Radar generated occupancy grid for autonomous vehicle perception and planning
Systems and methods are described that relate to generating an object grid for a vehicular radar system. The method includes transmitting a radar signal over a 360-degree azimuth. The method also includes receiving one or more reflection signals respectively associated with reflection of the transmitted radar signal by one or more objects. The method further includes determining, for each object, a respective measured angle, a respective measured distance, and a respective measured velocity. Additionally, the method includes determining a first object grid based on the one or more objects. The first object grid comprises a plurality angles that together cover the 360-degree azimuth and, for each angle that corresponds to a measured angle of a given object, the first grid associates the angle with the measured distance and measured velocity of the given object. Yet further, the method includes controlling an autonomous vehicle based on the first object grid.
1 . A method comprising:
transmitting, by a radar unit of a vehicle, a radar signal over a 360-degree azimuth;
receiving one or more reflection signals respectively associated with reflection of the transmitted radar signal by one or more objects;
determining, by a processor, for each object of the one or more objects, a respective measured angle, a respective measured distance, and a respective measured velocity;
determining a first object grid based on the one or more objects, wherein the first object grid comprises a plurality angles that together cover the 360-degree azimuth and, for each angle in the plurality of angles that corresponds to a measured angle of a given object in the one or more objects, the first grid associates the angle with the measured distance and measured velocity of the given object; and
controlling an autonomous vehicle based on the first object grid.
2 . The method according to claim 1 , further comprising:
receiving data from a second sensor;
determining a second object grid based on the data from a second sensor; and
wherein controlling an autonomous vehicle is performed based on the first object grid and the second object grid.
3 . The method according to claim 2 , wherein the second sensor is a LIDAR sensor.
4 . The method according to claim 2 , wherein the first object grid is used to determine errors of the second object grid, and wherein controlling an autonomous vehicle is performed based on removing the errors from the second object grid.
5 . The method according to claim 2 , wherein movement of objects in the second object grid is determined based on data from the first object grid.
6 . The method according to claim 1 , wherein the first object grid has an angular resolution of 1 degree or less.
7 . The method according to claim 1 , wherein the first object grid further comprises an elevation angle.
8 . A system comprising:
a radar unit configured to transmit and receive radar signals over a 360-degree azimuth plane, wherein the receiving comprises receiving one or more reflection signals respectively associated with reflection of the transmitted radar signal by one or more objects;
a control unit configured to operate a vehicle according to a control plan;
a processing unit configured to:
determine for each object of the one or more objects, a respective measured angle, a respective measured distance, and a respective measured velocity;
determine a first object grid based on the one or more objects, wherein the first object grid comprises a plurality angles that together cover the 360-degree azimuth and, for each angle in the plurality of angles that corresponds to a measured angle of a given object in the one or more objects, the first grid associates the angle with the measured distance and measured velocity of the given object; and
alter the control plan based on the first object grid.
9 . The system according to claim 8 , further comprising:
a second sensor unit configured to receive a second set of sensor data;
the processing unit being further configured to:
determine a second object grid based on the second set of sensor data; and
wherein the control plan is altered based on the first object grid and the second object grid.
10 . The system according to claim 9 , wherein the second sensor is a LIDAR sensor.
11 . The system according to claim 9 , wherein the first object grid is used to determine errors of the second object grid, and wherein the control plan is altered based on removing the errors from the second object grid.
12 . The system according to claim 9 , wherein movement of objects in the second object grid is determined based on data from the first object grid.
13 . The system according to claim 8 , wherein the radar unit an angular resolution of 1 degree or less.
14 . The system according to claim 8 , wherein the first object grid further comprises an elevation angle.
15 . An article of manufacture including a non-transitory computer-readable medium, having stored thereon program instructions that, if executed by a computing device, cause the computing device to perform operations comprising:
transmitting, by a radar unit of a vehicle, a radar signal over a 360-degree azimuth;
receiving one or more reflection signals respectively associated with reflection of the transmitted radar signal by one or more objects;
determining, by a processor, for each object of the one or more objects, a respective measured angle, a respective measured distance, and a respective measured velocity;
determining a first object grid based on the one or more objects, wherein the first object grid comprises a plurality angles that together cover the 360-degree azimuth and, for each angle in the plurality of angles that corresponds to a measured angle of a given object in the one or more objects, the first grid associates the angle with the measured distance and measured velocity of the given object; and
controlling an autonomous vehicle based on the first object grid.
16 . The article of manufacture according to claim 15 , further comprising:
receiving data from a second sensor;
determining a second object grid based on the data from a second sensor; and
wherein controlling an autonomous vehicle is performed based on the first object grid and the second object grid.
17 . The article of manufacture according to claim 16 , wherein the second sensor is a LIDAR sensor.
18 . The article of manufacture according to claim 16 , wherein the first object grid is used to determine errors of the second object grid, and wherein controlling an autonomous vehicle is performed based on removing the errors from the second object grid.
19 . The article of manufacture according to claim 16 , wherein movement of objects in the second object grid is determined based on data from the first object grid.
20 . The article of manufacture according to claim 15 , wherein the first object grid further comprises an elevation angle.