Automotive radar for mapping and localization
AssigneeGM Cruise Holdings LLC
InventorStefan Andreas Brisken
Life of this patent
Estimating the term…
Abstract
A vehicle (AV) includes a radar sensor and a hardware logic component. The radar sensor receives a radar return from a driving environment of the vehicle and outputs radar data that is indicative of the return to the hardware logic component. The hardware logic component further receives data indicative of a velocity of the vehicle from a sensor mounted on the vehicle. The hardware logic component is configured to employ synthetic aperture radar (SAR) techniques to compute a three-dimensional position of a point on a surface of an object in the driving environment of the vehicle based upon the radar data and the velocity of the vehicle.
Claims11
A vehicle comprising:
- a radar antenna array configured to receive radar returns from a driving environment of the vehicle, wherein the radar antenna array has a field-of-view (FOV) pointed in a direction that is offset at an angle from a direction of travel of the vehicle, wherein the radar antenna array includes a first radar antenna;
- a second radar antenna that is not included in the radar antenna array, wherein the second radar antenna is horizontally offset from the first antenna;
- and
- a hardware logic component configured to receive radar data that is indicative of the radar returns received by the radar antenna array over a period of time and generate a three-dimensional point cloud based upon the radar data through use of synthetic aperture radar (SAR) techniques, wherein use of the SAR techniques comprises:
- computing, based upon the radar data and a velocity of the vehicle during the period of time, a position of a point on a surface of an object in the driving environment;
- and
- updating a three-dimensional map of the driving environment based upon the computed position such that the three-dimensional map indicates that an object is present at the computed position;
- computing, based upon the radar data and the velocity of the vehicle during the period of time, a position of a second point in the driving environment;
- computing, based upon a portion of the radar data representative of a radar return received by the first radar antenna and second radar data that is indicative of a radar return received by the second radar antenna, a position of a third point in the driving environment;
- determining that the second point and the third point are representative of a moving object in the driving environment;
- and
- responsive to determining that the second point and the third point are representative of the moving object, failing to include the second point and the third point in the three-dimensional map of the driving environment.
Dependencies are inferred from the claim text.