US 11,054,515 B2
Radar clustering and velocity disambiguation
Joshua Kriser Cohen, Sunnyvale, CA (US); Yu Liu, Newark, CA (US); and Chuang Wang, Sunnyvale, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Jun. 26, 2018, as Appl. No. 16/19,067.
Prior Publication US 2019/0391250 A1, Dec. 26, 2019
Int. Cl. G01S 13/58 (2006.01); G01S 13/931 (2020.01)
CPC G01S 13/58 (2013.01) [G01S 13/931 (2013.01); G01S 2013/9318 (2020.01)] 20 Claims
OG exemplary drawing
 
6. A method comprising:
receiving first radar data associated with a first interval;
receiving second radar data associated with a second interval;
determining, from the first radar data, a first data point indicative of an object;
determining, from the second radar data, a second data point indicative of the object; and
determining, based at least in part on the first data point, the second data point, the first interval, and the second interval, a velocity of the object,
wherein the first radar data comprises a first radar scan acquired at a first time and the second radar data comprises a second radar scan acquired at a second time, wherein a difference between the first time and the second time is equal to or less than a threshold time.