技术领域Technical field
本公开涉及用于具有目标定位的自动车辆的方法、设备和系统。The present disclosure relates to methods, apparatus and systems for autonomous vehicles with target positioning.
背景技术Background technique
无线电定位技术可以广泛用于在自动驾驶领域中定位物体，例如，由另一自动车辆定位自动车辆。自动车辆的示例可以包括但不限于部分自动车辆、全自动车辆、和/或其它。基于无线电定位技术，无线电波可以由物体发射，并且物体的距离可以通过各种方式测量，包括利用接收的信号强度与初始信号强度之间的差异、当发射时间和传播速度已知时的到达接收站的时间、和/或其它。无线电波的示例可以包括但不限于频率调制连续波(FMCW)，例如锯齿频率调制信号波、啁啾频率调制信号波、阶梯频率调制信号和/或类似信号。Radio positioning technology can be widely used to locate objects in the field of autonomous driving, for example, to locate an autonomous vehicle by another autonomous vehicle. Examples of autonomous vehicles may include, but are not limited to, partially autonomous vehicles, fully autonomous vehicles, and/or others. Based on radiolocation technology, radio waves can be emitted by objects, and the distance of the object can be measured in various ways, including using the difference between the received signal strength and the initial signal strength, arrival reception when the launch time and propagation speed are known station time, and/or others. Examples of radio waves may include, but are not limited to, frequency modulated continuous waves (FMCW), such as sawtooth frequency modulated signal waves, chirped frequency modulated signal waves, staircase frequency modulated signals, and/or the like.
发明内容Contents of the invention
本公开的一方面涉及一种第一车辆的系统，其包括：至少三个接收器，至少三个接收器，其中，所述至少三个接收器中的每个用于从第二车辆的发射器接收第一波长的第一信号；以及控制器，所述控制器被配置为基于在所述至少三个接收器中的每个接收器处接收的所述第一信号的第一信号相位之间的差和所述第一波长来计算所述第二车辆相对于所述第一车辆的一个或多个第一位置候选，所述一个或多个第一位置候选包括所述发射器与所述至少三个接收器中的一个接收器之间的纵向距离，以及所述发射器与所述至少三个接收器中的所述一个接收器之间的横向距离。One aspect of the present disclosure relates to a system for a first vehicle including: at least three receivers, wherein each of the at least three receivers is for transmitting from a second vehicle a receiver receiving a first signal at a first wavelength; and a controller configured to based on a first signal phase of the first signal received at each of the at least three receivers. and the first wavelength to calculate one or more first position candidates of the second vehicle relative to the first vehicle, the one or more first position candidates including the emitter and the the longitudinal distance between one of the at least three receivers, and the lateral distance between the transmitter and the one of the at least three receivers.
本公开的另一方面涉及一种用于具有目标定位的自动车辆方法，包括：由第一车辆的至少三个接收器从第二车辆的发射器接收第一波长的第一信号；以及由所述第一车辆的控制器至少部分地基于在所述至少三个接收器中的每个接收器处接收的所述第一信号的第一信号相位之间的差和所述第一波长来计算所述第二车辆相对于所述第一车辆的一个或多个第一位置候选，所述一个或多个第一位置候选包括所述发射器与所述至少三个接收器中的一个接收器之间的纵向距离，以及所述发射器与所述至少三个接收器中的所述一个接收器之间的横向距离。Another aspect of the present disclosure relates to a method for an autonomous vehicle with target location, including: receiving, by at least three receivers of a first vehicle, a first signal of a first wavelength from a transmitter of a second vehicle; and The controller of the first vehicle calculates based at least in part on a difference between a first signal phase of the first signal received at each of the at least three receivers and the first wavelength One or more first position candidates of the second vehicle relative to the first vehicle, the one or more first position candidates including the transmitter and one of the at least three receivers the longitudinal distance between the transmitter and the one of the at least three receivers.
附图说明Description of the drawings
在附图中，本公开描述的概念是通过举例而不是限制的方式加以例示的。为了例示简单清晰起见，图中例示的元件未必是按比例绘制的。例如，为了清晰起见，一些元件的尺寸可能相对于其它元件被放大。此外，在认为适当的情况下，在各图之间重复附图标记以指示对应或相似的元件。In the drawings, the concepts described in this disclosure are illustrated by way of example and not limitation. For simplicity and clarity of illustration, the elements illustrated in the figures are not necessarily drawn to scale. For example, the dimensions of some elements may be exaggerated relative to other elements for clarity. Furthermore, where deemed appropriate, reference numbers are repeated between the figures to indicate corresponding or similar elements.
图1示意性示出了根据各种实施例的使主车辆确定目标车辆的位置的示例性方案；Figure 1 schematically illustrates an exemplary scheme for enabling a host vehicle to determine the location of a target vehicle in accordance with various embodiments;
图2示意性地示出了根据各种实施例的由图1中的目标车辆的发射器发射的信号波和由主车辆的多个雷达接收器接收的信号波；Figure 2 schematically illustrates a signal wave transmitted by a transmitter of the target vehicle in Figure 1 and a signal wave received by a plurality of radar receivers of the host vehicle according to various embodiments;
图3示意性地示出了根据各种实施例的目标车辆的位置不确定的状况，例如，目标车辆可能有多个位置候选；Figure 3 schematically illustrates a situation in which the target vehicle's location is uncertain according to various embodiments. For example, the target vehicle may have multiple location candidates;
图4示意性地示出了根据各种实施例的主车辆的雷达系统；Figure 4 schematically illustrates a radar system of a host vehicle according to various embodiments;
图5示意性地示出了根据各种实施例的通过利用主车辆的雷达系统的各种装置定位目标车辆的方法；以及Figure 5 schematically illustrates a method of locating a target vehicle by utilizing various means of a radar system of a host vehicle according to various embodiments; and
图6示意性地示出了根据各种实施例的通过主车辆的雷达系统的控制器计算目标车辆的位置的方法。Figure 6 schematically illustrates a method of calculating the position of a target vehicle by a controller of a radar system of a host vehicle according to various embodiments.
图7示意性地示出了根据各种实施例的主车辆的示例性计算系统。Figure 7 schematically illustrates an exemplary computing system for a host vehicle in accordance with various embodiments.
具体实施方式Detailed ways
尽管本申请的概念易受各种修改和替代形式的影响，但其具体示例性实施例已在附图中以举例的方式示出并且将在本文详细描述。然而，应当理解，并非意在将本公开的概念限于所公开的特定形式，而是相反，意在覆盖与本公开和所附权利要求一致的所有修改、等同物和替代物。While the concepts of the present application are susceptible to various modifications and alternative forms, specific exemplary embodiments thereof have been shown by way of example in the drawings and will be described in detail herein. It should be understood, however, that there is no intention to limit the concepts of the present disclosure to the particular form disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives consistent with the present disclosure and the appended claims.
在以下描述中，阐述了许多具体细节，例如逻辑实施方式、操作码、规定操作数的方法、资源分区/共享/复制实施方式、系统部件的类型和相互关系、以及逻辑分区/集成选择，以便提供对本公开的更透彻的理解。然而，本领域的技术人员应当理解，可以在没有这样的具体细节的情况下实践本公开的实施例。在其它实例中，没有详细示出控制结构、门级电路和完整软件指令序列，以免使本发明难以理解。通过所包括的描述，本领域的普通技术人员将能够实施适当的功能而无需过多的实验。In the following description, many specific details are set forth, such as logical implementation, opcodes, methods of specifying operands, resource partitioning/sharing/replication implementations, types and interrelationships of system components, and logical partitioning/integration choices to Provide a more thorough understanding of the disclosure. However, it will be understood by those skilled in the art that embodiments of the present disclosure may be practiced without such specific details. In other instances, control structures, gate-level circuits, and complete software instruction sequences have not been shown in detail so as not to obscure the present invention. From the included description, one of ordinary skill in the art will be able to implement the appropriate functionality without undue experimentation.
在说明书中提到“一个实施例”、“实施例”、“示例性实施例”等指示所述的实施例可以包括特定的特征、结构或特性，但未必每个实施例都包括该特定特征、结构或特性。此外，这样的短语未必是指相同的实施例。另外，在结合实施例描述特定特征、结构或特性时，认为结合明确或未明确描述的其它实施例实现这种特征、结构或特性在本领域技术人员的知识范围内。References in the specification to "one embodiment," "an embodiment," "exemplary embodiment," etc. indicate that the described embodiment may include a particular feature, structure, or characteristic, but not that every embodiment may include the particular feature. , structure or characteristics. Furthermore, such phrases are not necessarily referring to the same embodiment. Additionally, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is deemed to be within the knowledge of a person skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, explicitly or not explicitly described.
