US 12,276,726 B1
Radar multipath detection based on changing virtual arrays
Omar Abdeldayem, San Mateo, CA (US); Badeea Ferdaous Alferdaous Alazem, Redwood City, CA (US); and Samantha Marie Ting, Redwood City, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Aug. 31, 2022, as Appl. No. 17/900,829.
Int. Cl. G01S 13/931 (2020.01); G01S 13/00 (2006.01); G01S 13/87 (2006.01)
CPC G01S 13/931 (2013.01) [G01S 13/878 (2013.01); G01S 13/003 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors; and
one or more computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to perform operations comprising:
receiving, from a radar device, radar data associated with a vehicle operating in an environment;
determining, based at least in part on a physical antenna configuration of the radar device, a first virtual array;
processing the radar data using the first virtual array, into first processed radar data;
determining, based at least in part on the first processed radar data, a first attribute associated with at least one of the radar data or the vehicle;
determining, based at least in part on the first attribute, that the first processed radar data is associated with a multipath signal;
processing, based at least in part on the first attribute being associated with the multipath signal, the radar data using a second virtual array, into second processed radar data;
updating, based at least in part on the first attribute being associated with the multipath signal, map data associated with the environment to include an indication of the multipath signal; and
controlling, based at least in part on second processed radar data, an operation of the vehicle within the environment.