This document describes techniques for using occlusion constraints for resolving tracks from multiple types of sensors. In aspects, an occlusion constraint is applied to an association between a radar track and vision track to indicate a probability of occlusion. In other aspects, described are techniques for a vehicle to refrain from evaluating occluded radar tracks and vision tracks collected by a perception system. The probability of occlusion is utilized for deemphasizing pairs of radar tracks and vision tracks with a high likelihood of occlusion and therefore, not useful for tracking. The disclosed techniques may provide improved perception data more closely representing multiple complex data sets for a vehicle for preventing a collision with an occluded object as the vehicle operates in an environment.

A traffic radar system comprises a first radar transceiver, a second radar transceiver, a speed determining element, and a processing element. The first radar transceiver transmits and receives radar beams and generates a first electronic signal corresponding to the received radar beam. The second radar transceiver transmits and receives radar beams and generates a second electronic signal corresponding to the received radar beam. The speed determining element determines and outputs a speed of the patrol vehicle. The processing element is configured to receive a plurality of digital data samples derived from the first or second electronic signals, receive the speed of the patrol vehicle, process the digital data samples to determine a relative speed of at least one target vehicle in the front zone or the rear zone, and convert the relative speed of the target vehicle to an absolute speed using the speed of the patrol vehicle.

A vehicle generates a city-scale map. The vehicle includes one or more Lidar sensors configured to obtain point clouds at different positions, orientations, and times, one or more processors, and a memory storing instructions that, when executed by the one or more processors, cause the system to perform registering, in pairs, a subset of the point clouds based on respective surface normals of each of the point clouds; determining loop closures based on the registered subset of point clouds; determining a position and an orientation of each of the subset of the point clouds based on constraints associated with the determined loop closures; and generating a map based on the determined position and the orientation of each of the subset of the point clouds.

A sensor apparatus includes a sensor having a field of view, a sensor window through which the field of view extends; an air nozzle positioned to direct airflow across the sensor window; a surface fixed relative to the sensor window, the surface including a plurality of heat-dissipation fins; and a cover extending over the fins and including an inlet. The inlet is positioned at an opposite edge of the sensor window from the air nozzle. The air nozzle is aimed at the inlet.

A radar apparatus includes an antenna device including a first transmitting antenna, a second transmitting antenna, and a receiving antenna, a transceiver configured to transmit a transmission signal through one of the first transmitting antenna and the second transmitting antenna and receive a reflection signal reflected on an object through the receiving antenna, and a controller configured to process the reflection signal received through the receiving antenna to obtain information on the object, wherein the controller controls the transceiver to receive the reflection signal through the second transmitting antenna and the receiving antenna when the transmission signal is transmitted through the first transmitting antenna.

A device for emitting and receiving electromagnetic radiation, in which different antennas are used for the emitting and receiving, a first antenna or first group being used for the transmission in a first polarization form, a second antenna or second group being used for the transmission in a second polarization form, and a third antenna or third group being used for receiving the reflected electromagnetic radiation that was emitted by the first antenna or first group and by the second antenna or second group. The device may be fixed in place on a motor vehicle and used for object detection within the framework of a distance and speed control or a collision avoidance, and the polarimetric information obtained from the different receiving levels during the propagation of the two differently polarized electromagnetic waves via different propagation paths is able to be used for ascertaining a weather-related road condition.

A method for operating a radar system (210) in a vehicle (201), the method including establishing a wireless communication link (245) to a radio base station (250) in a wireless communication network (260), requesting a time-frequency resource (420, 430) for communicating with a network node (270) via the radio base station (250), receiving a transmission grant from the radio base station (250) for communicating with the network node (270) using the time-frequency resource (420, 430), transmitting a communications signal (245) in the time-frequency resource, and transmitting a radar signal (235) in the time-frequency resource.

A method for determining angle information about a direction of a target object in a radar system for a vehicle, wherein the following steps are performed: providing a first item of sensing information for a first modulation mode of the radar system, providing at least one second item of sensing information for at least a second modulation mode of the radar system, and combining the sensing information for the different modulation modes in order to perform the determination of the angle information on the basis of the combined sensing information.

Disclosed are aspects of a radar system for a vehicle that includes a radar circuit for generating and processing radar signals, wherein the radar circuit includes a ground plane connector for an electrical connection with an antenna ground plane. The radar system also includes a radar antenna assembly for transmitting radar signals into a traffic space and for receiving radar signals reflected by objects present in the traffic space. The radar system further includes a component of the vehicle. The ground plane connector is electrically connected to the component of the vehicle.

In this object recognition device, an association between a first object detection result and a second object detection result is taken in a region excluding an occlusion area. When the first object detection result and the second object detection result are determined to be detection results for an identical object, a recognition result of the surrounding object is calculated from the first object detection result and the second object detection result. Thus, occurrences of erroneous recognition of an object can be decreased as compared to a conventional object recognition device of a vehicle.