本申请的实施例可以以硬件、固件、软件或其任何组合来实施。在计算机系统中实施的本申请的实施例可以包括部件之间的一个或多个基于总线的互连和/或部件之间的一个或多个点对点互连。本申请的实施例也可以被实施为由暂态或非暂态机器可读(例如，计算机可读)介质承载或在其上存储的指令，所述指令可以被一个或多个处理器读取并执行。机器可读介质可以体现为用于以机器(例如，计算装置)可读的形式存储或传输信息的任何装置、机制或物理结构。例如，机器可读介质可以体现为只读存储器(ROM)；随机存取存储器(RAM)；磁盘存储介质；光学存储介质；闪存存储器装置；迷你或微型SD卡、存储条、电信号等。Embodiments of the present application may be implemented in hardware, firmware, software, or any combination thereof. Embodiments of the present application implemented in a computer system may include one or more bus-based interconnections between components and/or one or more point-to-point interconnections between components. Embodiments of the present application may also be implemented as instructions carried by or stored on a transient or non-transitory machine-readable (eg, computer-readable) medium, which instructions may be read by one or more processors and execute. Machine-readable media may embody any device, mechanism, or physical structure for storing or transmitting information in a form readable by a machine (eg, a computing device). For example, the machine-readable medium may be embodied as read-only memory (ROM); random access memory (RAM); magnetic disk storage media; optical storage media; flash memory devices; mini or micro SD cards, memory sticks, electrical signals, etc.
在附图中，为了便于描述，可以示出示意性元件的特定布置或顺序，诸如表示装置、模块、指令块和数据元件的示意性元件。然而，本领域的技术人员应当理解，附图中的示意性元件的特定顺序或布置并不是要暗示需要特定处理顺序或序列或过程分离。此外，在附图中包括示意性元件并不是要暗示所有实施例中都需要这种元件，或者在一些实施例中，由这种元件表示的特征可以不包括在其它元件中或不与其它元件组合。In the drawings, specific arrangements or orders of schematic elements may be shown to facilitate description, such as schematic elements representing devices, modules, instruction blocks, and data elements. However, those skilled in the art will appreciate that the specific order or arrangement of illustrative elements in the drawings is not intended to imply the need for a specific order or sequence of processes or separation of processes. Furthermore, the inclusion of schematic elements in the figures is not intended to imply that such elements are required in all embodiments, or that in some embodiments the features represented by such elements may not be included in or incompatible with other elements. combination.
通常，用于表示指令块的示意性元件可以使用任何适合形式的机器可读指令来实施，所述机器可读指令例如是软件或固件应用程序、程序、函数、模块、例程、过程、流程、插件、小程序、窗口小部件、代码片段和/或其它，并且可以使用任何适合的编程语言、库、应用程序编程接口(API)和/或其它软件开发工具来实施每个这种指令。例如，一些实施例可以使用Java、C++和/或其它编程语言来实施。类似地，可以使用任何适合的电子布置或结构来实施用于表示数据或信息的示意性元件，例如寄存器、数据储存器、表、记录、数组、索引、散列、映射、树、列表、图形、文件(任何文件类型)、文件夹、目录、数据库和/或其它。Generally, illustrative elements representing blocks of instructions may be implemented using any suitable form of machine-readable instructions, such as software or firmware applications, programs, functions, modules, routines, procedures, flows , plug-ins, applets, widgets, code snippets, and/or otherwise, and each such instruction may be implemented using any suitable programming language, library, application programming interface (API), and/or other software development tools. For example, some embodiments may be implemented using Java, C++, and/or other programming languages. Similarly, illustrative elements for representing data or information may be implemented using any suitable electronic arrangement or structure, such as registers, data stores, tables, records, arrays, indexes, hashes, maps, trees, lists, graphs , file (any file type), folder, directory, database and/or other.
此外，在附图中，在诸如实线或虚线或箭头的连接元件用于示出两个或更多个其它示意性元件之间的连接、关系或关联的情况下，不存在任何这种连接元件并不是要暗示不存在任何连接、关系或关联。换言之，元件之间的一些连接、关系或关联可能未在附图中示出，以避免使本申请难以理解。此外，为了便于说明，可以使用单个连接元件来表示元件之间的多个连接、关系或关联。例如，在连接元件表示信号、数据或指令的通信的情况下，本领域的技术人员应该理解，这种元件可以表示为实现通信而可能需要的一个或多个信号路径(例如，总线)。Furthermore, in the drawings, where connecting elements such as solid or dashed lines or arrows are used to illustrate a connection, relationship or association between two or more other schematic elements, there is no such connection. Elements are not intended to imply that no connections, relationships, or associations exist. In other words, some connections, relationships or associations between elements may not be shown in the drawings to avoid obscuring the present application. Additionally, for ease of illustration, a single connection element may be used to represent multiple connections, relationships, or associations between elements. For example, where a connecting element represents the communication of signals, data, or instructions, those skilled in the art will understand that such element may represent one or more signal paths (eg, buses) that may be required to effect the communication.
图1示意性示出了根据各种实施例的使主车辆101确定目标车辆102的位置的示例性方案。主车辆101的示例可以包括但不限于部分自动车辆、全自动车辆、非自动车辆、和/或其它。目标车辆102的示例可以包括但不限于部分自动车辆、全自动车辆、非自动车辆、和/或其它。在一些实施例中，术语“自动车辆”可以适用于以自动化模式(即完全自主模式)操作主车辆101和/或目标车辆102的实例，其中主车辆101和/或目标车辆102的人类操作员(未示出)可以仅仅指定目的地即可操作主车辆101和/或目标车辆102。不过，完全自动化并非必需。可以想到，在以部分自动模式操作主车辆101和/或目标车辆102时本文给出的教导是有用的，其中车辆能够在某些条件下自行驾驶，但是仍然需要监督司机或要求司机作为后备。替代地，可以以人工模式操作主车辆101和/或目标车辆102，其中自动化程度或水平可以稍多于向通常控制着主车辆101和/或目标车辆102的转向、加速器和制动的人类操作员提供听觉或视觉警告。Figure 1 schematically illustrates an exemplary scheme for a host vehicle 101 to determine the location of a target vehicle 102 in accordance with various embodiments. Examples of host vehicles 101 may include, but are not limited to, partially autonomous vehicles, fully autonomous vehicles, non-autonomous vehicles, and/or others. Examples of target vehicles 102 may include, but are not limited to, partially autonomous vehicles, fully autonomous vehicles, non-autonomous vehicles, and/or others. In some embodiments, the term "autonomous vehicle" may apply to instances in which the host vehicle 101 and/or the target vehicle 102 are operated in an automated mode (i.e., a fully autonomous mode) with a human operator of the host vehicle 101 and/or the target vehicle 102 (Not shown) The host vehicle 101 and/or the target vehicle 102 may be operated simply by specifying a destination. However, full automation is not required. It is contemplated that the teachings presented herein are useful when operating the host vehicle 101 and/or the target vehicle 102 in a partially automated mode, where the vehicles are capable of driving themselves under certain conditions, but a driver is still required to be supervised or a driver is required as backup. Alternatively, the host vehicle 101 and/or the target vehicle 102 may be operated in a manual mode, where the degree or level of automation may be slightly more than the human operation that normally controls the steering, accelerator and braking of the host vehicle 101 and/or the target vehicle 102 Provide an audible or visual warning to the operator.
目标车辆102还可以包括发射器103，以将信号发射到主车辆101。信号的示例可以包括但不限于频率调制信号，例如啁啾频率调制信号、锯齿频率调制信号和/或其它信号。主车辆101可以包括多个接收器，例如前接收器104、中间接收器105和后接收器106。在一些实施例中，接收器104-106可以实施为配备有单个或多个天线的雷达接收器，并且可以同步地接收信号。The target vehicle 102 may also include a transmitter 103 to transmit signals to the host vehicle 101 . Examples of signals may include, but are not limited to, frequency modulated signals, such as chirped frequency modulated signals, sawtooth frequency modulated signals, and/or other signals. The host vehicle 101 may include multiple receivers, such as a front receiver 104, a center receiver 105, and a rear receiver 106. In some embodiments, the receivers 104-106 may be implemented as radar receivers equipped with single or multiple antennas and may receive signals simultaneously.
