Patent ID: 12196878

DETAILED DESCRIPTION

The following detailed description describes various features and functions of the disclosed systems and methods with reference to the accompanying figures. In the figures, similar symbols identify similar components, unless context dictates otherwise. The illustrative system, device and method embodiments described herein are not meant to be limiting. It may be readily understood by those skilled in the art that certain aspects of the disclosed systems, devices and methods can be arranged and combined in a wide variety of different configurations, all of which are contemplated herein.

There are continued efforts to improve vehicle safety, including the development of autonomous vehicles equipped with accident-avoidance systems that may have the ability to avoid accidents. Various sensors, such as radio detection and ranging (RADAR) sensors and light detection and ranging (LIDAR) sensors among other possibilities, may be included in an autonomous vehicle to detect obstacles and/or other vehicles in an environment of the autonomous vehicle and thereby facilitate accident avoidance. However, as more vehicles adopt such accident-avoidance systems and the density of sensor equipped vehicles increases, interference between the sensors may reduce accuracy and effectiveness of the sensors for use in accident avoidance.

Within examples, systems and methods herein may be configured to adjust a sensor of a vehicle to reduce a likelihood of interference between the sensor and other sensors of other vehicles. By way of example, a vehicle herein may comprise a sensor configured to detect an environment of the vehicle. The vehicle may further comprise a controller configured to receive data from an external computing device indicative of at least one other vehicle in the environment of the vehicle. The external computing device, for example, may be a server in wireless communication with the vehicle and other vehicles in the environment. In one instance, the controller may also be configured to determine that the at least one sensor of the at least one other vehicle is directed towards the sensor of the vehicle based on the data. In another instance, the controller may be configured to determine that the vehicle and the at least one other vehicle are within a threshold distance to each other, thus increasing the likelihood of interference. Thus, for example, the data may include locations of the at least one other vehicle and/or directions of the at least one sensor. The controller may also be configured to responsively initiate an adjustment of the sensor to reduce the likelihood of interference between the sensor of the vehicle and the at least one sensor of the at least one other vehicle.

Various adjustments of the sensor are possible such as adjusting a direction, power, modulation pattern, or any other parameter of the sensor to reduce interference with the at least one sensor of the at least one other vehicle.

Alternatively, in some examples, the external computing device may receive configuration parameters of the sensor of the vehicle and other sensors of other vehicles in the vicinity of the vehicle. In these examples, the external computing device may provide instructions to the vehicle and/or the other vehicles with suitable adjustments for corresponding sensors to reduce the interference between the various sensors. Therefore, in some embodiments, some of the functions described above for the vehicle may be alternatively performed by the external computing device in accordance with various conditions such as network latency between the external computing device and the vehicle or other safety considerations.

The embodiments disclosed herein may be used on any type of vehicle, including conventional automobiles and automobiles having an autonomous mode of operation. However, the term “vehicle” is to be broadly construed to cover any moving object, including, for instance, a truck, a van, a semi-trailer truck, a motorcycle, a golf cart, an off-road vehicle, a warehouse transport vehicle, or a farm vehicle, as well as a carrier that rides on a track such as a rollercoaster, trolley, tram, or train car, among other examples.

Referring now to the Figures,FIG.1illustrates a vehicle100, according to an example embodiment. In particular,FIG.1shows a Right Side View, Front View, Back View, and Top View of the vehicle100. Although vehicle100is illustrated inFIG.1as a car, as discussed above, other embodiments are possible. Furthermore, although the example vehicle100is shown as a vehicle that may be configured to operate in autonomous mode, the embodiments described herein are also applicable to vehicles that are not configured to operate autonomously. Thus, the example vehicle100is not meant to be limiting.

As shown, the vehicle100includes a first sensor unit102, a second sensor unit104, a third sensor unit106, a wireless communication system108, and a camera110. Each of the first, second, and third sensor units102-106may include any combination of global positioning system sensors, inertial measurement units, radio detection and ranging (RADAR) units, laser rangefinders, light detection and ranging (LIDAR) units, cameras, and acoustic sensors. Other types of sensors are possible as well.

While the first, second, and third sensor units102-106are shown to be mounted in particular locations on the vehicle100, in some embodiments the sensor units102-106may be mounted elsewhere on the vehicle100, either inside or outside the vehicle100. For example, a sensor unit may be mounted at the back of the vehicle (not shown inFIG.1). Further, while only three sensor units are shown, in some embodiments more or fewer sensor units may be included in the vehicle100.

In some embodiments, one or more of the first, second, and third sensor units102-106may include one or more movable mounts (e.g., “steering devices”) on which the sensors may be movably mounted. The movable mount may include, for example, a rotating platform. Sensors mounted on the rotating platform could be rotated so that the sensors may obtain information from various direction around the vehicle100. Alternatively or additionally, the movable mount may include a tilting platform. Sensors mounted on the tilting platform could be tilted within a particular range of angles and/or azimuths so that the sensors may obtain information from a variety of angles. The movable mount may take other forms as well.

Further, in some embodiments, one or more of the first, second, and third sensor units102-106may include one or more actuators configured to adjust the position and/or orientation of sensors in the sensor unit by moving the sensors and/or movable mounts. Example actuators include motors, pneumatic actuators, hydraulic pistons, relays, solenoids, and piezoelectric actuators. Other actuators are possible as well.

The wireless communication system108may be any system configured to wirelessly couple to one or more other vehicles, sensors, or other entities, either directly or via a communication network. To this end, the wireless communication system108may include an antenna and a chipset for communicating with the other vehicles, sensors, servers, or other entities either directly or via a communication network. The chipset or wireless communication system108in general may be arranged to communicate according to one or more types of wireless communication (e.g., protocols) such as Bluetooth, communication protocols described in IEEE 802.11 (including any IEEE 802.11 revisions), cellular technology (such as GSM, CDMA, UMTS, EV-DO, WiMAX, or LTE), Zigbee, dedicated short range communications (DSRC), and radio frequency identification (RFID) communications, among other possibilities. The wireless communication system108may take other forms as well.

While the wireless communication system108is shown positioned on a roof of the vehicle100, in other embodiments the wireless communication system108could be located, fully or in part, elsewhere.

The camera110may be any camera (e.g., a still camera, a video camera, etc.) configured to capture images of the environment in which the vehicle100is located. To this end, the camera110may be configured to detect visible light, or may be configured to detect light from other portions of the spectrum, such as infrared or ultraviolet light. Other types of cameras are possible as well. The camera110may be a two-dimensional detector, or may have a three-dimensional spatial range. In some embodiments, the camera110may be, for example, a range detector configured to generate a two-dimensional image indicating a distance from the camera110to a number of points in the environment. To this end, the camera110may use one or more range detecting techniques. For example, the camera110may use a structured light technique in which the vehicle100illuminates an object in the environment with a predetermined light pattern, such as a grid or checkerboard pattern and uses the camera110to detect a reflection of the predetermined light pattern off the object. Based on distortions in the reflected light pattern, the vehicle100may determine the distance to the points on the object. The predetermined light pattern may comprise infrared light, or light of another wavelength. As another example, the camera110may use a laser scanning technique in which the vehicle100emits a laser and scans across a number of points on an object in the environment. While scanning the object, the vehicle100uses the camera110to detect a reflection of the laser off the object for each point. Based on a length of time it takes the laser to reflect off the object at each point, the vehicle100may determine the distance to the points on the object. As yet another example, the camera110may use a time-of-flight technique in which the vehicle100emits a light pulse and uses the camera110to detect a reflection of the light pulse off an object at a number of points on the object. In particular, the camera110may include a number of pixels, and each pixel may detect the reflection of the light pulse from a point on the object. Based on a length of time it takes the light pulse to reflect off the object at each point, the vehicle100may determine the distance to the points on the object. The light pulse may be a laser pulse. Other range detecting techniques are possible as well, including stereo triangulation, sheet-of-light triangulation, interferometry, and coded aperture techniques, among others. The camera110may take other forms as well.

In some embodiments, the camera110may include a movable mount and/or an actuator, as described above, that are configured to adjust the position and/or orientation of the camera110by moving the camera110and/or the movable mount.

While the camera110is shown to be mounted inside a front windshield of the vehicle100, in other embodiments the camera110may be mounted elsewhere on the vehicle100, either inside or outside the vehicle100.

The vehicle100may include one or more other components in addition to or instead of those shown.

FIG.2is a simplified block diagram of a vehicle200, according to an example embodiment. The vehicle200may be similar to the vehicle100described above in connection withFIG.1, for example. However, the vehicle200may take other forms as well.

As shown, the vehicle200includes a propulsion system202, a sensor system204, a control system206, peripherals208, and a computer system210including a processor212, data storage214, and instructions216. In other embodiments, the vehicle200may include more, fewer, or different systems, and each system may include more, fewer, or different components. Additionally, the systems and components shown may be combined or divided in any number of ways.

The propulsion system202may be configured to provide powered motion for the vehicle200. As shown, the propulsion system202includes an engine/motor218, an energy source220, a transmission222, and wheels/tires224.

The engine/motor218may be or include any combination of an internal combustion engine, an electric motor, a steam engine, and a Stirling engine. Other motors and engines are possible as well. In some embodiments, the propulsion system202could include multiple types of engines and/or motors. For instance, a gas-electric hybrid car could include a gasoline engine and an electric motor. Other examples are possible.

The energy source220may be a source of energy that powers the engine/motor218in full or in part. That is, the engine/motor218may be configured to convert the energy source220into mechanical energy. Examples of energy sources220include gasoline, diesel, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electrical power. The energy source(s)220could additionally or alternatively include any combination of fuel tanks, batteries, capacitors, and/or flywheels. In some embodiments, the energy source220may provide energy for other systems of the vehicle200as well.

The transmission222may be configured to transmit mechanical power from the engine/motor218to the wheels/tires224. To this end, the transmission222may include a gearbox, clutch, differential, drive shafts, and/or other elements. In embodiments where the transmission222includes drive shafts, the drive shafts could include one or more axles that are configured to be coupled to the wheels/tires224.

The wheels/tires224of vehicle200could be configured in various formats, including a unicycle, bicycle/motorcycle, tricycle, or car/truck four-wheel format. Other wheel/tire formats are possible as well, such as those including six or more wheels. In any case, the wheels/tires224of vehicle224may be configured to rotate differentially with respect to other wheels/tires224. In some embodiments, the wheels/tires224may include at least one wheel that is fixedly attached to the transmission222and at least one tire coupled to a rim of the wheel that could make contact with the driving surface. The wheels/tires224may include any combination of metal and rubber, or combination of other materials. The propulsion system202may additionally or alternatively include components other than those shown.

The sensor system204may include a number of sensors configured to sense information about an environment in which the vehicle200is located, as well as one or more actuators236configured to modify a position and/or orientation of the sensors. As shown, the sensors of the sensor system204include a Global Positioning System (GPS)226, an inertial measurement unit (IMU)228, a RADAR unit230, a laser rangefinder and/or LIDAR unit232, and a camera234. The sensor system204may include additional sensors as well, including, for example, sensors that monitor internal systems of the vehicle200(e.g., an O2monitor, a fuel gauge, an engine oil temperature, etc.). Other sensors are possible as well.

The GPS226may be any sensor (e.g., location sensor) configured to estimate a geographic location of the vehicle200. To this end, the GPS226may include a transceiver configured to estimate a position of the vehicle200with respect to the Earth. The GPS226may take other forms as well.

The IMU228may be any combination of sensors configured to sense position and orientation changes of the vehicle200based on inertial acceleration. In some embodiments, the combination of sensors may include, for example, accelerometers and gyroscopes. Other combinations of sensors are possible as well.

