# US 12,111,413 B2 · Multi-channel joint interference mitigation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,111,413 B2 - Document ID: US12111413B2 - Status: Granted - Kind: B2 - Application number: 17/652,634 - Filed: 2022-02-25 - Published: 2023-06-08 - Granted: 2024-10-08 - