JP6980301B2 - 表面特性の特定 - Google Patents
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Description
[0001]この出願は、2017年1月27日に出願された「LGPR Capability」という名称の米国仮特許出願第62/451,313号、および2017年7月7日に出願された「Localizing Ground−Penerating Radar」という名称の米国仮特許出願第62/529,740号の早い出願日の利益を請求するものであり、これらはその全体が参照により本明細書に組み込まれる。
[0002]本発明は、米国空軍により授与された契約番号FA8721−05−C−0002の下で政府の支援によりなされた。政府は本発明に一定の権利を有する。
[0003]本発明は、一般に、表面特性を特定するための方法およびシステムに関する。この方法およびシステムは、車両を制御するために使用され得る。
[0004]車両の自律航法では、実世界の環境を感知したり、環境(道路など)の広範な事前知識を必要とする。実世界の環境は変化に富んでおり、詳細な事前のマップは路面状態などの航行条件の変化を考慮していない。したがって、表面特性の特定を実現する方法およびシステムが求められており、これは車両の自律航行を支援し得る。
Claims (18)
- 乗物の操縦を制御するための方法であって、
表面貫通レーダー(SPR)信号を前記乗物のSPRシステムから表面に向けて送信するステップと、
前記SPRシステムで、前記表面に関連する表面領域からのSPR信号の反射と、表面下領域からのSPR信号の反射とを含む応答信号を受信するステップと、
前記応答信号の強度と位相の少なくとも一方を測定するステップと、
前記応答信号の強度および位相の少なくとも一方に少なくとも部分的に基づいて、前記表面の表面特性および前記乗物の位置特定データを特定するステップと、
前記表面特性および位置特定データに基づいて、前記乗物の操縦を制御するステップと
を含むことを特徴とする方法。 - 前記応答信号、前記応答信号の測定強度、前記応答信号の測定位相、特定された表面特性、および特定された位置特定データのうちの少なくとも1つを前記乗物の1つまたはそれ以上の制御システムに送信するステップをさらに含む、請求項1に記載の方法。
- 前記応答信号、前記応答信号の測定強度、前記応答信号の測定位相、特定された表面特性、および特定された位置特定データのうちの少なくとも1つに基づいて前記乗物を制御するステップをさらに含む、請求項1に記載の方法。
- 前記表面特性の特定は、伝達関数および周波数応答のうちの少なくとも1つに基づく、請求項1に記載の方法。
- 前記表面特性が、雪、氷、水、泥、泥水、砂、および塩のうちの少なくとも1つである、請求項1に記載の方法。
- 前記表面特性の特定は、前記応答信号の測定された強度または位相を、複数の所定の表面特性に関連する信号応答の既知の強度または位相と相関させるステップを含む、請求項1に記載の方法。
- 前記表面特性の特定は、
クリアな表面特性の既知の強度または位相と前記応答信号の測定された強度または位相との間の差と、
降水状態における表面特性の既知の強度または位相と、応答信号の測定された強度との差と、
のうちの少なくとも1つを計算するステップを含む、請求項1に記載の方法。。 - 前記表面特性の特定は、
前記応答信号の測定された強度または位相を、複数の所定の表面特性に関連する信号応答の既知の強度または位相と相関させるステップと、
クリアな表面特性の既知の強度または位相と前記応答信号の測定された強度との差、および、降水状態の表面特性の既知の強度または位相と前記応答信号の測定された強度との差のうちの少なくとも1つを計算するステップと、を含む請求項1に記載の方法。 - 前記応答信号の測定された強度は、電圧および電力のうちの少なくとも1つである、請求項1に記載の方法。
- 前記SPRシステムは、前記乗物の下に配置された複数のSPRアンテナおよびチャネルを備え、各チャネルは少なくとも1つの送信素子および少なくとも1つの受信素子を備える、請求項1に記載の方法。
- 前記表面特性および/または位置特定データの特定は、前記応答信号と、前記応答信号の測定された強度または位相と、別のセンサの出力とのうちの少なくとも1つを使用することを含む、請求項1に記載の方法。
- 前記センサは、光学センサ、慣性航法システム(INS)、GPS、音響航法および測距(SONAR)システム、LIDARシステム、カメラ、慣性測定ユニット(IMU)、ホイールスリップセンサ/エンコーダ、および補助レーダーシステムのうちの1またはそれ以上に関連付けられる、請求項11に記載の方法。。
- 乗物の操縦を制御するためのシステムであって、
少なくとも1つのSPR送信素子と少なくとも1つのSPR受信素子とを備える少なくとも1つのSPRチャネルと、
前記少なくとも1つのSPR受信素子と通信するSPRプロセッサであって、前記SPR受信素子からの応答信号の受信に応答して、
前記SPR受信素子で受信される、表面に関連する表面領域からの、送信されたSPR信号の反射と、表面下領域からの、送信されたSPR信号の反射とを含む前記応答信号の強度および位相の少なくとも一方を測定し、
前記応答信号の強度または位相に少なくとも部分的に基づいて、前記表面の表面特性および前記乗物の位置特定データを特定する、SPRプロセッサと、
前記SPRプロセッサと通信する乗物制御システムであって、前記表面特性および前記位置特定データに基づいて前記乗物の操縦を制御する乗物制御システムとを備えることを特徴とするシステム。 - 前記SPRプロセッサは、前記応答信号、前記応答信号の測定強度、前記応答信号の測定位相、特定された表面特性、および特定された位置特定データのうちの少なくとも1つを前記乗物の1以上の制御システムに送信するように構成される、請求項13に記載のシステム。
- 表面特性および乗物の位置特定データを特定するためのSPRシステムにおいて、
前記乗物の下に配置可能なSPRアンテナアレイであって、当該SPRアンテナアレイは複数のSPRチャネルを形成し、各SPRチャネルはSPRアンテナ対を含み、SPRアンテナ対の一方のSPRアンテナはSPR送信アンテナで、SPRアンテナペアの他方のSPRアンテナはSPR受信アンテナである、SPRアンテナアレイと、
前記SPR受信アンテナと通信するSPRプロセッサであって、
前記SPR受信アンテナで受信される、表面に関連する表面領域からの、送信されたSPR信号の反射と、表面下領域からの、送信されたSPR信号の反射とを含む応答信号の強度または位相を測定し、
前記応答信号の強度または位相に少なくとも部分的に基づいて、前記表面の1またはそれ以上の表面特性および前記乗物の位置特定データを特定する、SPRプロセッサと、
を備えることを特徴とするSPRシステム。 - 第1のSPRチャネルが、前記乗物の運転席側タイヤの後ろに配置可能な第1のSPR送信アンテナと、前記乗物の助手席側タイヤに向かって前記第1のSPR送信アンテナに実質的に平行に配置可能な第1のSPR受信アンテナとを含む、請求項15に記載のSPRシステム。
- 前記SPRアンテナアレイのSPRアンテナ対は、互いに実質的に平行に配置可能であり、前記SPRアンテナアレイは、前記乗物の前部運転者側タイヤの後ろから前部助手席側タイヤに向かって延びるように配置可能である、請求項15に記載のSPRシステム。
- 前記SPRアンテナは、前記乗物の前部運転席側タイヤの後方から前記乗物の後部運転席側タイヤに向かって前記乗物の長さに沿って縦方向に配置可能である、請求項15に記載のSPRシステム。
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