Waymo LLC

Kevin Duncklee

Brett Coon

Filip Perich

Timothy Campbell

Irving Chung

A method and a radar system are provided in the present disclosure. The radar system includes a radar unit having an antenna array configured to transmit and receive radar signal and a memory configured to store radar calibration parameters and radar channel parameters corresponding to the radar unit. The method provides for operation of the radar system. The radar system also includes a radar processor. The radar processor is configured to cause transmission of radar signals by the antenna array based on the radar channel parameters. The radar processor is also configured to process received radar signals based on the radar calibration parameters. The radar system further includes a central vehicle controller configured to operate a vehicle based on the processed radar signals.

Dynamic loading of radar unit configuration data based on changing radar parameters

Example embodiments relate to techniques for hardware-in-the-loop testing with continuous integration for radar testing and development. A computing device may receive a target output for radar operation parameters undergoing development tests and determine whether a first output produced by a field programmable gate array (FPGA) based on the radar operation parameters differs from the target output less than a first threshold difference. When the output from the FPGA passes the comparison, the computing device may then cause a radar unit to transmit radar signals toward a target according to the radar operation parameters, which produces a second output that can also be compared to the target output. The FPGA may process signals for the radar unit. In some cases when the second output differs from the target output less than a second threshold difference, the computing device may provide the radar operation parameters as a radar software update to vehicles.

Methods and systems for radar testing and development using hardware-in-the-loop with continuous integration

In another example, a method is provided that includes transmitting a first radar signal by a first channel of a plurality of channels of a radar unit. The method also includes receiving first radar reflections of the first radar signal by at least one reception antenna of the radar unit. Additionally, the method includes transmitting a second radar signal by the first channel. The method further includes receiving second radar reflections of the second radar signal by at least one reception antenna. Yet further, the method includes processing the received radar reflections from the first and second radar reflections to determine a platform movement parameter. Additionally, a virtual array may be constructed and radar signals received at common location of the virtual array may be used to determine a platform movement parameter. Moreover, the method includes operating the radar unit based on an offset determined from the platform movement parameter.

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Mountain View, CA, United States of America

Kevin Duncklee