The RADAR230unit may be any sensor configured to sense objects in the environment in which the vehicle200is located using radio signals. In some embodiments, in addition to sensing the objects, the RADAR unit230may additionally be configured to sense the speed and/or heading of the objects.

Similarly, the laser range finder or LIDAR unit232may be any sensor configured to sense objects in the environment in which the vehicle200is located using lasers. In particular, the laser rangefinder or LIDAR unit232may include a laser source and/or laser scanner configured to emit a laser and a detector configured to detect reflections of the laser. The laser rangefinder or LIDAR232may be configured to operate in a coherent (e.g., using heterodyne detection) or an incoherent detection mode.

The camera234may be any camera (e.g., a still camera, a video camera, etc.) configured to capture images of the environment in which the vehicle200is located. To this end, the camera may take any of the forms described above. The sensor system204may additionally or alternatively include components other than those shown.

The control system206may be configured to control operation of the vehicle200and its components. To this end, the control system206may include a steering unit238, a throttle240, a brake unit242, a sensor fusion algorithm244, a computer vision system246, a navigation or pathing system248, and an obstacle avoidance system250.

The steering unit238may be any combination of mechanisms configured to adjust the heading of vehicle200.

The throttle240may be any combination of mechanisms configured to control the operating speed of the engine/motor218and, in turn, the speed of the vehicle200.

The brake unit242may be any combination of mechanisms configured to decelerate the vehicle200. For example, the brake unit242may use friction to slow the wheels/tires224. As another example, the brake unit242may convert the kinetic energy of the wheels/tires224to electric current. The brake unit242may take other forms as well.

The sensor fusion algorithm244may be an algorithm (or a computer program product storing an algorithm) configured to accept data from the sensor system204as an input. The data may include, for example, data representing information sensed at the sensors of the sensor system204. The sensor fusion algorithm244may include, for example, a Kalman filter, a Bayesian network, or another algorithm. The sensor fusion algorithm244may further be configured to provide various assessments based on the data from the sensor system204, including, for example, evaluations of individual objects and/or features in the environment in which the vehicle200is located, evaluations of particular situations, and/or evaluations of possible impacts based on particular situations. Other assessments are possible as well.

The computer vision system246may be any system configured to process and analyze images captured by the camera234in order to identify objects and/or features in the environment in which the vehicle200is located, including, for example, traffic signals and obstacles. To this end, the computer vision system246may use an object recognition algorithm, a Structure from Motion (SFM) algorithm, video tracking, or other computer vision techniques. In some embodiments, the computer vision system246may additionally be configured to map the environment, track objects, estimate the speed of objects, etc.

The navigation and pathing system248may be any system configured to determine a driving path for the vehicle200. The navigation and pathing system248may additionally be configured to update the driving path dynamically while the vehicle200is in operation. In some embodiments, the navigation and pathing system248may be configured to incorporate data from the sensor fusion algorithm244, the GPS226, and one or more predetermined maps so as to determine the driving path for vehicle200.

The obstacle avoidance system250may be any system configured to identify, evaluate, and avoid or otherwise negotiate obstacles in the environment in which the vehicle200is located. The control system206may additionally or alternatively include components other than those shown.

Peripherals208may be configured to allow the vehicle200to interact with external sensors, other vehicles, and/or a user. To this end, the peripherals208may include, for example, a wireless communication system252, a touchscreen254, a microphone256, and/or a speaker258.

The wireless communication system252may take any of the forms described above similarly to the wireless communication system108of the vehicle100.

The touchscreen254may be used by a user to input commands to the vehicle200. To this end, the touchscreen254may be configured to sense at least one of a position and a movement of a user's finger via capacitive sensing, resistance sensing, or a surface acoustic wave process, among other possibilities. The touchscreen254may be capable of sensing finger movement in a direction parallel or planar to the touchscreen surface, in a direction normal to the touchscreen surface, or both, and may also be capable of sensing a level of pressure applied to the touchscreen surface. The touchscreen254may be formed of one or more translucent or transparent insulating layers and one or more translucent or transparent conducting layers. The touchscreen254may take other forms as well.

The microphone256may be configured to receive audio (e.g., a voice command or other audio input) from a user of the vehicle200. Similarly, the speakers258may be configured to output audio to the user of the vehicle200. The peripherals208may additionally or alternatively include components other than those shown.

The computer system210may be configured to transmit data to and receive data from one or more of the propulsion system202, the sensor system204, the control system206, and the peripherals208. To this end, the computer system210may be communicatively linked to one or more of the propulsion system202, the sensor system204, the control system206, and the peripherals208by a system bus, network, and/or other connection mechanism (not shown).

The computer system210may be further configured to interact with and control one or more components of the propulsion system202, the sensor system204, the control system206, and/or the peripherals208. For example, the computer system210may be configured to control operation of the transmission222to improve fuel efficiency. As another example, the computer system210may be configured to cause the camera234to capture images of the environment. As yet another example, the computer system210may be configured to store and execute instructions corresponding to the sensor fusion algorithm244. As still another example, the computer system210may be configured to store and execute instructions for displaying a display on the touchscreen254. As still another example, the computer system110may be configured to adjust the radar unit230(e.g., adjust direction, power, modulation pattern, etc.). Other examples are possible as well.

As shown, the computer system210includes the processor212and data storage214. The processor212may comprise one or more general-purpose processors and/or one or more special-purpose processors. To the extent the processor212includes more than one processor, such processors could work separately or in combination. Data storage214, in turn, may comprise one or more volatile and/or one or more non-volatile storage components, such as optical, magnetic, and/or organic storage, and data storage214may be integrated in whole or in part with the processor212.

In some embodiments, data storage214may contain instructions216(e.g., program logic) executable by the processor212to execute various vehicle functions. Data storage214may contain additional instructions as well, including instructions to transmit data to, receive data from, interact with, and/or control one or more of the propulsion system202, the sensor system204, the control system206, and the peripherals208. The computer system210may additionally or alternatively include components other than those shown.

