Radar multipath processing
AssigneeUber Technologies, Inc.
InventorsWarren Smith, Howard Smith
Life of this patent
Estimating the term…
Abstract
A control system of an autonomous vehicle (AV) can receive sensor data from a sensor array of the AV. The sensor data can comprise raw radar data from a radar system of the sensor array, and in many examples, a live LIDAR data from a LIDAR system of the sensor array. In certain implementations the control system can access a current localization map or a live LIDAR map of a surrounding area of the AV, and compare the raw radar data with the current localization map or the live LIDAR map to identify multipath objects in the raw radar data. The control system may then remove the multipath objects or track the actual objects corresponding to the multipath objects accordingly.
Claims20
An autonomous vehicle (AV) comprising:
- a sensor array comprising at least a radar system;
- acceleration, braking, and steering systems;
- a memory storing a set of localization maps for a given region;
- and
- an AV control system comprising one or more processors executing an instruction set causing the AV control system to:
- receive sensor data from the sensor array, the sensor data including raw radar data from the radar system;
- access a current localization map from the set of localization maps, the current localization map indicating a current surrounding of the AV;
- compare the raw radar data with the current localization map to identify multipath objects in the raw radar data;
- and
- analyze the current localization map and the sensor data to operate the acceleration, braking, and steering systems of the AV along a current route within the given region.
A radar multipath processing system comprising:
- one or more processors;
- and
- one or more memory resources storing instructions that, when executed by the one or more processors, cause the one or more processors to:
- receive raw radar data from a radar system of an autonomous vehicle (AV);
- access a current localization map indicating a current surrounding of the AV;
- and
- compare the raw radar data with the current localization map to identify multipath objects in the raw radar data.
An on-board autonomous vehicle (AV) control system comprising:
- one or more processors;
- and
- one or more memory resources storing instructions that, when executed by the one or more processors, cause the one or more processors to:
- receive sensor data from a sensor array of an AV, wherein the sensor data comprises raw radar data from a radar system of the sensor array and live LIDAR data from a LIDAR system of the sensor array;
- dynamically generate a live LIDAR map of a surrounding area of the AV using the live LIDAR data;
- and
- compare the raw radar data with the live LIDAR map to identify multipath objects in the raw radar data.
Dependencies are inferred from the claim text.