US 12,146,948 B2
Autonomous moving object with radar sensor
Peter Almers, Limhamn (SE); Bo Lincoln, Lund (SE); Rikard Nelander, Lund (SE); David Montgomery, Lund (SE); and Gaston Holmén, Lund (SE)
Assigned to ACCONEER AB, Lund (SE)
Appl. No. 17/310,102
Filed by Acconeer AB, Lund (SE)
PCT Filed Jan. 24, 2020, PCT No. PCT/SE2020/050060
§ 371(c)(1), (2) Date Jul. 16, 2021,
PCT Pub. No. WO2020/153899, PCT Pub. Date Jul. 30, 2020.
Claims priority of application No. 1950085-9 (SE), filed on Jan. 24, 2019.
Prior Publication US 2022/0091257 A1, Mar. 24, 2022
Int. Cl. G01S 13/88 (2006.01); A01D 34/00 (2006.01); G05D 1/00 (2024.01)
CPC G01S 13/881 (2013.01) [A01D 34/008 (2013.01); G05D 1/0088 (2013.01); G05D 1/02 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A moving object comprising:
a radar sensor configured to, during movement of the moving object along a movement path along a surface, acquire radar reflection data sets representing radar reflections originating from reflecting surface portions located within a measurement distance range,
wherein the radar sensor is configured to, at each measurement occasion of a temporal sequence of measurement occasions during the movement of the moving object along the movement path, illuminate a respective surface region and acquire a radar reflection data set pertaining to the illuminated surface region, the radar reflection data set representing, for each measurement distance of a set of measurement distances within said measurement distance range, an amplitude and a phase of reflected radar signals received from reflecting surface portions located at said measurement distance, and wherein said respective surface regions comprise a common sub-region which is illuminated at each one of said measurement occasions;
a radar signal processor configured to receive the acquired radar reflection data sets acquired at each one of said sequence of measurement occasions, wherein the received acquired radar reflection data sets form a collection of radar reflection data sets, wherein each radar reflection data set of said collection comprises a radar reflection data subset pertaining to said common sub-region, wherein the collection of radar reflection data sets represents amplitude and phase for reflected signals from reflecting surface portions within the common sub-region acquired at each one of the measurement occasions, as a function of measurement distance, and
wherein the radar signal processor is configured to pre-process said collection of radar reflection data sets to calculate a radar reflection metric as a function of amplitude, phase, measurement distance and time of measurement occasion or measurement position along the path at the measurement occasion; and
a surface classifier processor configured to output a classification of a surface type of the surface based on the radar reflection metric.