As shown, the vehicle200further includes a power supply260, which may be configured to provide power to some or all of the components of the vehicle200. To this end, the power supply260may include, for example, a rechargeable lithium-ion or lead-acid battery. In some embodiments, one or more banks of batteries could be configured to provide electrical power. Other power supply materials and configurations are possible as well. In some embodiments, the power supply260and energy source220may be implemented together, as in some all-electric cars.

In some embodiments, one or more of the propulsion system202, the sensor system204, the control system206, and the peripherals208could be configured to work in an interconnected fashion with other components within and/or outside their respective systems.

Further, the vehicle200may include one or more elements in addition to or instead of those shown. For example, the vehicle200may include one or more additional interfaces and/or power supplies. Other additional components are possible as well. In such embodiments, data storage214may further include instructions executable by the processor212to control and/or communicate with the additional components.

Still further, while each of the components and systems are shown to be integrated in the vehicle200, in some embodiments, one or more components or systems may be removably mounted on or otherwise connected (mechanically or electrically) to the vehicle200using wired or wireless connections. The vehicle200may take other forms as well.

FIG.3is a simplified block diagram of a system300, according to an example embodiment. The system300includes vehicles302a-302dcommunicatively linked (e.g., via wired and/or wireless interfaces) to an external computing device304. The vehicles302a-302dand the computing device304may communicate within a network. Alternatively, the vehicles302a-302dand the computing device304may each reside within a respective network.

The vehicles302a-302dmay be similar to the vehicles100-200. For example, the vehicles302a-302dmay be partially or fully autonomous vehicles that each include a sensor (e.g., RADAR, etc.) to detect an environment of the vehicles302a-302d. The vehicles302a-302dmay include components not shown inFIG.3, such as a user interface, a communication interface, a processor, and data storage comprising instructions executable by the processor for carrying out one or more functions relating to the data sent to, or received by, the computing device304. Further, the functions may also relate to control of the vehicles302a-302dor components thereof, such as sensors, etc. To that end, the functions may also include methods and systems described herein.

The computing device304may be configured as a server or any other entity arranged to carry out the functions described herein. Further, the computing device304may be configured to send data/requests to the vehicles302a-302dand/or to receive data from the vehicles302a-302d. For example, the computing device304may receive location information from the vehicles302a-302das well as sensor configurations (e.g., direction, modulation pattern, etc.), and may responsively provide requests to proximate vehicles to adjust the corresponding sensor configurations to reduce interference between the corresponding sensors. Additionally or alternatively, for example, the computing device304may function as a medium for sharing the data (e.g., sensor configurations, locations, etc.) between the vehicles302a-302d. AlthoughFIG.3shows that the vehicles302a-302dcommunicate via the computing device304, in some examples, the vehicles302a-302dmay additionally or alternatively communicate directly with one another.

The computing device304includes a communication system306, a processor308, and data storage310. The communication system306may be any system configured to communicate with the vehicles302a-302d, or other entities, either directly or via a communication network, such as a wireless communication network. For example, the communication system306may include an antenna and a chipset for wirelessly communicating with the vehicles302a-302d, servers, or other entities either directly or via a wireless communication network. Alternatively, in some examples, the communication system306may include a wired connection to a server or other entity in wireless communication with the vehicles302a-302d. Accordingly, the chipset or the communication system306in general may be arranged to communicate according to one or more types of wireless communication (e.g., protocols) such as Bluetooth, communication protocols described in IEEE 802.11 (including any IEEE 802.11 revisions), cellular technology (such as GSM, CDMA, UMTS, EV-DO, WiMAX, or LTE), Zigbee, dedicated short range communications (DSRC), and radio frequency identification (RFID) communications, among other possibilities, or one or more types of wired communication such as Local Area Network (LAN), etc. The communication system306may take other forms as well.

The processor308may comprise one or more general-purpose processors and/or one or more special-purpose processors. To the extent the processor308includes more than one processor, such processors could work separately or in combination. Data storage310, in turn, may comprise one or more volatile and/or one or more non-volatile storage components, such as optical, magnetic, and/or organic storage, and data storage310may be integrated in whole or in part with the processor308.

In some embodiments, data storage310may contain instructions312(e.g., program logic) executable by the processor308to execute various functions described herein. Data storage310may contain additional instructions as well, including instructions to transmit data to, receive data from, interact with, and/or control one or more of the vehicles302a-302d. The computer system210may additionally or alternatively include components other than those shown.

FIG.4is a block diagram of a method400, according to an example embodiment. Method400shown inFIG.4presents an embodiment of a method that could be used with the vehicles100,200,302a-302d, or the computing device304, for example. Method400may include one or more operations, functions, or actions as illustrated by one or more of blocks402-406. Although the blocks are illustrated in a sequential order, these blocks may in some instances be performed in parallel, and/or in a different order than those described herein. Also, the various blocks may be combined into fewer blocks, divided into additional blocks, and/or removed based upon the desired implementation.

In addition, for the method400and other processes and methods disclosed herein, the flowchart shows functionality and operation of one possible implementation of present embodiments. In this regard, each block may represent a module, a segment, a portion of a manufacturing or operation process, or a portion of program code, which includes one or more instructions executable by a processor for implementing specific logical functions or steps in the process. The program code may be stored on any type of computer readable medium, for example, such as a storage device including a disk or hard drive. The computer readable medium may include non-transitory computer readable medium, for example, such as computer-readable media that stores data for short periods of time like register memory, processor cache and Random Access Memory (RAM). The computer readable medium may also include non-transitory media, such as secondary or persistent long term storage, like read only memory (ROM), optical or magnetic disks, compact-disc read only memory (CD-ROM), for example. The computer readable media may also be any other volatile or non-volatile storage systems. The computer readable medium may be considered a computer readable storage medium, for example, or a tangible storage device.

In addition, for the method400and other processes and methods disclosed herein, each block inFIG.4may represent circuitry that is wired to perform the specific logical functions in the process, for example.

The method400may describe a method for reducing a likelihood of interference between a sensor of a vehicle and other sensors of other vehicles.

