# US 12,000,951 B2 · Robust radar-centric perception system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,000,951 B2 - Document ID: US12000951B2 - Status: Granted - Kind: B2 - Application number: 17/256,544 - Filed: 2019-06-28 - Published: 2021-04-29 - Granted: 2024-06-04 - Earliest claimed: 2018-06-28 - Assignees: Plato Systems, Inc. - Applicants: Plato Systems, Inc. - Inventors: Mohammad Amin Arbabian; Upamanyu Madhow; Babak Mamandipoor - Web page: https://patentgrep.com/patent/US12000951B2 ## CPC - G01S 7/295: Means for transforming co-ordinates or for evaluating data, e.g. using computers - G01S 13/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46) - G01S 13/86: Combinations of radar systems with non-radar systems, e.g. sonar, direction finder - G01S 13/867: {Combination of radar systems with cameras} - 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 13/582: {adapted for simultaneous range and velocity measurements} - G01S 13/931: of land vehicles - G01S 2013/93271: {in the front of the vehicles} - G01S 2013/93275: {in the bumper area} - G01S 2013/93276: {in the windshield area} - 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 A radar data acquisition circuit comprising: a radar receiver to receive radar data representing a radar scene in response to a sequence of extended sampling waveform frames that includes multiple sampling waveform subframes; and a first processor; configured with stored program instructions to generate one or more replacement sampling waveform subframes to include in an extended sampling waveform frame of the sequence based at least in part upon one or more radar parameters of radar data received using the sequence of extended sampling waveform frames. ## Claims ### Claim 1 A radar data acquisition circuit comprising: a radar receiver to receive radar data representing a radar scene in response to an adaptive sequence of extended sampling waveform frames that includes two or more extended sampling waveform subframes that include a baseline search type sampling waveform subframe and an adaptive type sampling waveform subframe; a first processor; a first non-transitory computer readable medium, the first non-transitory computer readable medium operably coupled to the first processor, that stores instructions, which when executed using the first processor, cause the first processor to perform operations comprising: producing one or more radar data parameters of the received radar data; generating one or more replacement adaptive type sampling waveform subframes to include in at least one of the two or more of the extended sampling waveform frames of the sequence, based at least in part upon the one or more radar parameters. ### Claim 2 (depends on 1) The radar data acquisition circuit of claim 1, wherein generating the one or more replacement adaptive type sampling waveform subframes to include in at least one of the two or more extended sampling waveform frames of the sequence includes generating based at least in part upon one or more radar parameters of radar data sampled using the baseline search type sampling waveform subframe within a current extended sampling waveform frame of the sequence of extended sampling waveform frames. ### Claim 3 (depends on 1) The radar data acquisition circuit of claim 1, wherein generating the one or more replacement adaptive type sampling waveform subframes to include in at least one of the two or more extended sampling waveform frames of the sequence includes generating based at least in part upon one or more radar parameters of radar data sampled using multiple sampling waveform subframes of a current extended sampling waveform frame of the sequence of extended sampling waveform frames. ### Claim 4 (depends on 1) The radar data acquisition circuit of claim 1, wherein generating one or more replacement adaptive type sampling waveform subframes to include in at least one of the two or more extended sampling waveform frames of the sequence includes generating based at least in part upon one or more radar parameters of radar data sampled using an entire current frame of the sequence of extended sampling waveform frames. ### Claim 5 (depends on 1) The radar data acquisition circuit of claim 1, wherein generating one or more replacement adaptive type sampling waveform subframes to include in at least one of the two or more extended sampling waveform frame frames of the sequence includes generating based at least in part upon one or more radar parameters of radar data sampled using one or more sampling waveform subframes of a previous frame of the sequence of extended sampling waveform frames. ### Claim 6 (depends on 1) The radar data acquisition circuit of claim 1, wherein at least one replacement adaptive type sampling waveform subframe includes a sampling waveform with a higher range resolution than the baseline search type sampling waveform subframe. ### Claim 7 (depends on 1) The radar data acquisition circuit of claim 1, wherein at least one replacement adaptive type sampling waveform subframe includes a sampling waveform with a higher Doppler resolution than the baseline search type sampling waveform subframe. ### Claim 8 (depends on 1) The radar data acquisition circuit of claim 1, wherein at least one replacement adaptive type sampling waveform subframe includes a beamforming sampling waveform. ### Claim 9 (depends on 1) The radar data acquisition circuit of claim 1, wherein respective extend frames of the sequence of subframes have a time length in a range 100 microseconds to 50 milliseconds. ### Claim 10 (depends on 1) The radar data acquisition circuit of claim 1, wherein respective extend frames of the sequence of subframes have a time length in a range 100 microseconds to 100 milliseconds. ### Claim 11 (depends on 1) The