Systems and methods for side-directed radar from a vehicle
AssigneeHuawei Technologies Co., Ltd.
InventorsMohsen Rohani, Song Zhang
Life of this patent
Estimating the term…
Abstract
A system and method to sense an environment based on data acquired by side looking radar. For example, a side looking radar is mounted on one or both sides of a ground-based vehicle and performs measurements from environment while the vehicle is moving. As the vehicle moves, a scan of the environment is therefore performed, wherein movement of the vehicle provides another dimension of information for the scan. In another example, the radar can further scan in the vertical plane at a fixed side looking angle to increase the field of view. A 3D map and localization can be determined from the scan.
Claims21
A sensing system comprising:
- a ground-based vehicle configured to move in a direction of travel;
- at least one radar system mountable to the ground-based vehicle, each radar system configured to emit radio waves at a fixed sideward azimuth angle to the direction of travel, capture electromagnetic radiation, and generate radar data based on the captured electromagnetic radiation while the vehicle is moving;
- memory;
- and
- a processor operably coupled to the memory and each radar system, the processor configured to execute computer instructions stored in the memory, the computer instructions causing the processor to:
- receive speed information and positioning information of the vehicle from a controller of vehicle while the vehicle is moving;
- generate a three-dimensional map of an environment surrounding the vehicle based on the radar data received from each radar system, the speed information and the positioning information of the vehicle, the three-dimensional map including objects;
- and
- generate a second three-dimensional map of a static environment surrounding the vehicle by identifying dynamic objects from the objects included in map of the environment and removing the dynamic objects from the map.
A method for radar sensing from a ground-based vehicle using at least one radar system mountable to the ground-based vehicle, the method comprising:
- moving the vehicle in a direction of travel;
- controlling emitting, from the at least one each radar system to emit radio waves sideward to the direction of travel at a fixed sideward azimuth angle to the direction of travel of the vehicle;
- processing, at each radar system, electromagnetic radiation captured by the radar system to generate radar data while the vehicle is moving;
- receiving speed information and positioning information of the vehicle from a controller of vehicle while the vehicle is moving;
- generating a three-dimensional map of an environment surrounding the vehicle based on the radar data received from each radar system, the speed information, and the positioning information, the three-dimensional map including objects;
- generating a second three-dimensional map, of a static environment surrounding the vehicle, by identifying and removing dynamic objects from the objects included in the map.
A radar sensing system for a ground-based vehicle, the vehicle including a body having a front, a back and two lateral sides, the sensing system comprising:
- at least one radar system mountable to one of the lateral sides of the body of the ground-based vehicle, each radar system configured to emit radio waves at a fixed sideward azimuth angle to an axis extending between the front and the back of the vehicle, capture electromagnetic radiation, and generate radar data based on the captured electromagnetic radiation while the vehicle is moving;
- memory;
- a processor operably coupled to each radar system and the memory, the processor configured to execute computer instructions stored on the memory, the computer instructions causing the processor to:
- receive speed information and positioning information of the vehicle from a controller of vehicle while the vehicle is moving;
- process the radar data received from each radar system, the speed information, and the positioning information to determine an environment surrounding the vehicle and identify static and dynamic objects around the vehicle;
- generate a three-dimensional map of an environment surrounding the vehicle based on the determined environment and the identified static objects.
Dependencies are inferred from the claim text.