US 10,890,919 B2
Calculating velocity of an autonomous vehicle using radar technology
L. Donnie Smith, Scotts Valley, CA (US); and Timothy Campbell, Los Angeles, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Sep. 22, 2017, as Appl. No. 15/713,499.
Prior Publication US 2019/0094877 A1, Mar. 28, 2019
Int. Cl. G05D 1/02 (2020.01); G01S 13/52 (2006.01); G01S 13/60 (2006.01); G01S 13/931 (2020.01); G08G 1/16 (2006.01); B62D 6/00 (2006.01); B62D 15/02 (2006.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); G01S 7/06 (2006.01); B62D 6/02 (2006.01); B60W 50/14 (2020.01); G05D 1/00 (2006.01)
CPC G05D 1/0257 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B62D 6/002 (2013.01); B62D 6/02 (2013.01); B62D 15/024 (2013.01); B62D 15/025 (2013.01); G01S 7/06 (2013.01); G01S 13/52 (2013.01); G01S 13/60 (2013.01); G01S 13/931 (2013.01); G05D 1/0223 (2013.01); G05D 1/0246 (2013.01); G08G 1/16 (2013.01); B60W 50/14 (2013.01); B60W 2050/146 (2013.01); B60W 2420/52 (2013.01); G01S 2013/9318 (2020.01); G01S 2013/9319 (2020.01); G05D 1/0088 (2013.01); G05D 1/0274 (2013.01); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method performed by a computing system configured to control an autonomous vehicle, the method comprising:
while the autonomous vehicle is moving on a road, receiving, by the computing system, from two or more radar sensors mounted at different locations on the autonomous vehicle, radar data representative of a physical environment of the autonomous vehicle;
based on the radar data, detecting, by the computing system, at least one scatterer present in the environment; and
based on a determination of a likelihood that the at least one scatterer is stationary with respect to the autonomous vehicle:
calculating, by the computing system, a velocity of the autonomous vehicle using at least a portion of the radar data from the two or more radar sensors that represents the at least one scatterer, wherein the calculated velocity comprises an angular velocity and a linear velocity, and
controlling, by the computing system, the autonomous vehicle based on the calculated velocity of the autonomous vehicle.