在一些实施例中，目标车辆102的发射器103可以发射具有波长λ1的信号并且由三个接收器104-106接收，从前接收器104和中间接收器105接收的信号之间具有相位差(dpf)，并且从中间接收器105和后接收器106接收的信号之间具有相位差(dpr)。发射和接收的信号的示例可以包括但不限于频率调制信号，例如啁啾频率调制信号、锯齿频率调制信号、阶梯频率调制信号和/或其它信号。In some embodiments, the transmitter 103 of the target vehicle 102 may transmit a signal having a wavelength λ1 and be received by three receivers 104 - 106 with a phase difference ( dpf ), and there is a phase difference (dpr ) between the signals received from the middle receiver 105 and the rear receiver 106 . Examples of transmitted and received signals may include, but are not limited to, frequency modulated signals, such as chirp frequency modulated signals, sawtooth frequency modulated signals, staircase frequency modulated signals, and/or other signals.
图2中示出了发射信号波和接收信号波的实施例。如图2中所示，横坐标可以表示信号相位度x，并且纵坐标可以表示信号密度函数sin(x)。φ1可以表示在接收器104处接收的信号的相位延迟，φ2可以表示在接收器105处接收的信号的相位延迟，并且φ3可以表示在接收器106处接收的信号的相位延迟。鉴于此，从前接收器104和中间接收器105接收的信号之间的相位差(dpf)可以从(φ1-φ2)的减法结果获得，并且从中间接收器105和后接收器106接收的信号之间的相位差(dpr)可以从(φ2-φ3)的减法结果获得。Embodiments of transmitting and receiving signal waves are shown in FIG. 2 . As shown in FIG. 2, the abscissa may represent the signal phase degree x, and the ordinate may represent the signal density function sin(x). φ1 may represent the phase delay of the signal received at receiver 104 , φ2 may represent the phase delay of the signal received at receiver 105 , and φ3 may represent the phase delay of the signal received at receiver 106 . In view of this, the phase difference (dpf ) between the signals received from the front receiver 104 and the middle receiver 105 can be obtained from the subtraction result of (φ1 −φ2 ), and the phase difference (d pf ) between the signals received from the middle receiver 105 and the rear receiver 106 The phase difference (dpr ) between the signals can be obtained from the subtraction result of (φ2 -φ3 ).
在一些实施例中，至少部分基于相位差dpf和dpr，例如，可以基于以下等式获得从发射器103到接收器104的信号路径(r2)和从发射器103到接收器105的信号路径(r1)之间的信号路径差df、以及从发射器103到接收器105的信号路径(r2)和从发射器103到接收器106的信号路径(r3)之间的信号路径差dr：In some embodiments, based at least in part on the phase differences dpf and dpr , for example, the signal path (r2 ) from the transmitter 103 to the receiver 104 and from the transmitter 103 to the receiver 105 can be obtained based on the following equations: The signal path difference df between the signal paths (r1 ), and the signal path (r2 ) from the transmitter 103 to the receiver 105 and the signal path (r3 ) from the transmitter 103 to the receiver 106 Signal path differencedr :
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在一些实施例中，至少部分地基于信号路径差df和dr、接收器104相对于接收器105的已知位置(例如，纵向偏移o2和横向偏移d2)以及接收器106相对于接收器105的已知位置(例如，纵向偏移o3和横向偏移d3)，发射器103相对于接收器105的位置(例如，纵向偏移o1和横向偏移d1)可以从以下等式获得：In some embodiments, based at least in part on signal path differences df anddr , the known position of receiver 104 relative to receiver 105 (eg, longitudinal offset o2 and lateral offset d2 ), and receiver 106 The position of transmitter 103 relative to receiver 105 (e.g., longitudinal offset o1 and lateral offset d1 ) relative to a known position of receiver 105 (e.g., longitudinal offset o3 and lateral offset d3 ) It can be obtained from the following equation:
(d1+d2)2+(o2-o1)2＝(r1+df)2(d1 +d2 )2 +(o2 -o1 )2 =(r1 +df )2
(d1)2+(o1)2＝(r1)2(d1 )2 + (o1 )2 = (r1 )2
(d1+d3)2+(o3+o1)2＝(r1-dr)2 (2)(d1 +d3 )2 +(o3 +o1 )2 =(r1 -dr )2 (2)
基于等式(2)，假设前接收器104和中间接收器105之间的纵向偏移(o2)与中间接收器105和后接收器106之间的纵向偏移(o3)相同，则可以获得发射器103相对于接收器105的位置(例如，纵向偏移o1和横向偏移d1)：Based on equation (2), assuming that the longitudinal offset (o2 ) between the front receiver 104 and the middle receiver 105 is the same as the longitudinal offset (o3 ) between the middle receiver 105 and the rear receiver 106, then The position of the transmitter 103 relative to the receiver 105 can be obtained (e.g., longitudinal offset o1 and lateral offset d1 ):
在一些实施例中，信号相位差dpf和dpr在一个角度圆2π内可以是唯一的。然而，由于接收器104-106的几何布置和目标车辆102的发射器103的最大可检测距离，在多个角度圆n2π上可能存在若干相位差候选。换言之，信号相位差dpf和dpr可能不是唯一的，其可以基于以下等式来计算：In some embodiments, the signal phase differences dpf and dpr may be unique within an angle circle 2π. However, due to the geometric arrangement of the receivers 104-106 and the maximum detectable distance of the transmitter 103 of the target vehicle 102, there may be several phase difference candidates over multiple angle circles n2π. In other words, the signal phase differences dpf and dpr may not be unique and can be calculated based on the following equation:
其中，在nf_max＝max df/λ1时，nf表示-nf_max＜nf＜nf_max范围内的任何整数，在nr_max＝max dr/λ1时，nr表示-nr_max＜nr＜nr_max范围内的任何整数。换言之，信号路径差df和dr可以用nf和nr的每种组合来计算。Among them, when nf _max=max df /λ1 , nf represents any integer in the range of -nf _max＜nf ＜nf _max. When nr _max=max dr /λ1 , nr Represents any integer in the range -nr _max＜nr ＜nr _max. In other words, the signal path differencesdf anddr can be calculated for every combination ofnf andnr .
相位差(df,dr)的多个候选可以导致目标车辆102的多个位置候选，其示例可以在图3中示出。如所示，位置模糊可以导致目标车辆102的多于一个的可能位置(位置候选)，例如图3中的圆中所示的那些位置，其中一个可以表示目标车辆102的实际位置。为了确定实际位置，在一些实施例中，发射器103可以发射具有波长λ2的第二信号，其例如可以与第一波长λ1不同。至少部分地基于上述等式1-4，通过用第二信号波长替代第一信号波长，可以获得目标车辆102的多个位置候选。将第一信号波长下的位置候选和第二信号波长下的位置候选进行比较，可以找到与第一位置候选组(即，第一信号波长下的位置候选)以及第二位置候选组(即，第二信号波长下的位置候选)匹配的一个位置候选，其可以被确定为目标车辆102的实际位置。Multiple candidates for phase differences (df ,dr ) may result in multiple location candidates for the target vehicle 102 , examples of which may be shown in FIG. 3 . As shown, location ambiguity may result in more than one possible location (location candidate) for the target vehicle 102 , such as those shown in the circles in FIG. 3 , one of which may represent the actual location of the target vehicle 102 . To determine the actual position, in some embodiments, the transmitter 103 may emit a second signal having a wavelength λ2 , which may, for example, be different from the first wavelength λ1 . Based at least in part on Equations 1-4 above, by replacing the first signal wavelength with a second signal wavelength, multiple location candidates for the target vehicle 102 may be obtained. Comparing the position candidates at the first signal wavelength and the position candidates at the second signal wavelength, it is possible to find out the relationship between the first position candidate group (i.e., the position candidates at the first signal wavelength) and the second position candidate group (i.e., A position candidate that matches the position candidate at the second signal wavelength), which can be determined as the actual position of the target vehicle 102 .
应当理解，其它技术可以实施其它实施例，例如图1中所示的方案。例如，尽管图1示出了三个接收器可以间隔开地安装在主车辆101上，但是应该理解，可以应用大于三个的任何数量的接收器。It should be understood that other technologies may implement other embodiments, such as the scheme shown in FIG. 1 . For example, although FIG. 1 shows that three receivers may be mounted spaced apart on the host vehicle 101, it should be understood that any number of receivers greater than three may be employed.
