Use of motion data in the processing of automotive radar image processing

摘要

In an example method, a vehicle configured to operate in an autonomous mode could have a radar system used to aid in vehicle guidance. The method could include a plurality of antennas configured to transmit and receive electromagnetic signals. The method may also include a one or more sensors configured to measure a movement of the vehicle. A portion of the method may be performed by a processor configured to: i) determine adjustments based on the movement of the vehicle; ii) calculate distance and direction information for received electromagnetic signals; and iii) recover distance and direction information for received electromagnetic signals with the adjustments applied. The processor may be further configured to adjust the movement of the autonomous vehicle based on the distance and direction information with adjustments applied.

主权项

1. A system comprising:
an antenna configured to receive electromagnetic signals, wherein each electromagnetic signal provides distance and direction information for at least one object in an environment of an autonomous vehicle; at least one sensor configured to provide an output based on a movement of the autonomous vehicle wherein the movement includes a front end of the vehicle pitching down towards the ground below the vehicle as a result of a decrease in speed of the vehicle; and at least one processor configured to:
prior to the movement, identify a first object and a second object from first signals of the electromagnetic signals;use the distance and direction information of the second signals the electromagnetic signals to identify and determine an object velocity for a first object indicating that the first object is moving relative to the vehicle;determine a movement parameter based on the output of the at least one sensor, wherein the movement parameter is an adjustment value that compensates for the movement;determine that the first object is stationary relative to the vehicle based on the movement parameter and the object velocity;use the determination that the first object is stationary to control the vehicle;determine that the second electromagnetic signals do not provide current distance and direction information for the second object;determine that the movement parameter meets a threshold value; andwhen the movement parameter is determined to meet the threshold value, temporarily ignoring, by the computing system, the determination that the second electromagnetic signals do not provide distance and direction information for the second object when controlling the vehicle.