radar data acquisition circuit of claim 1, further comprising: a vision sensor that is positioned to capture an image within a vision sensor field of view that overlaps the radar scene and that produces vision sensor-based information indicative of the captured image; wherein generating one or more replacement adaptive type sampling waveform subframes to include in an extended sampling waveform frame of the sequence includes generating based at least in part upon the vision-based information. ### Claim 12 (depends on 11) The radar data acquisition circuit of claim 11, wherein the instructions further include: selecting a region of interest within the radar scene, based at least in part upon the one or more radar parameters and the vision-based information. ### Claim 13 (depends on 1) The radar data acquisition circuit of claim 1, further comprising: a location sensor that determines a location of the radar receiver and that produces location sensor-based information indicative of radar receiver location; wherein generating one or more replacement sampling adaptive type waveform subframes to include in an extended waveform sampling waveform frame of the sequence includes generating, based at least in part upon the location sensor-based information. ### Claim 14 (depends on 13) The radar data acquisition circuit of claim 13, wherein the instructions when executed using the first processor, cause the first processor to perform operations comprising: selecting a region of interest within the radar scene, based at least in part upon the one or more radar parameters and the location sensor-based information. ### Claim 15 A coordinated radar system comprising: multiple radar sensor units; a radar data fusion circuit including a first computing machine that includes a first processor; a communication network to communicate information between the first computing machine and the multiple respective radar sensor units; wherein each respective radar sensor unit includes, a respective radar receiver coupled to receive respective radar data representing a respective radar scene within a respective local radar aperture associated with the respective sensor unit, in response to an adaptive sequence of extended sampling waveform frames, wherein at least one of the extended sampling waveform frames includes a baseline search type sampling waveform subframe and an adaptive type sampling waveform subframe; a respective local computing machine including a respective local processor; and a respective local non-transitory computer readable medium operably coupled to the respective local computing machine, that stores instructions, which when executed using the respective local computing machine, cause the respective local computing machine to perform local operations comprising: producing respective local radar data parameter information of the respective received radar data; receiving respective radar-based feedback information, corresponding to the respective radar sensor unit, over the communication network, from the fusion circuit; generating a respective replacement adaptive type sampling waveform subframe to include in the at least one of the extended sampling waveform frames, based upon the respective received radar-based feedback information or based upon the respective local radar data parameter information, or based at least in part upon a combination of the respective received radar-based feedback information or the respective local radar data parameter information; selecting one or more respective subsets of the radar data based upon the respective received radar-based feedback information or based upon the respective local radar data parameter information, or based at least in part upon a combination of the respective received radar-based feedback information and the respective local radar data parameter information; and sending the respective one or more selected subsets of the radar data subsets over the communication network to the radar data fusion circuit; the radar system further including: a second non-transitory computer readable medium, operably coupled to the first computing machine, that stores instructions, which when executed using the first computing machine, cause the first computing machine to perform centralized operations comprising: receiving respective one or more selected subsets of the radar data over the communication network from the multiple respective sensor units; fusing the respective one or more selected subsets of the radar data received over the network from the multiple respective sensor units, to produce a fused radar aperture; producing respective radar-based feedback information, corresponding respective radar sensor units, based at least in part upon radar data within the fused radar aperture; and sending the respective radar-based feedback information over the communication network to the respective corresponding respective radar sensor units. ### Claim 16 (depends on 15) The coordinated radar sensor of claim 15, wherein for one or more of the multiple respective radar sensor units, at least one of the respective received radar-based feedback information includes one or more of a target tracked by a different respective radar sensor unit or a region of interest identified by a different respective radar sensor unit, or a combination thereof. ### Claim 17 (depends on 15) The coordinated radar sensor of claim 15, wherein for one or more of the multiple respective radar sensor units, the local radar data parameter information includes one or more of range information, Doppler information, angle information, or a combination thereof. ### Claim 18 (depends on 15) The coordinated radar sensor of claim 15, further including: a vision sensor that is positioned to capture an image within a vision sensor