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US 12,736,656 B1Granted
Radar velocity determination
AssigneeZoox, Inc.
InventorVincent Chee-Chin Lee
Life of this patent
Estimating the term…
Abstract
Techniques for determining an object velocity associated with a radar device are discussed herein. A computing device can implement a model that receives radar data from the radar device as input and identifies a Doppler interval for determining candidate correction values. The model can select one of the candidate correction values for processing when determining the object velocity. For example, the model can determine a Doppler velocity for output by a radar device based on the selected correction value. The object velocity can be used by a vehicle computing device for predicting vehicle actions to control a vehicle.
Claims21
A system comprising:
- one or more processors;
- and
- one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the system to perform operations comprising:
- receiving radar data associated with an object in an environment, wherein the radar data comprises azimuth information;
- determining that the azimuth information associated with the radar data meets or exceeds an azimuth threshold, the azimuth threshold representing a pre-determined value;
- identifying a Doppler interval associated with the radar data;
- determining elevation data of a data point associated with the object in the environment;
- determining intensity data associated with the data point;
- determining range data associated with the data point;
- determining, based at least in part on the Doppler interval, the elevation data, the intensity data, the azimuth information meeting or exceeding the azimuth threshold, and the range data, candidate values for correcting an initial velocity estimate of the object associated with the radar data;
- selecting, based at least in part on rigid body estimation of radar points associated with the radar data, one of the candidate values as a correction value for correcting the initial velocity estimate of the object;
- determining, based at least in part on the correction value, a refined velocity of the object;
- and
- sending the refined velocity of the object to a vehicle computing device configured to control a vehicle in the environment.
11 more elements
One or more non-transitory computer-readable media storing instructions executable by a processor, wherein the instructions, when executed, cause the processor to perform operations comprising:
- receiving radar data associated with an object in an environment, the radar data comprising Doppler interval information and azimuth information;
- determining that the azimuth information associated with the radar data meets or exceeds an azimuth threshold, the azimuth threshold representing a pre-determined value;
- determining elevation data of a data point associated with the object in the environment;
- determining intensity data associated with the data point;
- determining range data associated with the data point;
- determining, based at least in part on the Doppler interval information, the elevation data, the intensity data, the range data, and the azimuth information meeting or exceeding the azimuth threshold, candidate values for correcting an initial velocity estimate of the object associated with the radar data;
- selecting, based at least in part on a rigid body estimation, one of the candidate values as a correction value for correcting the initial velocity estimate of the object;
- determining, based at least in part on the correction value, a refined velocity of the object;
- and
- outputting the refined velocity of the object for processing by a vehicle computing device.
7 more elements
A method comprising:
- receiving radar data associated with an object in an environment, the radar data comprising Doppler interval information and azimuth information;
- determining that the azimuth information associated with the radar data meets or exceeds an azimuth threshold, the azimuth threshold representing a pre-determined value;
- determining elevation data of a data point associated with the object in the environment;
- determining intensity data associated with the data point;
- determining range data associated with the data point;
- determining, based at least in part on the Doppler interval information, the elevation data, the intensity data, the range data, and the azimuth information meeting or exceeding the azimuth threshold, candidate values for correcting an initial velocity estimate of the object associated with the radar data;
- selecting, based at least in part on a rigid body estimation, one of the candidate values as a correction value for correcting the initial velocity estimate of the object;
- determining, based at least in part on the correction value, a refined velocity of the object;
- and
- outputting the refined velocity of the object for processing by a vehicle computing device.
7 more elements
Dependencies are inferred from the claim text.