At block402, the method400includes the vehicle receiving data from an external computing device indicative of at least one other vehicle in an environment of the vehicle that includes at least one sensor. In some examples, the sensor of the vehicle may be configured to detect an environment of the vehicle based on a comparison between electromagnetic (EM) radiation transmitted by the sensor and a reflection of the EM radiation from one or more objects in the environment of the vehicle. For example, the sensor may include a radio detection and ranging (RADAR) sensor, similar to the radar unit230of the vehicle200.

The external computing device may be similar to the computing device304of the system300. Thus, for example, the vehicle may receive the data from the external computing device indicating proximity of the at least one other vehicle and/or presence of the at least one sensor in the at least one other vehicle that may interfere with the sensor of the vehicle.

Accordingly, at block404, the method400includes determining a likelihood of interference between the at least one sensor of the at least one other vehicle and the sensor of the vehicle based on the data. By way of example, the data may indicate that a given vehicle is in front of the vehicle of block402. Further, the data may indicate that the given vehicle has a backwards facing RADAR that is directed towards a forward facing RADAR (e.g., the sensor) of the vehicle. Therefore, the data from the external computing device may include information such as locations of the at least one other vehicle and configurations of the at least one sensor in the at least one other vehicle. In another example, the vehicle and the at least one other vehicle may be facing the same direction towards a large reflective object, thus forward facing transmitters of one vehicle may interfere with forward facing receivers of another vehicle.

To facilitate the determination at block404, in some examples, the vehicle may include a location sensor similar to the GPS226of the vehicle200or any other location sensor. In these examples, the method400may perform the determination at block404based on a comparison between location of the at least one other vehicle (e.g., indicated by the data) and location of the vehicle (e.g., indicated by the location sensor). Additionally, the vehicle may include an orientation sensor similar to the IMU228of the vehicle200. For example, the orientation sensor may be utilized to determine an orientation and/or heading of the vehicle to facilitate determining the likelihood of interference at block404. For example, the vehicle may compare the orientation with orientations of the at least one other vehicle (and sensors thereon) to determine the likelihood of interference. Similarly, for example, the location of the vehicle may be compared with locations of the at least one other vehicle. Other examples are possible as well.

Accordingly, in some examples, the method400may also include identifying a location of the vehicle in the environment based on a location sensor in the vehicle. In these examples, the method400may also include determining that the at least one other vehicle is within a threshold distance to the vehicle based on the location from the location sensor and the data from the external computing device.

At block406, the method400includes initiating an adjustment of the sensor responsive to the determination at block404. The adjustment may reduce the likelihood of interference between the sensor of the vehicle and the at least one sensor of the at least one other vehicle. Various implementations of the method400are possible for performing the adjustment of the sensor at block406.

In a first example implementation, the direction of the sensor and/or the EM radiation transmitted by the sensor may be adjusted by the vehicle. In one example, the vehicle may actuate a steering device (e.g., mount) of the sensor to steer the sensor away from the at least one sensor of the at least one other vehicle. In another example, the vehicle may adjust a direction of the EM radiation transmitted by the sensor (e.g., beam steering) by switching antenna elements in the sensor and/or changing relative phases of RF signals driving the antenna elements. Accordingly, in some examples, the method400may also include modifying a direction of the sensor.

In a second example implementation, a power of the EM radiation transmitted by the sensor may be modified. For example, the data may indicate that the at least one other vehicle is at a given distance from the vehicle. In this example, the vehicle (and/or the at least one other vehicle) may be operated by the method400to reduce the power of the EM radiation transmitted by the sensor (and/or the at least one sensor of the at least one other vehicle) to reduce the interference. For example, the external computing device may provide a request to the vehicle and/or the at least one other vehicle to modify the power of corresponding EM radiation transmitted by each vehicle to reduce the interference. Accordingly, in some examples, the method400may also include modifying a power of the EM radiation transmitted by the sensor.

Further, in some embodiments of the second example implementation, the vehicle may include a velocity sensor similar to the GPS226and/or the IMU228of the vehicle200or any other velocity sensor. In these embodiments, the velocity sensor may be configured to detect a direction of travel and/or a speed of the vehicle. In one example, if the direction of travel is towards the at least one other vehicle, the method400may optionally include reducing the power of the EM radiation based on the determination. sensor In another example, the vehicle and the at least one other vehicle may be travelling in the same direction with the vehicle travelling ahead of the at least one other vehicle. On one hand, if the vehicle is travelling at a greater speed than the at least one other vehicle, a backward facing RADAR on the vehicle may reduce its power because of the likelihood of an accident being lower. On the other hand, if the vehicle is travelling at a lower speed, the power may be increased in anticipation of the at least one other vehicle getting closer to the vehicle. Further, in some examples, the method400may also include reducing the power of the EM radiation by an amount based on the speed of the vehicle. For example, the reduction of power may be scaled based on the rate at which the two vehicles are travelling apart from each other.

In a third example implementation, the method400may also include modifying a modulation pattern of the EM radiation to reduce the interference. Modifying the modulation pattern, for example, may include applying a time offset to the modulation pattern, applying a frequency offset to the modulation pattern, adjusting a frequency bandwidth of the modulation pattern, and/or adjusting a shape of the modulation pattern among other possibilities.

By way of example, the modulation pattern of the EM radiation may be a frequency modulated continuous wave (FMCW) RADAR modulation, where the frequency of the EM radiation is adjusted over time in accordance with the modulation pattern. A receiver of the sensor (e.g., RADAR receiver) may filter incoming EM radiation based on the modulation pattern.

