Radar Ego Velocity Estimation from Single-Frame Ground Reflections
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Solution Overview
Problem
Existing radar systems for automated driving assistance are computationally expensive and environment-dependent for determining ego velocity, requiring multiple radar frames and object tracking, which is inefficient and inaccurate in environments with many moving objects.
Innovation Solution
A radar system determines ego velocity using a single radar frame and ground reflections, employing frequency-modulated continuous wave radar to calculate ego velocity based on ground reflections, eliminating the need for object tracking and reducing computational complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple radar frames and object tracking are used to determine ego velocity, then measurement precision is improved, but device complexity and computational cost increase
Solution Approach 1:
The patent extracts only the necessary information from radar returns - specifically the radial velocity of ground reflections - while discarding unnecessary data about tracked objects and multiple frames. This selective extraction achieves accurate ego velocity estimation without the computational burden of full object tracking and multi-frame processing.
Solution Approach 2:
Instead of tracking objects to determine ego velocity, the patent inverts the approach by using ground reflections as proxies. The ground reflections provide a reference frame that indirectly reveals the radar system's own motion, eliminating the need for direct object tracking.
2Measurement precision
If multiple radar frames and object tracking are used to determine ego velocity, then measurement precision is improved, but processing time increases
Solution Approach 1:
The patent segments the radar return data into ground reflections and separates the ego velocity estimation process from object tracking. By processing only the ground reflection components and using a single frame, the system achieves fast processing without sacrificing accuracy.
Solution Approach 2:
The system performs preliminary identification and classification of ground reflections within a single radar frame, preparing the necessary data for immediate ego velocity calculation without requiring subsequent frames or iterative tracking processes.
3Measurement precision
If traditional object tracking methods are used, then ego velocity can be determined, but reliability decreases in environments with many moving objects
Solution Approach 1:
The patent introduces ground reflections as an intermediary reference frame between the radar system and the environment. These ground reflections serve as stable mediators that provide consistent reference points for velocity estimation, regardless of the number or motion state of objects in the environment.
Solution Approach 2:
The system uses the ground reflections off the radar system's own platform to determine its own velocity state. This self-service approach eliminates dependence on external objects and their motion characteristics, providing reliable ego velocity estimation independent of environmental conditions.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The method provides faster and more accurate ego velocity estimation by leveraging ground reflections, independent of environmental conditions, thus enhancing the efficiency and reliability of automated driving assistance systems.
Implementation Method 1
a first antenna array (145) configured to transmit electromagnetic waves
Implementation Method 2
at least one receiver (RX) antenna positioned to receive ground reflections
Implementation Method 3
obtains a set of ground reflections and corresponding ranges and measured radial velocities
Data Source
AI summary
A radar system includes transmitter and receiver antennas positioned to illuminate and receive reflections from a ground surface, a processor, and a non-transitory computer-readable medium. The processor obtains ground reflections, the corresponding ranges, and measured radial velocities, and determines a set of test ego velocities. For each test ego velocity and ground reflection, the processor generates a test radial velocity. The processor determines an absolute difference between the test radial velocity and the measured radial velocity, and whether the absolute difference satisfies a criterion. In response to satisfying the criterion, the absolute difference is accumulated into a total cost for the test ego velocity. After each ground reflection and test ego velocity is analyzed, the processor compares the total costs for the test ego velocities to obtain a smallest total cost and corresponding test ego velocity. The test ego velocity is an ego velocity of the radar system.