RADAR MOUNTING ESTIMATION WITH UNSTRUCTURED DATA

By | September 28, 2018

(12) INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau (43) International Publication Date 31 August 2017 (31.08.2017) WIPO I PCT (10) International Publication Number WO 2017/146824 Al 111111111111110111011111111111010111110111010111111111111010101111111111111110111111 (51) International Patent Classification: G01S 13/93 (2006.01) B60R 21/0134 (2006.01) (21) International Application Number: PCT/US2017/012664 (22) International Filing Date: 9 January 2017 (09.01.2017) (25) Filing Language: English (26) Publication Language: English (30) Priority Data: 15/054,570 26 February 2016 (26.02.2016) US (71) Applicant: X DEVELOPMENT LLC [US/US]; 1600 Amphitheatre Parkway, Mountain View, CA 94043 (US). (72) Inventors: SMITH, Larry; C/o X Development LLC, 1600 Amphitheatre Parkway, Mountain View, CA 94043 (US). CAMPBELL, Timothy; C/o X Development LLC, 1600 Amphitheatre Parkway, Mountain View, CA 94043 (US). (74) Agent: ANDERSON, Michael, D.; Mcdonnell Boehnen Hulbert & Berghoff LLP, 300 South Wacker Drive, Chica-
go, IL 60606 (US). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, [Continued on next page] = (54) Title: RADAR MOUNTING ESTIMATION WITH UNSTRUCTURED DATA (57) Abstract: The present application describes a method includ-
ing transmitting at least two radar signals by a radar unit of a vehicle, where a first signal is transmitted from a first location and a second signal is transmitted from a second location. The method also includes receiving a respective reflection signal associated with each of the transmitted signals. Additionally, the method in-
cludes determining, by a processor, at least one stationary object that caused a reflection, Further, the method includes, based on the determined stationary object, determining, by the processor, an off-
set for the radar unit The method yet further includes operating the radar unit based on the determined offset. Furthermore, the method includes controlling an autonomous vehicle based on the radar unit being operated with the determined offset. W
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24 Al 500 TRANSMITTING A PLURALITY OF RADAR SIGNALS FROM A PLURALITY OF DIFFERENT LOCATIONS BY A RADAR UNIT 504 …,\ RECEIVING A PLURALITY OF REFLECTION SIGNALS 500 DETERMINE AT LEAST ONE STATIONARY OBJECT THAT CAUSED A REFLECTION IN THE PLURALITY OF REFLECTION SIGNALS BASED ON THE DETERMINED STATIONARY OBJECT, DETERMINE AN OFFSET FOR THE RADAR UNIT 510 \ I OPERATE THE RADAR UNIT BASED ON THE DETERMINED OFFSET 512
` I CONTROL AN AUTONOMOUS VEHILE BASED ON THE RADAR UNIT BEING OPERATED WITH THE DETERMINED OFFSET FIG. 5 WO 2017/146824 Al IIIIIM01101MIIMME3010111111011111111111111111111111111111111111 DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, Published: LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, with international search report (Art. 21(3)) GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG).

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