Radar apparatus and point cloud generation method
AssigneePanasonic Automotive Systems Co., Ltd.
InventorsHidekuni Yomo, Tomohiro Yui, Takaaki Kishigami, Noriaki Saito
Life of this patent
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Abstract
A radar apparatus includes signal processing circuitry, which, in operation, generates point cloud data for each frame based on a reflection wave signal resulting from a radar signal reflected by an object; extracting circuitry, which, in operation, extracts a first point cloud corresponding to a stationary object from the point cloud data; and superimposing circuitry, which, in operation, superimposes the point cloud data of a current frame and the first point cloud of a past frame.
Claims20
A radar apparatus configured to be mounted on a vehicle, the radar apparatus comprising:
- signal processing circuitry, which, in operation, generates point cloud data for each frame of a plurality of frames based on a reflection wave signal resulting from a radar signal reflected by a stationary object and a moving object;
- extracting circuitry, which, in operation, extracts a first point cloud corresponding to the stationary object from the point cloud data and a second point cloud corresponding to the moving object from the point cloud data;
- superimposing circuitry, which, in operation, superimposes the point cloud data by superimposing the first point cloud and the second point cloud of a current frame and the first point cloud of a past frame, and outputs the superimposed point cloud data to a vehicle controlling circuitry that controls the vehicle based on the superimposed point cloud data, and
- removing circuitry, which, in operation,
- detects a position of the second point cloud of the current frame is a position of the first point cloud of the past frame, and
- removes the first point cloud of the past frame from the superimposed point cloud data, in response to the position of the second point cloud of the current frame being detected as the position of the first point cloud of the past frame.
A point cloud generation method using a radar apparatus configured to be mounted on a vehicle, comprising:
- generating, by the radar apparatus, point cloud data for each frame of a plurality of frames based on a reflection wave signal resulting from a radar signal reflected by a stationary object and a moving object;
- extracting, by the radar apparatus, a first point cloud corresponding to the stationary object from the point cloud data and a second point cloud corresponding to the moving object from the point cloud data;
- superimposing, by the radar apparatus, the point cloud data by superimposing the first point cloud and the second point cloud of a current frame and the first point cloud of a past frame;
- detecting, by the radar apparatus, a position of the second point cloud of the current frame is a position of the first point cloud of the past frame;
- removing, by the radar apparatus, the first point cloud of the past frame from the superimposed point cloud data, in response to detecting the position of the second point cloud of the current frame is the position of the first point cloud of the past frame;
- and
- outputting, by the radar apparatus, the superimposed point cloud data to a vehicle controlling circuitry that controls the vehicle based on the superimposed point cloud data.
Dependencies are inferred from the claim text.