图4示意性地示出了根据各种实施例的主车辆101的雷达系统400。如所示，雷达系统400可以包括多个雷达接收器(例如，如图1中所示的接收器104-106)、控制器401、和/或其它。接收器104-106中的每个可以包括但不限于一个或多个天线(例如，接收器104的天线4041-404n、接收器105的天线4051-405n和接收器106的天线4061-406n)、解调器(例如，接收器104的解调器414、接收器105的解调器415和接收器106的解调器416)、模拟/数字转换器(A/D转换器)(例如，接收器104的A/D转换器424、接收器105的A/D转换器425和接收器106的A/D转换器426)、和/或其它。Figure 4 schematically illustrates a radar system 400 of a host vehicle 101 according to various embodiments. As shown, radar system 400 may include multiple radar receivers (eg, receivers 104-106 as shown in Figure 1), controller 401, and/or others. Each of receivers 104-106 may include, but is not limited to, one or more antennas (e.g., antennas 404i-404n for receiver 104, antennas 405i-405n for receiver 105, and antenna 406 for receiver 1061 -406n ), demodulator (e.g., demodulator 414 of receiver 104, demodulator 415 of receiver 105, and demodulator 416 of receiver 106), analog/digital converter (A/D conversion (eg, A/D converter 424 of receiver 104, A/D converter 425 of receiver 105, and A/D converter 426 of receiver 106), and/or others.
一个或多个天线(例如天线4051)可以接收从发射器103发射的信号。信号的示例可以包括但不限于频率调制信号，例如啁啾频率调制信号、锯齿频率调制信号、阶梯频率调制信号和/或其它。在一些实施例中，可以将信号频率调制到各种频率范围，例如，E频带(71-76Ghz/81-86Ghz)、专用短程通信(DSRC)(5.9GHz)、“5G”(28/39GHz)或和/其它。One or more antennas (eg, antenna 4051 ) may receive signals transmitted from transmitter 103 . Examples of signals may include, but are not limited to, frequency modulated signals, such as chirped frequency modulated signals, sawtooth frequency modulated signals, staircase frequency modulated signals, and/or others. In some embodiments, the signal frequency can be modulated to various frequency ranges, for example, E-band (71-76Ghz/81-86Ghz), Dedicated Short Range Communications (DSRC) (5.9GHz), "5G" (28/39GHz) or and/other.
解调器(例如，415)可以将接收到的信号从上述射频信号解调成基带信号。可以对雷达接收器处的解调应用各种措施，例如，用于较大位移或较高频率系统的非线性解调和用于较小位移或较低频率系统的线性解调。A/D转换器(例如，425)可以将模拟接收信号转换成数字接收信号。可以选择A/D转换器(例如，425)以匹配要量化的信号的带宽和所需的信噪比。A demodulator (eg, 415) may demodulate the received signal from the radio frequency signal to a baseband signal. Various measures can be applied to the demodulation at the radar receiver, such as non-linear demodulation for larger displacement or higher frequency systems and linear demodulation for smaller displacement or lower frequency systems. An A/D converter (eg, 425) can convert the analog receive signal into a digital receive signal. The A/D converter (e.g., 425) can be selected to match the bandwidth of the signal to be quantized and the desired signal-to-noise ratio.
如上参考图1-3中所述，控制器401可以通过至少部分基于来自多个接收器(例如，104-106)的接收信号所进行的计算来确定目标车辆102的位置。本领域技术人员应当显而易见的是，控制器401可以是诸如微处理器的处理器或其它控制电路，例如模拟和/或数字控制电路，包括用于处理数据的专用集成电路(ASIC)。控制器401可以包括存储器(未示出)，即非暂态计算机可读存储介质，包括非易失性存储器，例如电可擦可编程只读存储器(EEPROM)，以用于存储一个或多个例程、阈值和采集的数据。存储器可以是处理器的部分，或是控制器401的部分，或与控制器401分开，例如云中存储的远程存储器。As described above with reference to Figures 1-3, controller 401 may determine the location of target vehicle 102 through calculations based at least in part on received signals from multiple receivers (eg, 104-106). It will be apparent to those skilled in the art that the controller 401 may be a processor such as a microprocessor or other control circuitry, such as analog and/or digital control circuitry, including an Application Specific Integrated Circuit (ASIC) for processing data. Controller 401 may include memory (not shown), a non-transitory computer-readable storage medium, including non-volatile memory, such as electrically erasable programmable read-only memory (EEPROM), for storing one or more Routines, thresholds, and collected data. The memory may be part of the processor, or part of the controller 401, or separate from the controller 401, such as remote memory stored in the cloud.
图5示意性地示出了根据各种实施例的通过利用主车辆101的雷达系统400的各种装置定位目标车辆102的方法。如所示，在方框501中，多个接收器的天线(例如，接收器104的4041、接收器105的4051、接收器106的4061)或主车辆101的其它装置可以从目标车辆102的发射器103接收信号。信号的示例可以包括但不限于频率调制信号，例如啁啾频率调制信号、锯齿频率调制信号、阶梯频率调制信号和/或其它。可以将信号频率调制到各种频率范围，例如，E频带(71-76Ghz/81-86Ghz)、专用短程通信(DSRC)(5.9GHz)、“5G”(28/39GHz)和/或其它。FIG. 5 schematically illustrates a method of locating a target vehicle 102 by utilizing various means of the radar system 400 of the host vehicle 101 in accordance with various embodiments. As shown, in block 501 , antennas of multiple receivers (eg, 4041 of receiver 104 , 4051 of receiver 105 , 4061 of receiver 106 ) or other devices of host vehicle 101 may receive signals from the target The transmitter 103 of the vehicle 102 receives the signal. Examples of signals may include, but are not limited to, frequency modulated signals, such as chirped frequency modulated signals, sawtooth frequency modulated signals, staircase frequency modulated signals, and/or others. The signal frequency can be modulated to various frequency ranges, such as E-band (71-76Ghz/81-86Ghz), Dedicated Short Range Communications (DSRC) (5.9GHz), "5G" (28/39GHz), and/or others.
在方框502中，接收器的解调器(例如，解调器414-416)或其它装置可以将由多个接收器接收到的信号从上述射频信号解调成基带信号。可以对雷达接收器处的解调应用各种措施，例如，用于较大位移或较高频率系统的非线性解调和用于较小位移或较低频率系统的线性解调。在方框503中，接收器的A/D转换器(例如，A/D转换器424-426)或其它装置可以将接收到的信号从模拟信号转换成数字信号。可以选择A/D转换器以匹配要量化的信号的带宽和所需的信噪比。In block 502, a receiver's demodulator (eg, demodulators 414-416) or other device may demodulate signals received by multiple receivers from the radio frequency signals into baseband signals. Various measures can be applied to the demodulation at the radar receiver, such as non-linear demodulation for larger displacement or higher frequency systems and linear demodulation for smaller displacement or lower frequency systems. In block 503, the receiver's A/D converter (eg, A/D converters 424-426) or other device may convert the received signal from an analog signal to a digital signal. The A/D converter can be selected to match the bandwidth of the signal to be quantized and the required signal-to-noise ratio.
在方框504中，雷达系统400的控制器401或其它装置可以通过至少部分基于从多个接收器接收的信号所进行的计算来确定目标车辆102的位置。In block 504 , the controller 401 or other device of the radar system 400 may determine the location of the target vehicle 102 through calculations based at least in part on signals received from a plurality of receivers.
图6示意性地示出了根据各种实施例的通过主车辆101的控制器401计算目标车辆102的位置的方法。FIG. 6 schematically illustrates a method of calculating the position of the target vehicle 102 by the controller 401 of the host vehicle 101 according to various embodiments.
在方框601中，控制器401可以确定从目标车辆102的发射器103发射并由主车辆101的多个接收器104-106接收的第一信号的波长(λ1)。在方框602中，控制器401可以通过减去第一接收信号相位延迟(例如，φ1-φ2)来计算分别在接收器104和接收器105处接收的第一信号之间的第一相位差(dpf)，以及通过减去第一接收信号相位延迟(例如，φ2-φ3)来计算分别在接收器105和接收器106处接收的第一信号之间的第一相位差(dpr)。In block 601 , the controller 401 may determine the wavelength (λ1 ) of a first signal transmitted from the transmitter 103 of the target vehicle 102 and received by the plurality of receivers 104 - 106 of the host vehicle 101 . In block 602, the controller 401 may calculate a first difference between the first signals received at the receiver 104 and the receiver 105, respectively, by subtracting the first received signal phase delay (eg, φ1 -φ2 ). phase difference (dpf ), and the first phase difference between the first signals received at receiver 105 and receiver 106 respectively is calculated by subtracting the first received signal phase delay (e.g., φ2 -φ3 ) (dpr ).