field of view that overlaps respective radar scenes of one or more respective radar receivers and that produces vision sensor-based information indicative of the captured image; wherein the instructions when executed using the first processor, cause the first processor to perform operations comprising: for the one or more respective radar receivers having a respective radar scene that overlaps with the vision sensor filed of view, generating a respective replacement adaptive type sampling waveforms based upon respective received radar-based feedback information, based upon respective local radar data parameter information, based upon vision sensor-based information or based upon at least in part upon a combination of two or more of the respective received radar-based feedback information, the respective local radar data parameter information or the vision sensor-based information. ### Claim 19 (depends on 15) The coordinated radar sensor of claim 15, a location sensor that to determine respective location information for one or more respective radar receivers; wherein the instructions when executed using the first processor, cause the first processor to perform operations comprising: for one or more respective radar receivers for which respective location information is determined, generating a respective replacement adaptive type sampling waveform based upon respective received radar-based feedback information, based upon respective location information, and based or based at least in part upon a combination of two or more of respective received radar-based feedback information, respective local radar data parameter information or respective location information. ### Claim 20 (depends on 15) The coordinated radar sensor of claim 15, wherein the local operations further include: sending respective alert information, over the communication network, to the radar data fusion circuit based upon detecting a potential event within the respective local radar aperture. ### Claim 21 (depends on 15) The coordinated radar system of claim 15, wherein the local operations further include: sending respective alert information, over the communication network, to the radar data fusion circuit based upon detecting a potential event within the respective local radar aperture; and wherein the centralized operations further include: sending respective alert information to a control system, based upon receiving respective alert information from one or more of the multiple respective radar sensor units. ### Claim 22 (depends on 21) The coordinated radar system of claim 21, wherein the communication network includes a low latency path; and wherein sending the respective alert information, over the communication network, to the radar data fusion circuit includes sending the alert information over the low latency path. ### Claim 23 (depends on 20) The coordinated radar system of claim 20, wherein detecting the potential event includes detecting a potential collision. ### Claim 24 A method to acquire radar data comprising: receiving radar data at a radar receiver representing a radar scene, in response to an adaptive sequence of extended sampling waveform frames that includes two or more extended sampling waveform subframes that each includes a baseline search type sampling waveform subframe and an adaptive type sampling waveform subframe; and producing one or more radar data parameters of the received radar data; generating one or more replacement adaptive type sampling waveform subframes to include in at least one of the two or more extended sampling waveform frames of the sequence, based at least in part upon the one or more radar parameters of received radar data. ### Claim 25 (depends on 24) The method of claim 24, wherein generating includes generating based upon one or more radar parameters of radar data received using a search frame within a subframe of a current extended sampling waveform frame of the sequence of extended sampling waveform frames. ### Claim 26 (depends on 24) The method of claim 24, wherein generating includes generating based upon one or more radar parameters of radar data received using multiple subframes of a current extended sampling waveform frame of the sequence of extended sampling waveform frames. ### Claim 27 (depends on 24) The method of claim 24, wherein generating includes generating based upon one or more radar parameters of radar data received using an entire current frame of the sequence of extended sampling waveform frames. ### Claim 28 (depends on 24) The method of claim 24, wherein generating includes generating based upon one or more radar parameters of radar data received using one or more subframes of a previous frame of the sequence of extended sampling waveform frames. ### Claim 29 (depends on 24) The method of claim 24, wherein at least one replacement adaptive type sampling waveform frame includes a sampling waveform with a higher range resolution than the search sampling waveform subframe. ### Claim 30 (depends on 24) The method of claim 24, wherein at least one replacement adaptive type sampling waveform frame includes a sampling waveform with a higher Doppler resolution than the search sampling waveform subframe. ### Claim 31 (depends on 24) The radar data acquisition circuit of claim 24, wherein at least one replacement adaptive type sampling waveform frame includes a sampling waveform having a beamforming sampling waveform subframe. ### Claim 32 (depends on 24) The method of claim 24, wherein respective extend frames of the sequence of subframes have a time length in a range 100 microseconds to 50 milliseconds. ### Claim 33 (depends on 24) The method of claim 24, wherein respective extend frames of the sequence of subframes have a time length in a range 100 microseconds to 100 milliseconds.