Methods and systems for classifying received signals from radar system

A method for classifying received signals from a radar system into noise or a detection, comprising:

• providing a memory that stores an integral image data structure for computing an integral image having a plurality of cells;
• receiving, by a processor, a radar energy map that contains the received signals from a source;
• generating, by the processor, an initial image having a plurality of initial cells that each contain an energy value and a coordinate location based on the radar energy map;
• computing, by the processor, the integral image based on the initial image, with each cell of the plurality of cells of the integral image containing a value computed based on the energy values of associated cells of the plurality of initial cells of the initial image, and storing the computed integral image in the integral image data structure;
• determining, by the processor, based on the initial image, a coordinate location of an initial cell of the plurality of initial cells that has the energy value that is greater than a threshold;
• determining, by the processor, coordinate locations of indices associated with corners of a neighborhood surrounding the initial cell based on the coordinate location of the initial cell and a neighborhood threshold for the number of initial cells associated with the neighborhood;
• determining, by the processor, an energy sum of the neighborhood based on the coordinate locations of the indices and the value of the respective cells of the plurality of cells from the integral image associated with the coordinate locations of the indices;
• determining, by the processor, an estimated noise associated with the initial cell based on the energy sum;
• and
• determining, by the processor, based on the estimated noise and the energy value of the initial cell from the initial image, whether the initial cell indicates the detection of an object.

A vehicle, comprising:

• a source of a radar energy map;
• a memory that stores an integral image data structure for computing an integral image having a plurality of cells;
• a processor in communication with the source and the memory, the processor programmed to:
• generate an initial image including a plurality of initial cells each having an energy value and a coordinate location based on the radar energy map;
• compute the integral image based on the initial image, with each cell of the plurality of cells of the integral image containing a value computed based on the energy values of associated cells of the plurality of initial cells of the initial image, and store the computed integral image in the integral image data structure;
• determine, based on the initial image, a coordinate location of an initial cell of the plurality of initial cells that has the energy value that is greater than a threshold;
• determine coordinate locations of indices associated with corners of a neighborhood surrounding the initial cell based on the coordinate location of the initial cell and a neighborhood threshold for the number of initial cells associated with the neighborhood;
• determine an energy sum of the neighborhood based on the coordinate locations of the indices and the value of respective cells of the plurality of cells from the integral image associated with the coordinate locations of the indices;
• determine coordinate locations of guard indices associated with corners of a guard surrounding the initial cell based on the coordinate location of the initial cell and a guard threshold for the number of initial cells associated with the guard;
• determine a guard energy sum of the guard based on the coordinate locations of the guard indices and the value of respective cells of the plurality of cells from the integral image associated with the coordinate locations of the guard indices;
• determine an estimated noise associated with the initial cell based on the energy sum and the guard energy sum;
• and
• determine, based on the estimated noise and the energy value of the initial cell from the initial image, whether the initial cell indicates the detection of an object.