在方框603中，至少部分基于第一相位差dpf和dpr，例如，可以基于以下等式获得第一信号从发射器103行进到接收器104(信号路径(r2))和从发射器103行进到接收器105(信号路径(r1))的第一信号路径差df、以及第一信号从发射器103行进到雷达接收器106(信号路径(r2))和从发射器103行进到雷达接收器106(信号路径(r3))的第一信号路径差dr：In block 603, based at least in part on the first phase differencesdpf anddpr , for example, the first signal traveling from the transmitter 103 to the receiver 104 (signal path (r2 )) and from the transmitter can be obtained based on the following equations: The first signal path difference df travels from the transmitter 103 to the receiver 105 (signal path (r1 )), and the first signal travels from the transmitter 103 to the radar receiver 106 (signal path (r2 )) and from the transmitter 103 First signal path differencedr traveling to radar receiver 106 (signal path (r3 )):
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在方框604中，至少部分基于第一信号路径差df和dr、接收器104相对于接收器105的已知位置(即，纵向偏移o2和横向偏移d2)以及接收器106相对于接收器105的已知位置(即，纵向偏移o3和横向偏移d3)，发射器103相对于接收器105的位置(即，纵向偏移o1和横向偏移d1)可以例如基于以下等式获得：In block 604 , based at least in part on first signal path differences df anddr , the known position of receiver 104 relative to receiver 105 (i.e., longitudinal offset o2 and lateral offset d2 ), and the receiver 106 relative to the known position of the receiver 105 (i.e., longitudinal offset o3 and lateral offset d3 ), the position of the transmitter 103 relative to the receiver 105 (i.e., longitudinal offset o1 and lateral offset d1 ) can be obtained, for example, based on the following equation:
(d1+d2)2+(o2-o1)2＝(r1+df)2(d1 +d2 )2 +(o2 -o1 )2 =(r1 +df )2
(d1)2+(o1)2＝(r1)2(d1 )2 + (o1 )2 = (r1 )2
(d1+d3)2+(o3+o1)2＝(r1-dr)2 (2)(d1 +d3 )2 +(o3 +o1 )2 =(r1 -dr )2 (2)
基于等式(2)，假设前接收器104和中间接收器105之间的纵向偏移(o2)与中间接收器105和后接收器106之间的纵向偏移(o3)相同，则可以获得发射器103相对于接收器105的位置(例如，纵向偏移o1和横向偏移d1)：Based on equation (2), assuming that the longitudinal offset (o2 ) between the front receiver 104 and the middle receiver 105 is the same as the longitudinal offset (o3 ) between the middle receiver 105 and the rear receiver 106, then The position of the transmitter 103 relative to the receiver 105 can be obtained (e.g., longitudinal offset o1 and lateral offset d1 ):
在一些实施例中，第一信号相位差dpf和dpr在一个角度圆2π内可以是唯一的。然而，由于接收器104-106的几何布置和目标车辆102的发射器103的最大可检测距离，在多个角度圆n2π上可能存在若干相位差候选。换言之，信号相位差dpf和dpr可能不是唯一的，其可以基于以下等式来计算：In some embodiments, the first signal phase differences dpf and dpr may be unique within an angle circle 2π. However, due to the geometric arrangement of the receivers 104-106 and the maximum detectable distance of the transmitter 103 of the target vehicle 102, there may be several phase difference candidates over multiple angle circles n2π. In other words, the signal phase differences dpf and dpr may not be unique and can be calculated based on the following equation:
其中，在nf_max＝max df/λ1时，nf表示-nf_max＜nf＜nf_max范围内的任何整数，在nr_max＝max dr/λ1时，nr表示-nr_max＜nr＜nr_max范围内的任何整数。换言之，信号路径差df和dr可以用nf和nr的每种组合来计算。Among them, when nf _max=max df /λ1 , nf represents any integer in the range of -nf _max＜nf ＜nf _max. When nr _max=max dr /λ1 , nr Represents any integer in the range -nr _max＜nr ＜nr _max. In other words, the signal path differencesdf anddr can be calculated for every combination ofnf andnr .
相位差(df,dr)的多个候选可以导致目标车辆102的多个位置候选，其示例可以在图3中示出。如所示，位置模糊可以导致目标车辆102的多于一个的可能位置(位置候选)，例如图3中的圆中所示的那些位置，其中一个可以表示目标车辆102的实际位置。在方框605中，为了确定实际位置，在一些实施例中，发射器103可以发射具有波长λ2的第二信号，其例如可以与第一波长λ1不同。在方框606-608中，至少部分地基于上述等式1-4，通过用第二信号波长λ2替代第一信号波长λ1，可以获得目标车辆102的多个位置候选。Multiple candidates for phase differences (df ,dr ) may result in multiple location candidates for the target vehicle 102 , examples of which may be shown in FIG. 3 . As shown, location ambiguity may result in more than one possible location (location candidate) for the target vehicle 102 , such as those shown in the circles in FIG. 3 , one of which may represent the actual location of the target vehicle 102 . In block 605, to determine the actual position, in some embodiments, the transmitter 103 may transmit a second signal having a wavelengthλ2 , which may be different from the first wavelengthλ1 , for example. In blocks 606-608, multiple location candidates for the target vehicle 102 may be obtained by substituting the first signal wavelengthλ1 with the second signal wavelengthλ2 based at least in part on Equations 1-4 above.
更具体而言，在方框606中，可以确定接收器104和105之间的第二相位差(dpf)和接收器105和106之间的第二相位差(dpr)。在方框607中，至少部分地基于第二相位差(dpf和dpr)以及第二信号波长(λ2)，可以确定接收器104和105之间的第二信号路径差(df)以及接收器105和106之间的第二信号路径差(dr)。在方框608中，至少部分地基于第二信号路径差(df和dr)，可以确定目标车辆102的发射器103相对于主车辆102的接收器105的位置候选，即，发射器103的第二纵向距离(o1)和第二横向距离(d1)的候选。More specifically, in block 606, a second phase difference (dpf ) between receivers 104 and 105 and a second phase difference (dpr ) between receivers 105 and 106 may be determined. In block 607, a second signal path difference (df ) between receivers 104 and 105 may be determined based at least in part on the second phase difference (dpf and dpr ) and the second signal wavelength (λ2 ). and the second signal path difference (dr ) between receivers 105 and 106. In block 608, based at least in part on the second signal path differences (df anddr ), a location candidate for the transmitter 103 of the target vehicle 102 relative to the receiver 105 of the host vehicle 102 may be determined, i.e., the transmitter 103 Candidates for the second longitudinal distance (o1 ) and the second lateral distance (d1 ).
在方框609中，将第一信号波长下的位置候选与第二信号波长下的位置候选进行比较，可以找到与第一位置候选组(即，第一信号波长下的位置候选)和第二位置候选组(即，第二信号波长下的位置候选)匹配的一个位置候选，其可以被确定为目标车辆的实际位置。In block 609, comparing the position candidates at the first signal wavelength with the position candidates at the second signal wavelength, it is possible to find a group of position candidates that are consistent with the first position candidate group (i.e., the position candidates at the first signal wavelength) and the second signal wavelength. One position candidate matched by the group of position candidates (ie, position candidates at the second signal wavelength) can be determined as the actual position of the target vehicle.
图7示意性地示出了根据各种实施例的示例性系统。在一些实施例中，系统700可以包括一个或多个处理器704、与处理器704中的至少一个耦合的系统控制逻辑单元708、与系统控制逻辑单元708耦合的系统存储器712、与系统控制逻辑单元708耦合的非易失性存储器(NVM)/储存器716、与系统控制逻辑单元708耦合的网络接口720、与系统控制逻辑单元708耦合的输入/输出装置(I/O)732和/或其它。Figure 7 schematically illustrates an exemplary system in accordance with various embodiments. In some embodiments, system 700 may include one or more processors 704 , system control logic 708 coupled with at least one of the processors 704 , system memory 712 coupled with system control logic 708 , and system control logic 704 . non-volatile memory (NVM)/storage 716 coupled to unit 708, network interface 720 coupled to system control logic unit 708, input/output devices (I/O) 732 coupled to system control logic unit 708, and/or other.
处理器704可以包括一个或多个单核或多核处理器。处理器704可以包括通用处理器和专用处理器(例如图形处理器、应用处理器、基带处理器等)的任何组合。在系统700实施包括但不限于控制器401的功能的多种功能的实施例中，处理器704可以被配置为执行如图4-6所示的一个或多个实施例。在其它实施例中，控制器401的功能可以嵌入在系统700的I/O装置732中，在这种情况下，I/O装置732可以被配置为执行如图4-6所示的一个或多个实施例。Processor 704 may include one or more single-core or multi-core processors. Processor 704 may include any combination of general-purpose processors and special-purpose processors (eg, graphics processors, applications processors, baseband processors, etc.). In embodiments in which system 700 implements various functions including, but not limited to, the functions of controller 401, processor 704 may be configured to perform one or more embodiments as shown in Figures 4-6. In other embodiments, the functionality of controller 401 may be embedded in I/O device 732 of system 700, in which case I/O device 732 may be configured to perform one or more of the tasks shown in Figures 4-6. Multiple embodiments.
对于一个实施例而言，系统控制逻辑单元708可以包括任何适当的接口控制器，以提供通往处理器704中的至少一个和/或通往与系统控制逻辑单元708通信的任何适当装置或部件的任何适当的接口。For one embodiment, system control logic unit 708 may include any suitable interface controller to provide access to at least one of processors 704 and/or to any suitable device or component in communication with system control logic unit 708 any appropriate interface.
对于一个实施例而言，系统控制逻辑单元708可以包括一个或多个存储器控制器以为系统存储器712提供接口。系统存储器712可以用于加载并存储例如用于系统700的数据和/或指令。例如，对于一个实施例而言，系统存储器712可以包括任何合适的易失性存储器，例如合适的动态随机存取存储器(DRAM)。For one embodiment, system control logic 708 may include one or more memory controllers to provide an interface to system memory 712 . System memory 712 may be used to load and store data and/or instructions for system 700 , for example. For example, for one embodiment, system memory 712 may include any suitable volatile memory, such as suitable dynamic random access memory (DRAM).
例如，NVM/储存器716可以包括用于存储数据和/或指令的一个或多个有形非暂态计算机可读介质。NVM/储存器716可以包括任何适合的非易失性存储器，例如闪存存储器，和/或例如可以包括任何适合的非易失性存储装置，例如一个或多个硬盘驱动器(HDD)、一个或多个光盘(CD)驱动器、和/或一个或多个数字多用盘(DVD)驱动器。For example, NVM/storage 716 may include one or more tangible non-transitory computer-readable media for storing data and/or instructions. NVM/storage 716 may include any suitable non-volatile memory, such as flash memory, and/or may include, for example, any suitable non-volatile storage device, such as one or more hard disk drives (HDDs), one or more a compact disk (CD) drive, and/or one or more digital versatile disk (DVD) drives.
NVM/储存器716可以包括在其上安装系统700或者可以访问系统700的装置的物理部分的存储资源，但不一定是所述装置的一部分。例如，可以经由网络接口720通过网络访问NVM/储存器716。NVM/storage 716 may include storage resources that are a physical part of a device on which system 700 is installed or may have access to system 700, but is not necessarily part of the device. For example, NVM/storage 716 may be accessed over the network via network interface 720.
具体而言，系统存储器712和NVM/储存器716可以分别包括指令724的暂时和持久副本。在各种实施例中，指令724或其硬件、固件和/或软件部件可另外/替代地位于系统控制逻辑单元708、网络接口720和/或处理器704中。Specifically, system memory 712 and NVM/storage 716 may include temporary and persistent copies of instructions 724, respectively. In various embodiments, instructions 724 or hardware, firmware and/or software components thereof may additionally/alternatively be located in system control logic unit 708 , network interface 720 and/or processor 704 .
网络接口720可以为系统700提供无线电接口，以通过一个或多个网络通信和/或与任何其它适当装置通信。在各种实施例中，网络接口720可以与系统700的其它部件集成。例如，网络接口可以包括处理器704的处理器、系统存储器712的存储器、NVM/储存器716的NVM/储存器、和/或具有可由处理器704中的至少一个执行的指令的固件装置(未示出)。Network interface 720 may provide a radio interface for system 700 to communicate over one or more networks and/or with any other suitable device. In various embodiments, network interface 720 may be integrated with other components of system 700. For example, the network interface may include the processor of processor 704 , the memory of system memory 712 , the NVM/storage of NVM/storage 716 , and/or a firmware device (not shown) with instructions executable by at least one of processors 704 . Shows).
对于一个实施例而言，处理器704中的至少一个可以与用于系统控制逻辑单元708的一个或多个控制器的逻辑单元封装在一起。对于一个实施例而言，处理器704中的至少一个可以与用于系统控制逻辑单元708的一个或多个控制器的逻辑单元封装在一起以形成封装中系统(SiP)。对于一个实施例而言，处理器704中的至少一个可以与用于系统控制逻辑单元708的一个或多个控制器的逻辑单元一起集成在同一管芯上。对于一个实施例而言，处理器704中的至少一个可以与用于系统控制逻辑单元708的一个或多个控制器的逻辑单元一起集成在同一管芯上以形成片上系统(SoC)。For one embodiment, at least one of the processors 704 may be packaged with logic for one or more controllers of the system control logic 708 . For one embodiment, at least one of the processors 704 may be packaged with logic for one or more controllers of the system control logic 708 to form a system in a package (SiP). For one embodiment, at least one of the processors 704 may be integrated on the same die along with logic for one or more controllers of the system control logic unit 708 . For one embodiment, at least one of the processors 704 may be integrated on the same die along with logic for one or more controllers of the system control logic unit 708 to form a system on a chip (SoC).
系统700还可以包括输入/输出(I/O)装置732。I/O装置732可以包括被设计成使用户能够与系统700交互的用户接口、被设计成使外围部件能够与系统700交互的外围部件接口、和/或被设计成确定与系统700相关的环境条件和/或位置信息的传感器。对于一个实施例而言，I/O装置732还可以包括任何适当的硬件和/或软件以提供无线电接口，所述硬件和/或软件例如多个天线(例如，天线4041-404n，4051-405n，和/或4061-406n)、解调器(例如，414-416)、A/D转换器(例如，424-426)和/或其它。在其它实施例中，I/O装置732可以与系统700的其它部件集成。例如，I/O装置732可以包括处理器704的处理器、系统存储器712的存储器、NVM/储存器716的NVM/储存器和/或固件装置(未示出)，所述固件装置具有可由处理器704中的至少一个执行的指令以执行如图5-6所示的指令以计算目标车辆102的位置。System 700 may also include input/output (I/O) devices 732 . I/O device 732 may include a user interface designed to enable a user to interact with system 700 , a peripheral component interface designed to enable peripheral components to interact with system 700 , and/or designed to determine the environment associated with system 700 Sensors for condition and/or location information. For one embodiment, I/O device 732 may also include any suitable hardware and/or software to provide a radio interface, such as a plurality of antennas (e.g., antennas 4041 -404n , 4051 -405n , and/or 4061 -406n ), demodulators (eg, 414-416), A/D converters (eg, 424-426), and/or others. In other embodiments, I/O device 732 may be integrated with other components of system 700. For example, I/O device 732 may include the processor of processor 704 , the memory of system memory 712 , the NVM/storage of NVM/storage 716 , and/or a firmware device (not shown) having a function capable of being processed by At least one of the processors 704 executes instructions as shown in FIGS. 5-6 to calculate the position of the target vehicle 102 .
在各种实施例中，用户接口可以包括但不限于显示器(例如，液晶显示器、触摸屏显示器等)、扬声器、麦克风、一个或多个相机(例如，静物相机和/或视频相机)、闪光灯(例如，发光二极管闪光灯)和键盘。In various embodiments, the user interface may include, but is not limited to, a display (e.g., liquid crystal display, touch screen display, etc.), a speaker, a microphone, one or more cameras (e.g., a still camera and/or a video camera), a flash (e.g., , LED flash) and keyboard.
在各种实施例中，外围部件接口可以包括但不限于非易失性存储器端口、音频插孔和电源接口。In various embodiments, peripheral component interfaces may include, but are not limited to, non-volatile memory ports, audio jacks, and power interfaces.
