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公开(公告)号：US11644529B2
公开(公告)日：2023-05-09
申请号：US16354018
申请日：2019-03-14
Applicant: QUALCOMM Incorporated
Inventor： Kapil Gulati , Junyi Li , Sundar Subramanian , Jayakrishnan Unnikrishnan
CPC classification number: G01S7/023 , G01S7/0234 , G01S7/4004 , H04W74/004
Abstract: Methods, systems, and devices for wireless communications are described. In some systems, radio signals may reach a receiving antenna at a user equipment by two or more paths, which can cause interference (e.g., destructive multipath interference, constructive multipath interference, etc.). To reduce the interference, the user equipment may perform interference suppression, shaping, or both based on choosing radar waveform patterns that are varied across chirps. In one aspect, the user equipment (e.g., a vehicle) may identify waveform patterns selected by nearby vehicles based on side channel or centralized signaling and may suppress or shape interference by selecting waveform parameters based on this information. In one aspect, the pattern of waveform parameters is chosen from a codebook of patterns. The selected pattern can be broadcasted to the other vehicles using a side-communication channel.
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公开(公告)号：US11585889B2
公开(公告)日：2023-02-21
申请号：US16512267
申请日：2019-07-15
Applicant: QUALCOMM Incorporated
Inventor： Kapil Gulati , Junyi Li , Sundar Subramanian , Jayakrishnan Unnikrishnan
Abstract: A method and apparatus for selecting frequency modulated continuous wave waveform parameters for multiple radar coexistence by a user equipment is described. The user equipment may transmit a radar waveform consisting of a number of chirps, with each chirp having a same duration. The user equipment may vary waveform parameters of the radar waveform for at least a subset of the number of chirp, where the waveform parameters may be chosen from a codebook comprising at least one codeword of parameters. Reflected radar waveforms are received and processed where the processing includes applying a fast time discrete Fourier transform to reflected radar waveforms to produce a one dimension peak in a time delay dimension for each reflected waveform; and applying a slow time discrete Fourier transform to the reflected radar waveforms, where peaks for the reflected waveforms are added.
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公开(公告)号：US11280876B2
公开(公告)日：2022-03-22
申请号：US16419769
申请日：2019-05-22
Applicant: QUALCOMM Incorporated
Inventor： Kapil Gulati , Junyi Li , Jayakrishnan Unnikrishnan , Sundar Subramanian
Abstract: Methods, systems, and devices for radar signaling are described. In some systems, devices may implement techniques to support coexistence for multiple radar sources using a phase-coded frequency modulated continuous wave waveform. A user equipment (e.g., a vehicle) may select a codeword (e.g., a pattern of parameters) from a codebook and may derive phase code information and waveform shape parameters from values specified in the codeword. The user equipment may apply phase modulation to at least one chirp of a waveform using the indicated phase code. In some cases, the phase-coded frequency modulated continuous wave waveform may resemble nested Zadoff-Chu sequences, where the waveform resembles a Zadoff-Chu sequence and the phase code resembles another Zadoff-Chu sequence. The phase code may support mitigating interference between radar waveforms that use the same slope and frequency offset parameters for chirps overlapping in time.
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4.发明申请公开(公告)号：US20190391247A1
公开(公告)日：2019-12-26
申请号：US16418830
申请日：2019-05-21
Applicant: QUALCOMM Incorporated
Inventor： Kapil Gulati , Junyi Li , Sundar Subramanian , Jayakrishnan Unnikrishnan
Abstract: Methods, systems, and devices for radar signaling s are described. In some systems, devices may select radar parameters (e.g., frequency modulated continuous wave waveform parameters) to support coexistence for multiple radar sources in the system. To reduce mutual interference between radar waveforms in a system, a user equipment may detect interference from at least one interference source (e.g., another device transmitting a radar waveform) and may select waveform parameters for transmission of a radar waveform based on the detected interference. For example, the user equipment may determine slopes, frequency offsets, codewords, or a combination thereof used by nearby devices in the system (e.g., per chirp or for a waveform) and may select waveform parameters that result in low mutual interference with the determined slopes, frequency offsets, codewords, or combination thereof. The user equipment may transmit the radar waveform according to the selected waveform parameters.
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公开(公告)号：US11461915B2
公开(公告)日：2022-10-04
申请号：US17142199
申请日：2021-01-05
Applicant: QUALCOMM Incorporated
Inventor： Jayakrishnan Unnikrishnan , Avdhut Joshi , Shivam Agarwal , Yoga Y Nadaraajan , Amir Salimi , Urs Niesen , Sree Sesha Aravind Vadrevu , Gautam Sachdeva
Abstract: Techniques and systems are provided for determining one or more sizes of one or more objects. For example, a bounding region identifying a first object detected in an image can be obtained. A map including map points can also be obtained. The map points correspond to one or more reference locations in a three-dimensional space. The bounding region identifying the first object can be associated with at least one map point of the map points included in the map. Using the bounding region and the at least one map point, an estimated three-dimensional position and an estimated size of the first object detected in the image can be determined. In some examples, other information can be used to estimate the estimated three-dimensional position and an estimated size of the first object, such as radar information and/or other information.
