Frequency modulated continuous wave radar system with interference mitigation

An apparatus, comprising:

• one or more processors;
• and
• one or more non-transitory computer-readable media storing machine instructions which, when executed by the one or more processors, cause the one or more processors to:
• determine at least one of a chirp period Tc for radar chirps in a radar frame and a chirp slope S for radar chirps in the radar frame;
• in response to determining the chirp period Tc:
• determine a maximum chirp dither Δc(max);
• determine, for a radar frame N, a random chirp dither Δc(N) between negative Δc(max) and positive Δc(max);
• in response to determining the chirp slope S:
• determine a maximum slope dither Ψ(max);
• and
• determine, for the radar frame N, a random slope dither Ψ(N) between negative Ψ(max) and positive Ψ(max);
• and
• cause a radar sensor circuit to generate radar chirps in the radar frame N based on the at least one of (1) the chirp period Tc and the random chirp dither Δc(N), and (2) the chirp slope S and the random slope dither Ψ(N).

A method for dithering radar frames, comprising:

• determining at least one of a chirp period Tc for radar chirps in a radar frame and a chirp slope S for radar chirps in the radar frame;
• in response to determining the chirp period Tc:
• determining a maximum chirp dither Δc(max);
• determining, for a radar frame N, a random chirp dither Δc(N) between negative Δc(max) and positive Δc(max);
• in response to determining the chirp slope S:
• determining a maximum slope dither Ψ(max);
• and
• determining, for the radar frame N, a random slope dither Ψ(N) between negative Ψ(max) and positive Ψ(max);
• and
• causing a radar sensor circuit to generate radar chirps in the radar frame N based on the at least one of (1) the chirp period Tc and the random chirp dither Δc(N) and (2) the chirp slope S and the random slope dither Ψ(N).