在各种实施例中，传感器可以包括但不限于陀螺仪传感器、加速度计、接近传感器、环境光传感器和定位单元。定位单元还可以是网络接口720的部分或与之交互，以与定位网络的部件(例如全球定位系统(GPS)卫星)通信。In various embodiments, sensors may include, but are not limited to, gyroscope sensors, accelerometers, proximity sensors, ambient light sensors, and positioning units. The positioning unit may also be part of or interact with network interface 720 to communicate with components of the positioning network, such as Global Positioning System (GPS) satellites.
本公开可以包括下面公开的各种示例性实施例。The present disclosure may include various exemplary embodiments disclosed below.
示例1包括第一车辆的系统，包括：至少三个接收器，其中，所述至少三个接收器中的每个用于从第二车辆的发射器接收第一波长的第一信号；以及控制器，所述控制器至少部分地基于第一信号从发射器传播到至少三个接收器中的每个的第一信号路径长度之间的差来计算第二车辆相对于第一车辆的一个或多个第一位置候选。Example 1 includes a system of a first vehicle, including: at least three receivers, wherein each of the at least three receivers is configured to receive a first signal of a first wavelength from a transmitter of a second vehicle; and control The controller calculates an or equal ratio of the second vehicle relative to the first vehicle based at least in part on a difference between first signal path lengths of the first signal propagating from the transmitter to each of the at least three receivers. Multiple candidates for the first position.
示例2包括示例1所述的系统，其中，至少三个接收器还用于从第二车辆的发射器接收第二波长的第二信号，其中，第一波长与第二波长不同；以及控制器还用于至少部分地基于第二信号从发射器传播到至少三个接收器中的每个的第二信号路径长度之间的差来计算第二车辆相对于第一车辆的一个或多个第二位置候选。Example 2 includes the system of Example 1, wherein the at least three receivers are further for receiving a second signal at a second wavelength from a transmitter of the second vehicle, wherein the first wavelength is different from the second wavelength; and the controller Also configured to calculate one or more third positions of the second vehicle relative to the first vehicle based at least in part on a difference between second signal path lengths of the second signal propagating from the transmitter to each of the at least three receivers. Two position candidates.
示例3包括示例1或2所述的系统，其中，控制器还用于至少部分地基于包括在一个或多个第一位置候选中以及一个或多个第二位置候选中的位置候选来确定第二车辆相对于第一车辆的位置。Example 3 includes the system of Example 1 or 2, wherein the controller is further configured to determine a third location candidate based at least in part on a location candidate included in the one or more first location candidates and the one or more second location candidates. The position of the second vehicle relative to the first vehicle.
示例4包括示例1-3中任一项所述的系统，其中，至少三个接收器包括间隔安装在第一车辆上的前接收器、中间接收器和后接收器。Example 4 includes the system of any of Examples 1-3, wherein the at least three receivers include a front receiver, a middle receiver, and a rear receiver spaced apart on the first vehicle.
示例5包括示例1-4中任一项所述的系统，其中，基于以下等式计算多个第一位置候选：Example 5 includes the system of any of Examples 1-4, wherein the plurality of first position candidates are calculated based on the following equation:
其中，rm表示发射器和中间接收器之间的距离，r表示前接收器相对于中间接收器的竖直偏移，df表示第一信号从发射器传播到前接收器和从发射器传播到后接收器的第一信号路径长度的差，dr表示第一信号从发射器传播到后接收器和从发射器传播到中间接收器的第一信号路径长度的差，o表示发射器和中间接收器之间的竖直距离，d表示发射器和中间接收器之间的水平距离。where rm represents the distance between the transmitter and the middle receiver, r represents the vertical offset of the front receiver relative to the middle receiver, and df represents the propagation of the first signal from the transmitter to the front receiver and from the transmitter The difference in the length of the first signal path that propagates to the rear receiver, dr represents the difference in the length of the first signal path that propagates from the transmitter to the rear receiver and from the transmitter to the intermediate receiver, o represents the transmitter The vertical distance between the transmitter and the middle receiver, d represents the horizontal distance between the transmitter and the middle receiver.
示例6包括示例1-5中任一项所述的系统，其中，分别基于以下等式计算df和dr：Example 6 includes the system of any of Examples 1-5, wherein df anddr are respectively calculated based on the following equations:
其中，dpf表示由前接收器接收的第一信号和由雷达接收器接收的第一信号之间的信号相位的差，dpr表示由后接收器接收的第一信号和由中间接收器接收的第一信号之间的信号相位的差，nf表示当nf_max＝max df/λ1时处于-nf_max＜nf＜nf_max范围内的任何整数，nr表示当nr_max＝max dr/λ1时处于-nr_max＜nr＜nr_max范围内的任何整数，λ1表示第一信号的第一波长。换言之，信号路径差df和dr可以用nf和nr的每种组合来计算。where dpf represents the difference in signal phase between the first signal received by the front receiver and the first signal received by the radar receiver, dpr represents the first signal received by the rear receiver and the first signal received by the middle receiverThedifferenceinsignalphasebetweenthe first signalsofr _max=max dr /λ1 is any integer in the range of -nr _max<nr <nr _max, where λ1 represents the first wavelength of the first signal. In other words, the signal path differencesdf anddr can be calculated for every combination ofnf andnr .
示例7包括示例1-6中任一项所述的系统，其中，max df或max dr取决于第二车辆的最大可检测距离以及前接收器和中间接收器的几何布置。Example 7 includes the system of any of Examples 1-6, wherein max df or maxdr depends on the maximum detectable distance of the second vehicle and the geometric arrangement of the front and middle receivers.
示例8包括示例1-7中任一项所述的系统，其中，基于以下等式计算一个或多个第二位置候选：Example 8 includes the system of any of Examples 1-7, wherein the one or more second position candidates are calculated based on the following equation:
其中，rm表示发射器和中间接收器之间的距离，r表示前接收器相对于中间接收器的竖直偏移，df表示第二信号从发射器传播到前接收器和从发射器传播到后接收器的第二信号路径长度的差，dr表示第二信号从发射器传播到后接收器和从发射器传播到中间接收器的第二信号路径长度的差，o表示发射器和中间接收器之间的竖直距离，d表示发射器和中间接收器之间的水平距离。where rm represents the distance between the transmitter and the middle receiver, r represents the vertical offset of the front receiver relative to the middle receiver, and df represents the propagation of the second signal from the transmitter to the front receiver and from the transmitter The difference in the length of the second signal path propagating to the rear receiver, dr represents the difference in the length of the second signal path propagating from the transmitter to the rear receiver and from the transmitter to the intermediate receiver, o represents the transmitter The vertical distance between the transmitter and the middle receiver, d represents the horizontal distance between the transmitter and the middle receiver.
示例9包括示例1-8中任一项所述的系统，其中，分别基于以下等式计算df和dr：Example 9 includes the system of any of Examples 1-8, wherein df anddr are respectively calculated based on the following equations:
其中，dpf表示由前接收器接收的第一信号和由中间接收器接收的第一信号之间的信号相位的差，dpr表示由后接收器接收的第一信号和由中间接收器接收的第一信号之间的信号相位的差，nf表示nf_max＝max df/λ2时处于-nf_max＜nf＜nf_max范围内的任何整数，nr表示当nr_max＝max dr/λ2时处于-nr_max＜nr＜nr_max范围内的任何整数，λ2表示第二信号的第二波长。换言之，信号路径差df和dr可以用nf和nr的每种组合来计算。where dpf represents the difference in signal phase between the first signal received by the front receiver and the first signal received by the middle receiver, dpr represents the first signal received by the rear receiver and the first signal received by the middle receiverThedifferenceinsignalphasebetweenthefirst signalsof Any integer in the range of -nr _max<nr <nr _max when _max=max dr /λ2 , λ2 represents the second wavelength of the second signal. In other words, the signal path differencesdf anddr can be calculated for every combination ofnf andnr .
示例10包括示例1-9中任一项所述的系统，其中，第一车辆和/或第二车辆是自动车辆或非自动车辆。Example 10 includes the system of any of examples 1-9, wherein the first vehicle and/or the second vehicle are autonomous vehicles or non-autonomous vehicles.
