5) using at least the data and a second response function (e.g. w( R , i )) for the arrangement of antennas. As disclosed herein, the second response function exhibits zeros (or minima of each defined finite amplitudes representative of the zeros) at respective reflection capture points of a subset of the multiple reflection capture points. Such a subset can contain reflection capture points in an interval ( ΔR , Dth ) relative to a reflection capture point ( R , i ) for which the response function is zero. For block 750The computer system can determine a difference between a first amplitude of a first reflection detection point in the first beamforming map and a second amplitude of the first reflection detection point in the second beamforming map.

[0066] At Block 760 The computer system can determine whether the difference is less than a defined threshold (e.g., 10 dB). In response to a positive determination ("yes" branch), the sequence of the example procedure continues. 700 with block 770 further, in which the computer system can classify the first reflection detection point as an apparent reflection point. Alternatively, in response to a negative determination ("no" branch), the sequence of the exemplary procedure can be followed. 700 with block 780 to proceed, where the computer system can classify the first reflection detection point as a physical reflection point.

[0067] As in block 790 To illustrate, classifying a reflection capture point can allow, or otherwise facilitate, the computer system to eliminate the capture point classified as an apparent reflection point from a group containing multiple reflection capture points. For example, the computer system can remove the first reflection capture point from a dataset showing multiple reflection capture points. To do this, the computer system can use the beamforming data 230 in the beam shaping system 130 update.

[0068] Although in Fig. 7 is not illustrated, the exemplary procedure 700In some embodiments, other operations may be included that use or otherwise utilize the classification of a reflection point in a sensor system. In one embodiment, the computer system can update a data set containing the multiple reflection detection points that were present at Block 730 The system indicates that the data set has been determined by removing one or more reflection detection points from the data set that are classified as apparent reflection points. Additionally, or in another embodiment, the computer system can deliver (e.g., send or make available) the updated data set to a control system configured to stop the operation of a vehicle using at least the updated data set.

[0069] Fig. Figure 8 illustrates a high-level block diagram of a computer system. 800, which can implement one or more aspects of one or more embodiments of the disclosure. The computer system 800 can correspond to at least one system that is configured, for example, to test different systems. The computer system 800 It can correspond to an interface device, a conversion device, and / or a network simulation device. The computer system 800 can be used to implement hardware components of systems, the procedures described herein (e.g., the exemplary procedure) 700 ) can execute. Although an exemplary computer system 800 As shown, the computer system closes 800 a communication path 826 one who controls the computer system 800 via a communication interface 824 with one or more additional systems (in Fig. (8 not shown) connects. The computer system 800and an additional system (additional systems) can be accessed via the communication path 826 and the communication interface 824 to be in communication, for example to exchange data.

[0070] The computer system 800 closes one or more processors, such as processor 802 , one. The processor 802 is connected to a communication infrastructure 804 (e.g., a communication bus, a connection strip, or a network). The computer system 800 can a display interface 806 include the graphics, text content and other data from the communication infrastructure 804 (or from a frame buffer not shown) for display on a display unit 808 forwards. The computer system 800 also includes main memory 810, preferably a random access memory (RAM), and can also include a second memory 812 Include one or more drives. 814 within the secondary storage 812 It will be included. The removable storage drive 816 reads from and / or writes to a removable storage device 818 As can be seen, the removable storage unit 818 a computer-readable medium in which computer software and / or data are stored.

[0071] In alternative embodiments, the secondary storage 812 Other similar means include those that allow computer programs or other instructions to be loaded into the computer system. Such means might include, for example, a removable storage device. 820 and an interface 822 include.

[0072] Various embodiments of the disclosure may take the form of an all-in-one or part-in-one hardware implementation, an all-in-one or part-in-one software implementation, or a combination of software and hardware (e.g., a firmware implementation). Furthermore, as described herein, various embodiments of the disclosure (e.g., systems and methods) may take the form of a computer program product that includes a computer-readable non-transitory storage medium containing computer-accessible instructions (e.g., computer-readable and / or computer-executable instructions), such as computer software, encoded or otherwise embodied in such storage medium. The instructions may be read or otherwise accessed and executed by one or more processors to perform or permit the operations described herein.The instructions can be provided in any suitable form, such as source code, compiled code, interpreted code, executable code, static code, dynamic code, assembly code, combinations of the foregoing, and the like. Any suitable computer-readable nontransitory storage medium can be used to form the computer program product. For example, the computer-readable medium can include a tangible nontransitory medium for storing information in a form readable or otherwise accessible by one or more computers or processor(s) functionally coupled to it. Nontransitory storage media can be embodied in or include ROM, RAM, magnetic disk storage media, optical storage media, flash memory, etc.

