# US 10,768,276 B2 · Decentralised radar system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,768,276 B2 - Document ID: US10768276B2 - Status: Granted - Kind: B2 - Application number: 15/706,999 - Filed: 2017-09-18 - Published: 2018-05-24 - Granted: 2020-09-08 - Earliest claimed: 2016-11-22 - Assignees: NXP B.V. - Applicants: NXP B.V. - Inventors: Feike Guus Jansen - Web page: https://patentgrep.com/patent/US10768276B2 ## CPC - G01S 7/352: {Receivers} - G01S 13/343: {using sawtooth modulation} - G01S 13/345: {using triangular modulation} - G01S 13/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46) - G01S 13/878: {Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S13/874 takes precedence)} - G01S 13/931: of land vehicles - G01S 7/03: Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver - G01S 7/356: {involving particularities of FFT processing} - G01S 2013/93271: {in the front of the vehicles} - G01S 2013/93272: {in the back of the vehicles} - G01S 2013/93274: {on the side of the vehicles} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract There is provided a radar sensor and method. The radar sensor comprises a plurality of transmit and receive antennas, a transceiver, a digital signal processor, a filter and an interface. The transceiver is configured to digitize received radar signals to provide a plurality of digital samples. The digital signal processor is configured to form a measurement matrix by transforming the plurality of digital samples into a distance/relative velocity matrix for each combination of the transmit and receive antennas. The filter is configured to identify samples forming the measurement matrix having a signal to noise ratio higher than a threshold value. The interface is configured to transmit the identified samples and their location in the measurement matrix to a remote host processor configured to further carry out direction of arrival processing on the identified samples. ## Claims ### Claim 1 A radar sensor comprising: a plurality of transmit antennas; a plurality of receive antennas; a transceiver configured to digitize received radar signals to provide a plurality of digital samples; a digital signal processor configured to form a measurement matrix by transforming the plurality of digital samples into two dimensional distance/relative velocity matrices and then concatenating the two dimensional distance/relative velocity matrices for each combination of the plurality of transmit antennas and the plurality of receive antennas, wherein the measurement matrix is a three dimensional matrix, each dimension of the three dimensional matrix respectively corresponding to a distance, a relative velocity, and a transmit/receive antenna combination; a filter configured to identify samples of the plurality of digital samples having a signal to noise ratio higher than a threshold value by filtering the two dimensional distance/relative velocity matrices; and an interface configured to transmit the identified samples and their location in the measurement matrix to a remote host processor configured to further carry out direction of arrival processing on the identified samples. ### Claim 2 (depends on 1) The radar sensor of claim 1, wherein the filter further comprises: a first filter component configured to identify two dimensional indices of the measurement matrix at which samples having the signal to noise ratio higher than the threshold value are located. ### Claim 3 (depends on 2) The radar sensor of claim 2, wherein the digital processor is further configured to generate, for each identified two dimensional index, a vector corresponding to samples located at that identified two dimensional index across the third dimension. ### Claim 4 (depends on 3) The radar sensor of claim 3, wherein the interface is further configured to transmit each vector to the host processor. ### Claim 5 (depends on 3) The radar sensor of claim 3, wherein the first and second dimensions respectively correspond to the distance and the relative velocity and the third dimension corresponds to the transmit/receive antenna combination. ### Claim 6 (depends on 5) The radar sensor of claim 5, wherein the vectors respectively correspond to angular snapshots. ### Claim 7 (depends on 2) The radar sensor of claim 2, wherein the first filter component comprises a threshold function in which a magnitude of the threshold is a multiple of an estimated noise power at indices of a sample being filtered. ### Claim 8 (depends on 1) The radar sensor of claim 1, wherein the plurality of digital samples are complex valued data samples. ### Claim 9 (depends on 2) The radar sensor of claim 2, wherein the filter further comprises: a second filter component configured to carry out fine estimation in at least one of the distance and the relative velocity based upon the measurement matrix filtered by the first filter component. ### Claim 10 (depends on 9) The radar sensor of claim 9, wherein the filter is further configured to carry out object detection and the output of the first filter component may comprise multiple detections corresponding to a same correlation peak of the measurement samples. ### Claim 11 (depends on 10) The radar sensor of claim 10, wherein the second filter component is further configured to identify from the multiple detections, a single detection at the same correlation peak and the interface is further configured to transfer at least the single detection to the host processor. ### Claim 12 (depends on 1) The radar sensor of claim 1, wherein transforming the plurality of digital samples into the two dimensional distance/relative velocity matrices for each combination of the transmit and receive antennas further comprises: carrying out fast Fourier transforms on the plurality of digital samples. ### Claim 13 A method for a radar sensor having a plurality of transmit antennas and a plurality of receive antennas, the method comprising: digitizing by a transceiver, received radar signals to provide a plurality of digital samples; forming by a digital processor, a measurement matrix by transforming the plurality of digital samples into two dimensional distance/relative velocity matrices and then concatenating the two dimensional distance/relative velocity matrices for each combination of the plurality of transmit antennas and the plurality of receive antennas, wherein the measurement matrix is a three dimensional matrix, each dimension of the three dimensional matrix respectively corresponding to a distance, a relative velocity, and a transmit/receive antenna combination; identifying by a filter, samples of the plurality of digital samples having a signal to noise ratio higher than a threshold value by filtering the distance/relative velocity matrices; and transmitting by an interface, the identified samples and their location in the measurement matrix to a remote host processor configured to further carry out direction of arrival processing on the identified samples. ### Claim 14 A system comprising: a radar sensor comprising: a plurality of transmit antennas; a plurality of receive antennas; a transceiver configured to digitize received radar signals to provide a plurality of digital samples; a digital signal processor configured to form a measurement matrix by transforming the plurality of digital samples into two dimensional distance/relative velocity matrices and then concatenating the two dimensional distance/relative velocity matrices for each combination of the plurality of transmit antennas and the plurality of receive antennas, wherein the measurement matrix is a three dimensional matrix, each dimension of the three dimensional matrix respectively corresponding to a distance, a relative velocity, and a transmit/receive antenna combination; a filter configured to identify samples of the plurality of digital samples having a signal to noise ratio higher than a threshold value by filtering the two dimensional distance/relative velocity matrices; and an interface configured to transmit the identified samples and their location in the measurement matrix to a remote host processor configured to further carry out direction of arrival processing on the identified samples; the system further comprising: a host processor configured to receive the identified samples and their location in the measurement matrix.