示例11包括一种方法，包括：由第一车辆的至少三个接收器从第二车辆的发射器接收第一波长的第一信号；以及由第一车辆的控制器至少部分地基于信号从发射器传播到至少三个接收器中的每个的第一信号路径长度之间的差来计算第二车辆相对于第一车辆的一个或多个第一位置候选。Example 11 includes a method comprising: receiving, by at least three receivers of a first vehicle, a first signal at a first wavelength from a transmitter of a second vehicle; and, by a controller of the first vehicle based at least in part on the signals, from the transmitter. One or more first position candidates for the second vehicle relative to the first vehicle are calculated based on a difference between the lengths of the first signal paths propagated to each of the at least three receivers.
示例12包括示例11所述的方法，还包括：由至少三个接收器从第二车辆的发射器接收第二波长的第二信号，其中第一波长与第二波长不同；以及由控制器至少部分地基于第二信号从发射器传播到至少三个接收器中的每个的第二信号路径长度之间的差来计算第二车辆相对于第一车辆的一个或多个第二位置候选。Example 12 includes the method of Example 11, further comprising: receiving, by at least three receivers, a second signal at a second wavelength from a transmitter of the second vehicle, wherein the first wavelength is different from the second wavelength; and, by the controller, at least One or more second location candidates for the second vehicle relative to the first vehicle are calculated based in part on a difference between second signal path lengths in which the second signal propagates from the transmitter to each of the at least three receivers.
示例13包括示例11或12所述的方法，还包括：由控制器至少部分地基于与一个或多个第一位置候选以及与一个或多个第二位置候选相匹配的位置候选来确定第二车辆相对于第一车辆的位置。Example 13 includes the method of Example 11 or 12, further comprising determining, by the controller, a second location candidate based at least in part on the location candidate matching the one or more first location candidates and the one or more second location candidates. The position of the vehicle relative to the first vehicle.
示例14包括示例11-13中任一项所述的方法，其中，至少三个接收器包括间隔安装在第一车辆上的前接收器、中间接收器和后接收器。Example 14 includes the method of any of examples 11-13, wherein the at least three receivers include a front receiver, a middle receiver, and a rear receiver spaced apart on the first vehicle.
示例15包括示例11-14中任一项所述的方法，其中，基于以下等式计算多个第一位置候选：Example 15 includes the method of any of Examples 11-14, wherein the plurality of first position candidates are calculated based on the following equation:
其中，rm表示发射器和中间接收器之间的距离，r表示前接收器相对于中间接收器的竖直偏移，df表示第一信号从发射器传播到前接收器和从发射器传播到后接收器的第一信号路径长度的差，dr表示第一信号从发射器传播到后接收器和从发射器传播到中间接收器的第一信号路径长度的差，o表示发射器和中间接收器之间的竖直距离，d表示发射器和中间接收器之间的水平距离。where rm represents the distance between the transmitter and the middle receiver, r represents the vertical offset of the front receiver relative to the middle receiver, and df represents the propagation of the first signal from the transmitter to the front receiver and from the transmitter The difference in the length of the first signal path that propagates to the rear receiver, dr represents the difference in the length of the first signal path that propagates from the transmitter to the rear receiver and from the transmitter to the intermediate receiver, o represents the transmitter The vertical distance between the transmitter and the middle receiver, d represents the horizontal distance between the transmitter and the middle receiver.
示例16包括示例11-15中任一项所述的方法，其中，分别基于以下等式计算df和dr：Example 16 includes the method of any of Examples 11-15, whereindf anddr are respectively calculated based on the following equations:
其中，dpf表示由前接收器接收的第一信号和由雷达接收器接收的第一信号之间的信号相位的差，dpr表示由后接收器接收的第一信号和由中间接收器接收的第一信号之间的信号相位的差，nf表示当nf_max＝max df/λ1时处于-nf_max＜nf＜nf_max范围内的任何整数，nr表示当nr_max＝max dr/λ1时处于-nr_max＜nr＜nr_max范围内的任何整数，λ1表示第一信号的第一波长。换言之，信号路径差df和dr可以用nf和nr的每种组合来计算。where dpf represents the difference in signal phase between the first signal received by the front receiver and the first signal received by the radar receiver, dpr represents the first signal received by the rear receiver and the first signal received by the middle receiverThedifferenceinsignalphasebetweenthe first signalsofr _max=max dr /λ1 is any integer in the range of -nr _max<nr <nr _max, where λ1 represents the first wavelength of the first signal. In other words, the signal path differencesdf anddr can be calculated for every combination ofnf andnr .
示例17包括示例11-16中任一项所述的方法，其中max df或max dr取决于第二车辆的最大可检测距离以及前接收器和中间接收器的几何布置。Example 17 includes the method of any of examples 11-16, wherein max df or maxdr depends on the maximum detectable distance of the second vehicle and the geometric arrangement of the front and middle receivers.
示例18包括示例11-17中任一项所述的方法，其中，基于以下等式计算一个或多个第二位置候选：Example 18 includes the method of any of Examples 11-17, wherein the one or more second position candidates are calculated based on the following equation:
其中，rm表示发射器和中间接收器之间的距离，r表示前接收器相对于中间接收器的竖直偏移，df表示第二信号从发射器传播到前接收器和从发射器传播到后接收器的第二信号路径长度的差，dr表示第二信号从发射器传播到后接收器和从发射器传播到中间接收器的第二信号路径长度的差，o表示发射器和中间接收器之间的竖直距离，d表示发射器和中间接收器之间的水平距离。where rm represents the distance between the transmitter and the middle receiver, r represents the vertical offset of the front receiver relative to the middle receiver, and df represents the propagation of the second signal from the transmitter to the front receiver and from the transmitter The difference in the length of the second signal path propagating to the rear receiver, dr represents the difference in the length of the second signal path propagating from the transmitter to the rear receiver and from the transmitter to the intermediate receiver, o represents the transmitter The vertical distance between the transmitter and the middle receiver, d represents the horizontal distance between the transmitter and the middle receiver.
示例19包括示例11-18中任一项所述的方法，其中，分别基于以下等式计算df和dr：Example 19 includes the method of any of Examples 11-18, whereindf anddr are respectively calculated based on the following equations:
其中，dpf表示由前接收器接收的第一信号和由中间接收器接收的第一信号之间的信号相位的差，dpr表示由后接收器接收的第一信号和由中间接收器接收的第一信号之间的信号相位的差，nf表示nf_max＝max df/λ2时处于-nf_max＜nf＜nf_max范围内的任何整数，nr表示当nr_max＝max dr/λ2时处于-nr_max＜nr＜nr_max范围内的任何整数，λ2表示第二信号的第二波长。换言之，信号路径差df和dr可以用nf和nr的每种组合来计算。where dpf represents the difference in signal phase between the first signal received by the front receiver and the first signal received by the middle receiver, dpr represents the first signal received by the rear receiver and the first signal received by the middle receiverThedifferenceinsignalphasebetweenthefirst signalsof Any integer in the range of -nr _max<nr <nr _max when _max=max dr /λ2 , λ2 represents the second wavelength of the second signal. In other words, the signal path differencesdf anddr can be calculated for every combination ofnf andnr .
示例20包括示例11-19中任一项所述的方法，其中，第一车辆和/或第二车辆是自动车辆或非自动车辆。Example 20 includes the method of any of examples 11-19, wherein the first vehicle and/or the second vehicle are autonomous vehicles or non-autonomous vehicles.
示例21包括一种或多种机器可读存储介质，所述机器可读存储介质包括多个存储于其上的指令，所述指令响应于被执行而使系统以任何组合执行上述任何操作。Example 21 includes one or more machine-readable storage media including a plurality of instructions stored thereon that, in response to being executed, cause the system to perform any of the operations described above in any combination.
此外，在示例中，参考范围可以包括第一移动通信装置和第二移动通信装置之间的最大可允许范围。在示例中，参考范围可以包括在捕获开始移动之前第一移动通信装置和第二移动通信装置之间的初始范围。在示例中，开始移动可以包括抖动移动，其中第一移动通信装置和第二移动通信装置各被抖动两次。在示例中，结束移动可以包括抖动移动，其中第一移动通信装置和第二移动通信装置各被抖动三次。Furthermore, in an example, the reference range may include a maximum allowable range between the first mobile communications device and the second mobile communications device. In an example, the reference range may include an initial range between the first mobile communications device and the second mobile communications device before the capture begins to move. In an example, initiating a move may include a jitter move in which the first mobile communication device and the second mobile communication device are each jittered twice. In an example, the ending move may include a jitter move in which the first mobile communication device and the second mobile communication device are each jittered three times.
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| US62/615,737 | 2018-01-10 |
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