[0073] Unless expressly stated otherwise, no protocol, procedure, process, or technique set forth herein is intended to be interpreted as requiring its actions or steps to be performed in a particular order. Accordingly, if a process or procedure claim does not actually specify an order in which its actions or steps are to be performed, or if the claims or descriptions of this disclosure do not otherwise specifically indicate that the steps are to be restricted to a particular order, no order is intended to be suggested in any way.This applies to any possible non-explicit basis for interpretation, including: matters of logic relating to the arrangement of steps or the flow of operations; simple meaning derived from grammatical organization or punctuation; the number or nature of embodiments described in the specification or accompanying drawings, or the like.

[0074] As used in this application, the terms “environment,” “system,” “module,” “component,” “architecture,” “interface,” “unit,” and the like refer to a computer-related unit or a unit relating to an operational facility with one or more defined functions. The terms “environment,” “system,” “module,” “component,” “architecture,” “interface,” and “unit” may be used interchangeably and may be generally referred to as functional elements. Such units may be hardware, a combination of hardware and software, software, or running software. As an example, a module may be embodied in a process running on a processor, a processor, an object, an executable part of software, an execution thread, a program, and / or a computing device.As another example, both a software application running on a computing device and the computing device itself can be a module. As yet another example, one or more modules can reside in a process and / or an execution thread. A module can be localized on a single computing device or distributed between two or more computing devices. As disclosed herein, a module can be executed from various computer-readable nontransitory storage media with different data structures stored on them. Modules can communicate via local and / or remote processes, for example, in response to a signal (either analog or digital) with one or more data packets (e.g., data from one component interacting with another component in a local system, distributed system, and / or with other systems over a network such as a wide area network).

[0075] As another example, a module can be embodied in or include a device with a defined functionality provided by mechanical parts, which are operated by electrical or electronic circuits controlled by a software or firmware application, which in turn is executed by a processor. Such a processor can be internal or external to the device and can execute at least part of the software or firmware application. In yet another example, a module can be embodied in or include a device that provides a defined functionality through electronic components without mechanical parts. The electronic components can include a processor to execute software or firmware that enables or otherwise facilitates at least part of the functionality of the electronic components.

[0076] In some embodiments, modules can communicate via local and / or remote processes, for example, according to a signal (either analog or digital) with one or more data packets (e.g., data from one component interacting with another component in a local system, distributed system, and / or with other systems via a network such as a wide area network). Additionally, or in other embodiments, modules can communicate via thermal, mechanical, electrical, and / or electromechanical coupling mechanisms (such as wires, connectors, combinations thereof, or the like) or be coupled in other ways. An interface can include input / output (I / O) components as well as associated processors, applications, and / or other programming components.

[0077] As used in this disclosure, the term “processor” can refer to any type of processing logic or device. A processor can also be implemented as a combination of processing logic or computing units (such as CPUs, GPUs, or a combination of both). For the purpose of illustration, a processor can therefore refer to a single-core processor; a single processor with software multithreading capability; a multi-core processor; a multi-core processor with software multithreading capability; a multi-core processor with hardware multithreading technology; a parallel processing (or computing) platform; and parallel computing platforms with distributed shared memory.

[0078] Additionally, or as another example, a processor may refer to an integrated circuit (IC), an ASIC, a digital signal processor (DSP), an FPGA, a PLC, a complex programmable logic device (CPLD), discrete gate or transistor logic, discrete hardware components, or any combination thereof described herein.

[0079] In some embodiments, processors can utilize nanoscale architectures to optimize space utilization or improve the performance of systems, devices, or other electronic equipment according to this disclosure. For example, a processor can include molecular transistors and / or quantum dot-based transistors, switches, and gates.

[0080] In this description and the accompanying drawings, terms such as "storage space," "memory," "data storage space," "data storage," "record storage," "repository," and essentially any other information storage component relevant to the operation and functionality of a component of the disclosure refer to storage components, units embodied in one or more storage devices, or components that constitute a storage device. It should be noted that the storage components or storage devices described herein embody or include non-transitory computer storage media that can be read by a computing device or otherwise accessed. Such media can be implemented in any method or technology for storing information, such as machine-accessible instructions (e.g.,computer-readable instructions), information structures, program modules, or other information objects.

[0081] The storage components or storage devices disclosed herein may be embodied in either volatile or non-volatile memory, or may include both. Additionally, the storage components or storage devices may be removable or non-removable and / or located within or outside a computing device or component. Examples of various types of non-transitory storage media include hard disk drives, Zip drives, CD-ROMs, Digital Versatile Discs (DVDs) or other optical storage media, magnetic cartridges, magnetic tape, magnetic disk storage or other magnetic storage devices, flash memory cards or other types of memory cards, cartridges, or any other non-transitory media accessible from a computing device.

[0082] For illustration, non-volatile memory may include read-only memory (ROM), programmable ROM (EPROM), electrically programmable ROM (EEPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory includes random access memory (RAM) serving as an external cache. For illustration, and not as a limitation, RAM is available in many forms, such as synchronous RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual-rate SDRAM (DDR-SDRAM), extended SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct Rambus RAM (DRRAM). The disclosed memory devices or memories of the operating or computing environments described herein shall include one or more of these and / or other suitable memory types.