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Patent Agency Ranking
公开(公告)号：US11276189B2
公开(公告)日：2022-03-15
申请号：US16809348
申请日：2020-03-04
Applicant: QUALCOMM Incorporated
Inventor： Urs Niesen , Jayakrishnan Unnikrishnan
Abstract: Disclosed are techniques for radar-aided single-image three-dimensional (3D) depth reconstruction. In an aspect, at least one processor of an on-board computer of an ego vehicle receives, from a radar sensor of the ego vehicle, at least one radar image of an environment of the ego vehicle, receives, from a camera sensor of the ego vehicle, at least one camera image of the environment of the ego vehicle, and generates, using a convolutional neural network (CNN), a depth image of the environment of the ego vehicle based on the at least one radar image and the at least one camera image.
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公开(公告)号：US10855328B1
公开(公告)日：2020-12-01
申请号：US16503011
申请日：2019-07-03
Applicant: QUALCOMM Incorporated
Inventor： Kapil Gulati , Junyi Li , Jayakrishnan Unnikrishnan , Sundar Subramanian
IPC: H04B1/711 , H04B1/7103 , H04L27/26 , H04B7/0456 , H04J13/00 , H04B17/354 , H04B1/69
Abstract: Methods, systems, computer-readable media, and apparatuses for transmitting and receiving radar signals from a radar source while minimizing interference with other radar sources are presented. A transmit signal comprising a first chirp sequence is generated according to a set of waveform parameters, with least one waveform parameter being varied for one or more chirps in the first chirp sequence. Additionally, each chirp of the first chirp sequence can be phase-modulated. A receive signal comprising a second chirp sequence and corresponding to the transmit signal reflected off an object in a surrounding environment is then sampled to determine one or more attributes of the object. In some embodiments, the attributes include distance and speed values calculated using Discrete Fourier Transforms (DFTs). Other attributes that can be calculated from the receive signal include azimuth angle and elevation angle.
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8.发明申请公开(公告)号：US20190383925A1
公开(公告)日：2019-12-19
申请号：US16419769
申请日：2019-05-22
Applicant: QUALCOMM Incorporated
Inventor： Kapil Gulati , Junyi Li , Jayakrishnan Unnikrishnan , Sundar Subramanian
Abstract: Methods, systems, and devices for radar signaling are described. In some systems, devices may implement techniques to support coexistence for multiple radar sources using a phase-coded frequency modulated continuous wave waveform. A user equipment (e.g., a vehicle) may select a codeword (e.g., a pattern of parameters) from a codebook and may derive phase code information and waveform shape parameters from values specified in the codeword. The user equipment may apply phase modulation to at least one chirp of a waveform using the indicated phase code. In some cases, the phase-coded frequency modulated continuous wave waveform may resemble nested Zadoff-Chu sequences, where the waveform resembles a Zadoff-Chu sequence and the phase code resembles another Zadoff-Chu sequence. The phase code may support mitigating interference between radar waveforms that use the same slope and frequency offset parameters for chirps overlapping in time.
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公开(公告)号：US12158518B2
公开(公告)日：2024-12-03
申请号：US16734779
申请日：2020-01-06
Applicant: QUALCOMM Incorporated
Inventor： Jayakrishnan Unnikrishnan , Urs Niesen
Abstract: Systems and methods for resolving elevation ambiguity include acquiring, using a 1-D horizontal radar antenna array, a radar frame with range and azimuth information, and predicting a target elevation based on the frame by computing a depth map with a plurality of target depths assigned to corresponding azimuth-elevation pairs. Computing the depth map includes processing the radar frame with an encoder-decoder structured deep convolutional neural network (CNN). The CNN may be trained with a dataset including training radar frames acquired in a number of environments, and compensated ground truth depth maps associated with those environments. The compensated ground truth depth maps may be generated by subtracting a ground-depth from a corresponding ground truth depth map. The ground truth depth maps may be acquired with a 2-D range sensor, such as a LiDAR sensor, a 2-D radar sensor, and/or an IR sensor. The radar frame may also include Doppler data.
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10.发明授权公开(公告)号：US11385323B2
公开(公告)日：2022-07-12
申请号：US16418830
申请日：2019-05-21
Applicant: QUALCOMM Incorporated
Inventor： Kapil Gulati , Junyi Li , Sundar Subramanian , Jayakrishnan Unnikrishnan
Abstract: Methods, systems, and devices for radar signaling s are described. In some systems, devices may select radar parameters (e.g., frequency modulated continuous wave waveform parameters) to support coexistence for multiple radar sources in the system. To reduce mutual interference between radar waveforms in a system, a user equipment may detect interference from at least one interference source (e.g., another device transmitting a radar waveform) and may select waveform parameters for transmission of a radar waveform based on the detected interference. For example, the user equipment may determine slopes, frequency offsets, codewords, or a combination thereof used by nearby devices in the system (e.g., per chirp or for a waveform) and may select waveform parameters that result in low mutual interference with the determined slopes, frequency offsets, codewords, or combination thereof. The user equipment may transmit the radar waveform according to the selected waveform parameters.
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