Therefore, in one example, the vehicle may adjust the modulation pattern by applying an offset among the other possibilities described above to distinguish the modulation pattern of the sensor from the modulation pattern of the at least one sensor of the at least one other vehicle. In this example, the offset may be a frequency offset or a time offset. In another example, the vehicle may adjust the modulation pattern by adjusting a frequency bandwidth or a shape of the modulation pattern. In yet another example, the vehicle may adjust the modulation pattern by applying a particular phase-shift keying (PSK) modulation scheme to the EM radiation transmitted by the sensor, and the receiver may filter the incoming EM radiation based on the particular PSK scheme (e.g., to distinguish the EM radiation transmitted by the sensor from other EM radiation transmitted by other sensors of other vehicles). PSK is a digital modulation scheme that conveys data by changing, or modulating, a phase of the transmitted EM radiation. For example, the transmitted EM radiation may be conditioned to have a finite number of phases, each assigned a unique pattern of binary digits, and such pattern of binary digits may be detect at a digital signal processor coupled to the receiver of the sensor to identify the source of the EM radiation. Various PSK schemes are possible such as Binary phase-shift keying (BPSK), Quadrature phase-shift keying (QPSK), High-order PSK, Differential phase-shift keying (DPSK), etc.

FIG.5is a block diagram of another method500, according to an example embodiment. Method500shown inFIG.5presents an embodiment of a method that could be used with the vehicles100,200,302a-302d, or the computing device304, for example. Method500may include one or more operations, functions, or actions as illustrated by one or more of blocks502-508. Although the blocks are illustrated in a sequential order, these blocks may in some instances be performed in parallel, and/or in a different order than those described herein. Also, the various blocks may be combined into fewer blocks, divided into additional blocks, and/or removed based upon the desired implementation.

At block502, the method500includes receiving data from a plurality of vehicles indicative of configuration parameters of sensors in the plurality of vehicles. The data may be received, for example, by a computing device that includes one or more processors, similar to the computing device304, that is coupled to the plurality of vehicles via one or more wired/wireless mediums. By way of example, the computing device may reside in a network that includes a broadcast tower configured to receive wireless signals from the plurality of vehicles. The plurality of vehicles (e.g., cars, trucks, trains, watercraft, etc.) may include the sensors such as RADARs that are configured to detect an environment of the plurality of vehicles. In an example scenario, a given vehicle may be traveling along roads of a city (e.g., the environment) and a given sensor of the given vehicle may detect objects or other vehicles in the vicinity of the given vehicle. In the example scenario, the given sensor may detect the environment based on a comparison between EM radiation transmitted by the given sensor and a reflection of the EM radiation from one or more objects in the environment of the vehicle. Further, the data may indicate the configuration parameters of the sensors such as direction, power, modulation pattern, etc., of the sensor and/or the EM radiation thereof. In some examples, the data may also indicate locations of the plurality of vehicles.

At block504, the method500includes determining that a given vehicle is within a threshold distance to at least one other vehicle based on the data. By way of example, the given vehicle and the at least one other vehicle may be travelling behind one another, or may be heading towards an intersection, and the data received by the computing device may indicate that the two vehicles are within the threshold distance to one another that may cause interference between respective sensors of the two vehicles.

At block506, the method500includes determining a likelihood of interference between at least one sensor of the at least one other vehicle and a given sensor of the given vehicle based on the configuration parameters. For example, a first RADAR in the given vehicle (e.g., the given sensor) may be directed towards a second RADAR in the at least one other vehicle. In this example, the signals from the second RADAR may be received by the first RADAR causing an interference (e.g., the first RADAR may incorrectly deduce that the second RADAR signal is a reflection of the EM radiation from the first RADAR). Thus, the computing device of the method500may utilize the information from the plurality of vehicles such as the configuration parameters of the sensors and/or the locations of the plurality of vehicles to determine the likelihood of the interference.

At block508, the method500includes providing a request to the given vehicle to adjust given configuration parameters of the given sensor to reduce interference between the given sensor of the given vehicle and the at least one sensor of the at least one other vehicle. The provision of the request may be based on the likelihood of interference being greater than a threshold likelihood. Various adjustments to the given configuration parameters of the given sensor are possible similarly to the adjustments at block406of the method400. For example, a direction, power, modulation pattern, bandwidth, or any other adjustment may be indicated by the request at block508. Further, in some examples, the method500may also include providing similar requests to the at least one other vehicle to further reduce the likelihood of the interference.

By way of example, each of the plurality vehicles may be instructed by the computing device to have a respective binary phase-shift keying (BPSK) scheme to reduce the likelihood of interference. For example, proximate vehicles may include different BPSK schemes. Further, for example, the BPSK schemes may be reused for vehicles that are not proximate, or that have a lower likelihood of receiving EM radiation from one another. Thus, for example, BPSK codes may be spatially reused based on the determination of the likelihood at block506.

Additionally, in some examples, the computing device at block508may provide the request for a combination of adjustments. For example, a frequency offset, time offset, and/or power adjustment may be indicated by the request to reduce the likelihood of particular interference effects (e.g., overload) on a front-end receiver of a radar. Additionally, in this example, BPSK encoding adjustment may also be indicated by the request to help distinguish the source of EM radiation in proximate vehicles. Other examples are possible as well.

FIG.6illustrates a plurality of vehicles612a-612cwithin an environment of a vehicle602that includes a sensor606, according to an example embodiment. The vehicles602and612a-cmay be similar to the vehicles100,200,302a-302dofFIGS.1-3. For example, the vehicle602may include the sensor606(e.g., RADAR, LIDAR, etc.) similar to the radar unit230and/or the lidar unit232of the vehicle200. Further, the vehicle602includes a mount604(“steering device”) configured to adjust a direction of the sensor606. The mount604, for example, may be a moveable mount comprising materials suitable for supporting the sensor606and may be operated by a control system (not shown) to rotate the sensor606about a mount axis to modify the direction of the sensor606. Alternatively, the mount604may modify the direction of the sensor606in a different manner. For example, the mount604(e.g., steering device) may translate the sensor606along a horizontal plane, etc.

As illustrated inFIG.6, the vehicles602and612a-612care travelling on a road610. Further, the vehicles612a-612cmay include sensors (not shown inFIG.6) that may interfere with operation of the sensor606of the vehicle602. Various scenarios to reduce interference between such sensors and the sensor606in accordance with the present disclosure are presented below.