[0083] Conditional language, including terms like "can," "could," "might," or "may," is intended, unless specifically stated otherwise or understood differently in the context, to generally convey that certain implementations might include certain features, elements, and / or operations, while other implementations do not. Thus, such conditional language is generally not intended to imply that features, elements, and / or operations are in any way required for one or more implementations, or that one or more implementations necessarily include logic for deciding, with or without user input or prompting, whether these features, elements, and / or operations are included or performed in a particular embodiment.

[0084] As used herein, the term “device” may refer to a processing circuit that includes an application-specific integrated circuit (ASIC), an electronic circuit, a processor (shared, dedicated or group) and memory capable of executing one or more software or firmware programs, a combinational logic circuit and / or other suitable components that provide the functionality described.

[0085] While the above disclosure has been described with reference to exemplary embodiments, the person skilled in the art will understand that various modifications can be made and equivalents for elements thereof can be substituted without altering its scope of protection. Furthermore, many modifications can be made to adapt a particular situation or material to the teachings of the disclosure without altering its essential scope of protection. Therefore, the present disclosure is not intended to be limited to the specific embodiments disclosed, but rather to include all embodiments that fall within the scope of protection.

Claims

[] Claimed is: [1] Procedure, encompassing: Generating a first beamforming map using at least one first response function of an antenna array and data representative of electromagnetic signals received at the antenna array; Determine multiple reflection detection points using at least the first beamforming map; Generating a second beamforming map using at least the data and a second response function of the antenna array, wherein the second response function has a first minimum at a first reflection capture point of a subset of the multiple reflection capture points and a second minimum at a second reflection capture point of the subset; Determining a ratio between a first amplitude of a third reflection detection point in the second ray-shaping map and a second amplitude of the third reflection point in the first ray-shaping map; Determine that the ratio is less than a threshold; and classify the third reflection detection point as an apparent reflection point. [2] The method of claim 1, further comprising updating a data set indicating the multiple reflection detection points by removing the third reflection detection point from the data set and supplying the updated data set to a control system configured to stop the operation of a vehicle using at least the updated data set. [3] The method of claim 1, further comprising determining a ratio between a first amplitude of a fourth reflection detection point in the second beamforming map and a second amplitude of the fourth reflection point in the first beamforming map; determining that the ratio is greater than the threshold; and classifying the fourth reflection detection point as a physical reflection point. [4] Method according to claim 1, wherein determining that the ratio is less than the threshold includes determining that the ratio is less than about 15 dB. [5] The method of claim 1, wherein generating the second beamforming distribution map comprises determining an arrangement with multiple response functions corresponding to the first response function, which are evaluated at each of the multiple reflection detection points, and the generation of the second beamforming distribution map further comprises generating the second response function by solving an optimization problem with respect to an objective function at least based on the arrangement and dependent on a constraint indicating a conservation rule, and wherein the conservation rule requires that the second response function maintains unity of power at the third reflection detection point relative to the first response function. [6] System, comprehensive: at least one processor; and at least one storage device coupled to the at least one processor, wherein the at least one storage device has instructions encoded on it which, in response to execution, cause the at least one processor to perform or facilitate operations, including the following: Generating a first beamforming map using at least one first response function of an antenna array and data representative of electromagnetic signals received at the antenna array; Determine multiple reflection detection points using at least the first beamforming map; Generating a second beamforming map using at least the data and a second response function of the antenna array, wherein the second response function has a first minimum at a first reflection capture point of a subset of the multiple reflection capture points and a second minimum at a second reflection capture point of the subset; Determining a ratio between a first amplitude of the third reflection detection point in the second ray-shaping map and a second amplitude of a third reflection point in the first ray-shaping map; Determine that the ratio is less than a threshold; and Classifying the third reflection capture point as an apparent reflection point. [7] System according to claim 6, wherein the operations further comprise updating a data set indicating the multiple reflection detection points by removing the third reflection detection point from the data set, and the operations further comprise delivering the updated data set to a control system configured to stop the operation of a vehicle using at least the updated data set. [8] System according to claim 6, wherein the operations further comprise: determining a ratio between a first amplitude of a fourth reflection detection point in the second beamforming map and a second amplitude of the fourth reflection point in the first beamforming map; Determine that the ratio is greater than the threshold; and Classifying the fourth reflection capture point as a physical reflection point. [9] System according to claim 6, wherein determining that the ratio is less than the threshold includes determining that the ratio is less than about 15 dB. [10] System according to claim 6, wherein generating the second beamforming distribution map comprises determining an arrangement with multiple response functions corresponding to the first response function, which are evaluated at each of the multiple reflection detection points, and generating the second beamforming distribution map further comprises generating the second response function by solving an optimization problem with respect to an objective function at least based on the arrangement and dependent on a constraint indicating a conservation rule, and wherein the conservation rule requires that the second response function maintains unity of power at the third reflection detection point relative to the first response function.

Images