US 11,899,102 B2
Autonomous moving object
Bo Lincoln, Lund (SE); Peter Almers, Limhamn (SE); and Rikard Nelander, Lund (SE)
Assigned to Acconeer AB, Lund (SE)
Appl. No. 17/262,283
Filed by Acconeer AB, Lund (SE)
PCT Filed Jul. 4, 2019, PCT No. PCT/EP2019/067982
§ 371(c)(1), (2) Date Jan. 22, 2021,
PCT Pub. No. WO2020/020598, PCT Pub. Date Jan. 30, 2020.
Claims priority of application No. 18184942 (EP), filed on Jul. 23, 2018.
Prior Publication US 2021/0302569 A1, Sep. 30, 2021
Int. Cl. G01S 13/931 (2020.01); G05D 1/02 (2020.01); G01S 13/90 (2006.01); G01S 13/87 (2006.01)
CPC G01S 13/931 (2013.01) [G01S 13/87 (2013.01); G01S 13/9043 (2019.05); G05D 1/0257 (2013.01); G01S 2013/93271 (2020.01); G05D 2201/0208 (2013.01); G05D 2201/0215 (2013.01); G05D 2201/0216 (2013.01)] 14 Claims
OG exemplary drawing
 
1. An autonomous moving object comprising:
a radar sensor mounted on the autonomous moving object and configured to scan a volume in front of the object during a movement of the object along a movement path, and
a radar signal processor configured to:
acquire a sequence of radar responses, each radar response of the sequence being acquired at a different position of the autonomous moving object along the movement path, and
perform synthetic aperture radar processing of at least parts of the acquired sequence of radar responses to obtain a synthetic aperture radar image representing response amplitude as a function of at least distance and angle with respect to the radar sensor,
the autonomous moving object further comprising:
a controller configured to detect presence of a potential obstacle within a pre-defined sub-volume in front of the autonomous moving object by evaluating whether the synthetic aperture radar image comprises any amplitude peaks, within a pre-defined set of distances and angles, and
wherein the controller is configured to, in response to detecting presence of a potential obstacle, output a control command configured to cause a changed movement of the autonomous moving object.