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An obstacle monitoring system includes a first transducer that obtains a first distance measurement to an obstacle using a first linear frequency modulated (“LFM”) chirp. The system further includes a second transducer, able to operate concurrently with the first transducer, that obtains a second distance measurement to the obstacle using a second LFM chirp. The second LFM chirp has an inverted slope or shifted center frequency compared to the first LFM chirp. The system further includes a controller that processes the first and second distance measurements to determine a motion-compensated distance measurement to the obstacle.

Titel:	Obstacle monitoring using motion-compensated distance
Autor/in / Beteiligte Person:	SEMICONDUCTOR COMPONENTS INDUSTRIES, LLC
Link:	View record in USPTO Patent Grants (Volltext)
Veröffentlichung:	2019
Medientyp:	Patent
Sonstiges:	Nachgewiesen in: USPTO Patent Grants Sprachen: English Patent Number: 10444,350 Publication Date: October 15, 2019 Appl. No: 15/640812 Application Filed: July 03, 2017 Assignees: SEMICONDUCTOR COMPONENTS INDUSTRIES, LLC (Phoenix, AZ, US) Claim: 1. An obstacle monitoring system comprising: a first transducer that obtains a first distance measurement to an obstacle using a first linear frequency modulated (“LFM”) chirp; a second transducer that operates concurrently with the first transducer, the second transducer obtaining a second distance measurement to the obstacle using a second LFM chirp, the second LFM chirp having an inverted slope or shifted center frequency compared to the first LFM chirp; and a controller that processes the first and second distance measurements to determine a motion-compensated distance measurement to the obstacle. Claim: 2. The system of claim 1 , wherein the controller differences the first and second distance measurements to measure a motion of the obstacle. Claim: 3. The system of claim 2 , wherein the motion of the obstacle comprises approaching or receding relative to the first and second transducer. Claim: 4. The system of claim 2 , wherein the motion of obstacle comprises a relative speed of the obstacle compared to the first or second transducer. Claim: 5. The system of claim 4 , wherein the controller compensates the first or second distance measurement based on the relative speed. Claim: 6. The system of claim 1 , wherein the controller adjusts subsequent chirps based on minimum detection distance, maximum detection distance, signal-to-noise ratio, channel separation, time-of-flight accuracy, time-of-flight resolution, or transducer bandwidth. Claim: 7. The system of claim 6 , wherein the controller adjusts chirp duration. Claim: 8. The system of claim 6 , wherein the controller adjusts chirp bandwidth. Claim: 9. The system of claim 6 , wherein the controller adjusts chirp center frequency. Claim: 10. The system of claim 1 , wherein the first and second LFM chirps are transmitted on separate channels. Claim: 11. The system of claim 1 , wherein the absolute values of the slopes of the first and second LFM chirps are equal. Claim: 12. An obstacle monitoring method comprising: transmitting a first linear frequency modulated (“LFM”) chirp; determining a first distance measurement to an obstacle based on a response to the first LFM chirp; transmitting a second LFM chirp, the second LFM chirp having an inverted slope or shifted center frequency compared to the first LFM chirp; determining a second distance measurement to the obstacle based on a response to the second LFM chirp; and processing the first and second distance measurements to determine a motion-compensated distance measurement to the obstacle. Claim: 13. The method of claim 12 , further comprising differencing the first and second distance measurements to measure a motion of the obstacle. Claim: 14. The method of claim 13 , wherein the motion of the obstacle comprises approaching or receding relative to a transducer. Claim: 15. The method of claim 13 , wherein the motion of obstacle comprises a relative speed of the obstacle. Claim: 16. The method of claim 15 , further comprising compensating the first or second distance measurement based on the relative speed. Claim: 17. The method of claim 12 , further comprising adjusting subsequent LFM chirps based on minimum detection distance, maximum detection distance, signal-to-noise ratio, channel separation, time-of-flight accuracy, time-of-flight resolution, or transducer bandwidth. Claim: 18. The method of claim 12 , wherein the transmitting the second LFM chirp comprises transmitting the second LFM chirp on a separate channel from the first LFM chirp. Claim: 19. The method of claim 12 , wherein the absolute values of the slopes of the first and second LFM chirps are equal. Claim: 20. A non-transitory computer-readable medium comprising instructions that, when executed, cause one or more processors to: obtain a first distance measurement to an obstacle using a first linear frequency modulated (“LFM”) chirp; obtain a second distance measurement to the obstacle using a second LFM chirp, the second LFM chirp having an inverted slope or shifted center frequency compared to the first LFM chirp; and process the first and second distance measurements to determine a motion-compensated distance measurement to the obstacle. Patent References Cited: 3105967 October 1963 Cook ; 5212489 May 1993 Nelson ; 5298962 March 1994 Nourrcier ; 6750809 June 2004 Cho ; 2016/0154104 June 2016 Schumann et al. ; 2018/0031701 February 2018 Hustava ; 2019/0025415 January 2019 Suchy ; 107656280 February 2018 ; 202017104425 August 2017 ; 1231481 August 2002 ; 20180012222 February 2018 Primary Examiner: Pihulic, Daniel Attorney, Agent or Firm: Ramey & Schwaller, LLP

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Obstacle monitoring using motion-compensated distance