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US 11,686,836 B2Granted
Real-time and dynamic localization using active doppler sensing systems for vehicles
AssigneePony AI Inc.
InventorsCyrus F. Abari, Harsh Mohan, Haomin Wang, Piaoyang Cui
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Abstract
Provided herein is a system on a vehicle, the system comprising an active Doppler sensor; one or more processors; and a memory storing instructions that, when executed by the one or more processors, causes the system to perform: obtaining a Doppler signature from each of one or more entities; and determining one or more calibration parameters of the active Doppler sensor based on the Doppler signature from at least a portion of the one or more entities.
Claims15
A system on a moving vehicle comprising:
- an active Doppler sensor;
- one or more processors;
- and
- a memory storing instructions that, when executed by the one or more processors, causes the system to perform:
- obtaining a Doppler velocity from each of one or more entities using the active Doppler sensor, wherein the Doppler velocity is with respect to the moving vehicle;
- determining one or more calibration parameters of the active Doppler sensor based on respective Doppler velocities from at least a portion of the entities, wherein the determining of the one or more calibration parameters comprises:
- determining one or more stationary entities, within the one or more entities;
- forming one or more clusters, each of the clusters comprising at least a portion of the one or more stationary entities and defining a relationship between a location of one of the entities with respect to the active Doppler sensor and the Doppler velocity of the respective one of the entities;
- fitting, to each of the one or more clusters, a signal model defining the Doppler velocities of the each of the entities in relation to a mounting offset angle or an azimuth offset angle of the active Doppler sensor and a mounting location of the active Doppler sensor;
- determining a degree of fit of the signal model to each of the one or more clusters;
- removing any of the clusters having a degree of fit lower than a threshold while retaining remaining clusters;
- and determining the one or more calibration parameters based on the retained remaining clusters;
- determining a location of the vehicle based on one or more of the calibration parameters;
- and
- causing the vehicle to perform a driving action based on the determined location.
12 more elements
A method implemented by a system on a moving vehicle including an active Doppler sensor, one or more processors, and a storage media storing machine-readable instructions, the method comprising:
- obtaining a Doppler velocity from each of one or more entities using the active Doppler sensor, wherein the Doppler velocity is with respect to the moving vehicle;
- determining one or more calibration parameters of the active Doppler sensor based on respective Doppler velocities from at least a portion of the entities, wherein the determining of the one or more calibration parameters comprises:
- determining one or more stationary entities, within the one or more entities;
- forming one or more clusters, each of the clusters comprising at least a portion of the one or more stationary entities and defining a relationship between a location of one of the entities with respect to the active Doppler sensor and the Doppler velocity of the respective one of the entities;
- fitting, to each of the one or more clusters, a signal model defining the Doppler velocities of the each of the entities in relation to a mounting offset angle or an azimuth offset angle of the active Doppler sensor and a mounting location of the active Doppler sensor;
- determining a degree of fit of the signal model to each of the one or more clusters;
- removing any of the clusters having a degree of fit lower than a threshold while retaining remaining clusters;
- and determining the one or more calibration parameters based on the retained remaining clusters;
- determining a location of the vehicle based on one or more of the calibration parameters;
- and
- causing the vehicle to perform a driving action based on the determined location.
8 more elements
A non-transitory computer readable medium comprising instructions that, when executed by one or more processors on a moving vehicle, cause the one or more processors to perform:
- obtaining a Doppler velocity from each of one or more entities using an active Doppler sensor on the moving vehicle, wherein the Doppler velocity is with respect to the moving vehicle;
- determining one or more calibration parameters of the active Doppler sensor based on respective Doppler velocities from at least a portion of the entities, wherein the determining of the one or more calibration parameters comprises:
- determining one or more stationary entities, within the one or more entities;
- forming one or more clusters, each of the clusters comprising at least a portion of the one or more stationary entities and defining a relationship between a location of one of the entities with respect to the active Doppler sensor and the Doppler velocity of the respective one of the entities;
- fitting, to each of the one or more clusters, a signal model defining the Doppler velocities of the each of the entities in relation to a mounting offset angle or an azimuth offset angle of the active Doppler sensor and a mounting location of the active Doppler sensor;
- determining a degree of fit of the signal model to each of the one or more clusters;
- removing any of the clusters having a degree of fit lower than a threshold while retaining remaining clusters;
- and determining the one or more calibration parameters based on the retained remaining clusters;
- determining a location of the vehicle based on one or more of the calibration parameters;
- and
- causing the vehicle to perform a driving action based on the determined location.
8 more elements
Dependencies are inferred from the claim text.