In a first scenario, the vehicle612amay include a backward facing sensor (not shown) that is directed towards the sensor606. The vehicle602may determine such scenario via a method such as the methods400-500. For example, the vehicle602may receive data from a server (not shown) that indicates that the sensors are directed at one another. In the scenario, the vehicle602, for example, may adjust the direction of the sensor606via the mount604(“steering device”) to reduce such interference. For example, the mount604may rotate the sensor606slightly away from the direction of the vehicle612a.

In a second scenario, the vehicle612bmay also include a backward facing sensor (not shown) that is directed towards the sensor606. In this scenario, for example, the vehicle602may adjust a modulation pattern of EM radiation from the sensor606to reduce interference between the sensor of the vehicle612band the sensor606of the vehicle602. For example, the EM radiation of the sensor of vehicle612bmay have the shape of a triangular wave, and the vehicle602may adjust the shape of the EM radiation from the sensor606to correspond to a sawtooth shape, or may adjust a slope of the triangular wave. Other examples are possible as well.

In a third scenario, the vehicle612cmay also include a backward facing sensor (not shown) that is directed towards the sensor606. In this scenario, the sensor of the vehicle612cmay receive signals from the sensor606that interfere with the sensor of the vehicle612c. Accordingly, in the scenario, the vehicle602may reduce power of the EM radiation from the sensor606such that the EM radiation may not significantly interfere with the sensor of the vehicle612cafter traversing a given distance to the vehicle612c.

Other scenarios are possible as well in accordance with the present disclosure.

FIG.7is a simplified block diagram of a sensor700, according to an example embodiment. The sensor700, for example, may include a frequency modulated continuous wave (FMCW) RADAR. The sensor700includes a local oscillator702, a transmitter704, a receiver706, a mixer708, an intermediate frequency (IF) filter710, an analog-to-digital converter (ADC)712, and a digital signal processor (DSP)714. The sensor700, for example, may be similar to the radar unit230of the vehicle200.

It is noted that the blocks702-714are for exemplary purposes only. In some examples some of the blocks in the sensor700may be combined or divided into other blocks. For example,FIG.7shows a single channel transmitter704and receiver706. In some embodiments the sensor700may include multiple transmitters and/or receivers. In one example configuration, the sensor700may include 2 transmitters and 4 receivers. In another example configuration, the sensor700may include 4 transmitters and 8 receivers. Other examples are possible as well. Further, for example, the receiver706may include the mixer708.

The local oscillator702may include any oscillator (e.g., coherent oscillator, etc.) that is configured to output a continuous wave. The wave may be utilized by the transmitter704(e.g., transmitter antenna) to radiate electromagnetic (EM) radiation towards an environment of the sensor700. By way of example, the local oscillator702may be configured to sweep a particular bandwidth (e.g., 76 Ghz-77 Ghz) at a periodic rate to provide the continuous wave to the transmitter704.

The EM radiation may reflect off one or more objects in the environment, and the reflected EM radiation may be received by the receiver706in accordance with the methods400-500. In some examples, the transmitter704and the receiver706may include any antenna such as a dipole antenna, a waveguide antenna, a waveguide array antenna, or any other type of antenna.

The signal from the receiver706may be received by the mixer708along with a signal from the local oscillator702. The mixer708may include any electronic mixer device such as an unbalanced crystal mixer, a point-contact crystal diode, a schottky-barrier diode or any other mixer. The mixer708may be configured to provide an output that includes a mixture of the frequencies in the input signals such as a sum of the frequencies or a difference of the frequencies.

The signal from the mixer708may be received by the IF filter710that is configured to filter a desired intermediate frequency out of the mixture frequencies from the mixer708. In some examples the IF filter710may include one or more bandpass filters. The IF filter710may have a particular bandwidth associated with a resolution of the sensor700. The ADC712may then receive the signal from the IF filter710and provide a digital representation of the IF filter710output to the DSP714sensor.

The DSP714may include any digital signal processing device or algorithm to process the data from the ADC712for determination of range, angle, or velocity of the one or more objects in the environment of the sensor700. The DSP714, for example, may include one or more processors. In one example, the DSP714may be configured to determine a Binary Phase-Shift keying (BPSK) scheme of the signal received by the receiver706. In this example, the DSP714may identify the source of the received EM radiation. For example, the BPSK scheme of the transmitted EM radiation by the transmitter704may be compared with the BPSK scheme of the EM radiation received by the receiver706.

FIG.8illustrates a modulation pattern800of electromagnetic (EM) radiation from a sensor, according to an example embodiment. The modulation pattern800may correspond to the continuous wave provided by a local oscillator in the sensor similar to the local oscillator702of the sensor700.FIG.8shows the modulation pattern800along a frequency axis802(vertical axis) and a time axis804(horizontal axis).

Thus, for example, the EM radiation may have a continuously changing frequency between a minimum frequency806and a maximum frequency808. The minimum frequency806and the maximum frequency808could, for example, span a frequency range of 76 GHz to 77 GHz, part of this frequency range, or some other frequency range. In the example shown inFIG.8, the modulation pattern800corresponds to a triangular pattern. However, in other examples, the shape of the modulation pattern800may correspond to any other shape such as a sawtooth pattern, a square wave pattern, a sine wave pattern, or any other shape.

In an example operation of a sensor, such as the sensor700, the EM radiation having the modulation pattern800may be transmitted by a transmitter (e.g., the transmitter704) and a reflection of the modulation pattern800may be received by a receiver (e.g., the receiver706). By comparing the modulation pattern800of the transmitted wave with a modulation pattern of the reflected wave distances and velocities of objects in the environment of the sensor may be determined. For example, the time offset between the transmitted wave and the received wave may be utilized to determine the distance (e.g., range) to the object. Further, for example, a change in the slope of the modulated pattern800may be utilized to determine the velocity of the object (e.g., Doppler velocity, etc.) relative to the sensor.

FIGS.9A-9Eillustrate example scenarios900a-900efor adjusting a modulation pattern of EM radiation from a sensor to reduce interference with other sensors, in accordance with at least some embodiments herein. The scenarios900a-900epresent modulated patterns along a frequency axis902and a time axis904that are similar, respectively, to the frequency axis802and the time axis804ofFIG.8. InFIGS.9A-9E, modulated patterns910a-910emay correspond to modulated patterns of EM radiation from a first sensor in a first vehicle, and modulated patterns912a-912emay correspond to modulated patterns of EM radiation from a second sensor in a second vehicle. The scenarios900a-900epresent various adjustments of the corresponding modulation patterns to reduce interference in accordance with the present disclosure.

In scenario900aofFIG.9A, the modulated pattern912aof the second sensor may be offset by a time offset924to distinguish the modulated pattern910afrom the modulated pattern912a. For example, the time offset924may cause a frequency offset from frequency920ato frequency922abetween the two waveforms910aand912a. Accordingly, a filter such as the IF filter710of the sensor700may be able to distinguish radiation of the corresponding waveform. For example, the frequency offset (920a-922a) may be selected to be greater than a bandwidth of the IF filter of the first sensor associated with waveform910aand/or the IF filter of the second sensor associated with waveform912a.

In scenario900bofFIG.9B, waveforms910band912bmay be alternatively distinguished by applying a frequency offset between the frequencies920band922b. Similarly to scenario900a, for example, such frequency offset may allow a sensor such as the sensor700to distinguish between the two waveforms (e.g., based on the IF filter bandwidth).

In scenario900cofFIG.9C, the modulation pattern910cand/or912cmay alternatively be adjusted to have a different shape. For example,FIG.9Cshows the modulated pattern910c(e.g., of the first sensor) to have a different slope than the modulated pattern912c(e.g., of the second sensor). Alternatively, in some examples, other changes to the modulated patterns910cand912cmay be applied. For example, a different shape may be utilized by one of the two sensors (e.g., triangular, sawtooth, sine wave, etc.).

In scenario900dofFIG.9D, a frequency bandwidth of the modulation patterns910dand912dmay be adjusted. For example, the first sensor may be adjusted to output the modulated pattern910dhaving a minimum frequency of 76 GHz and a maximum frequency of 76.45 GHz, and the second sensor may be adjusted to output the modulated pattern912dhaving a minimum frequency of 76.5 GHz and a maximum frequency of 77 GHz. Thus, for example, a filter such as the IF filter710may be configured to filter the signals for frequencies in the corresponding bandwidth.

In scenario900eofFIG.9E, the first sensor and the second sensor may be configured to intermittently stop providing EM radiation. For example, the EM radiation of the first sensor (e.g., the modulation pattern910e) may be stopped by the first vehicle and the modulation pattern912eof the second sensor may be started after a time offset illustrated inFIG.9Eas the time offset between times920eand922e. Accordingly, the receivers of the first sensor and the second sensor may avoid receiving signals from transmitters of one another.

Scenarios900a-900eofFIGS.9A-9Eare illustrated for exemplary purposes only. Other scenarios are possible for adjusting the modulation pattern of a sensor to reduce the interference in accordance with methods400-500of the present disclosure.

FIG.10depicts an example computer readable medium configured according to an example embodiment. In example embodiments, an example system may include one or more processors, one or more forms of memory, one or more input devices/interfaces, one or more output devices/interfaces, and machine readable instructions that when executed by the one or more processors cause the system to carry out the various functions tasks, capabilities, etc., described above.

As noted above, in some embodiments, the disclosed techniques (e.g., methods400,500, etc.) may be implemented by computer program instructions encoded on a computer readable storage media in a machine-readable format, or on other media or articles of manufacture (e.g., instructions216of the vehicle200, instructions312of the computing device304, etc.).FIG.10is a schematic illustrating a conceptual partial view of an example computer program product that includes a computer program for executing a computer process on a computing device, arranged according to at least some embodiments disclosed herein.

In one embodiment, the example computer program product1000is provided using a signal bearing medium1002. The signal bearing medium1002may include one or more programming instructions1004that, when executed by one or more processors may provide functionality or portions of the functionality described above with respect toFIGS.1-9. In some examples, the signal bearing medium1002may be a computer-readable medium1006, such as, but not limited to, a hard disk drive, a Compact Disc (CD), a Digital Video Disk (DVD), a digital tape, memory, etc. In some implementations, the signal bearing medium1002may be a computer recordable medium1008, such as, but not limited to, memory, read/write (R/W) CDs, R/W DVDs, etc. In some implementations, the signal bearing medium1002may be a communication medium1010(e.g., a fiber optic cable, a waveguide, a wired communications link, etc.). Thus, for example, the signal bearing medium1002may be conveyed by a wireless form of the communications medium1010.

The one or more programming instructions1004may be, for example, computer executable and/or logic implemented instructions. In some examples, a computing device may be configured to provide various operations, functions, or actions in response to the programming instructions1004conveyed to the computing device by one or more of the computer readable medium1006, the computer recordable medium1008, and/or the communications medium1010.

The computer readable medium1006may also be distributed among multiple data storage elements, which could be remotely located from each other. The computing device that executes some or all of the stored instructions could be an external computer, or a mobile computing platform, such as a smartphone, tablet device, personal computer, wearable device, etc. Alternatively, the computing device that executes some or all of the stored instructions could be remotely located computer system, such as a server, or a distributed cloud computing network.

It should be understood that arrangements described herein are for purposes of example only. As such, those skilled in the art will appreciate that other arrangements and other elements (e.g. machines, interfaces, functions, orders, and groupings of functions, etc.) can be used instead, and some elements may be omitted altogether according to the desired results. Further, many of the elements that are described are functional entities that may be implemented as discrete or distributed components or in conjunction with other components, in any suitable combination and location, or other structural elements described as independent structures may be combined.

While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope being indicated by the following claims, along with the full scope of equivalents to which such claims are entitled. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.