Method of estimating a velocity magnitude of a moving target in a horizontal plane and radar detection system
AssigneeAptiv Technologies AG
InventorsMateusz Stachnik, Dariusz Cieslar
Life of this patent
Estimating the term…
Abstract
The present invention relates to a method of estimating a velocity magnitude of a moving target in a horizontal plane using radar signals received by a radar detection system, the radar detection system being configured to resolve multiple dominant points of reflection, i.e. to receive a plurality of radar signals from the moving target in a single measurement instance of a single, wherein each of the resolved points of reflection is described by data relating to a range, an azimuth angle and a raw range rate of the points of reflection in said single radar measurement instance. The invention further relates to a radar detection system.
Claims21
A method of estimating a velocity magnitude of a moving target in a horizontal plane using one or more radar signals received by a radar detection system implemented, at least in part, by a computing device, the method comprising:
- emitting, using an emitter of the radar detection system, a radar signal;
- receiving, using the radar detection system, a reflected version of the radar signal as a plurality of received radar signals based on the radar signal reflecting off the moving target;
- detecting, by the radar detection system and in a single measurement instance, multiple points of reflection on the moving target using the plurality of received radar signals;
- determining, by the radar detection system, multiple resolved points of reflection by resolving, in the single measurement instance, the multiple points of reflection from the moving target, each resolved point of reflection of the multiple resolved points of reflection being described by data including:
- a range, an azimuth angle, and a raw range rate;
- and
- responsive to determining that a heading angle for each of the resolved points of reflection equates to an orientation angle of said moving target, calculating, by the radar detection system and in the single measurement instance, the velocity magnitude of said moving target in the horizontal plane as a weighted mean of multiple estimates calculated using the raw range rate and azimuth angle from at least some of the multiple resolved points of reflection and heading angle.
A radar detection system comprising:
- an emitter that is configured to send out a radar signal;
- a plurality of detection channels that are respectively configured to detect radar signals reflected in a field of view of the radar detection system in a single measurement instance;
- and
- an evaluation unit implemented, at least in part, with a computing device, the evaluation unit of the radar detection system, the plurality of detection channels, and the emitter configured to work in concert to enable the radar detection system to:
- emit, using an emitter of the radar detection system, a radar signal;
- receive, using the plurality of detection channels, a reflected version of the radar signal as a plurality of received radar signals based on the radar signal reflecting off the moving target;
- detect, with the evaluation unit and in a single measurement instance, multiple points of reflection on the moving target using the plurality of received radar signals;
- determine, using the evaluation unit, multiple resolved points of reflection from a moving target in a single measurement instance, each resolved point of reflection of the multiple points of reflection being described by data including:
- a range, an azimuth angle and a raw range rate in said single radar measurement instance;
- responsive to determining a heading angle for each of the resolved points of reflection equates to an orientation angle of said moving target, calculate, using the evaluation unit and in the single measurement instance, the velocity magnitude of said moving target in the horizontal plane as a weighted mean of multiple estimates calculated using the raw range rate and azimuth angle from at least some of the multiple resolved points of reflection and heading angle.
Dependencies are inferred from the claim text.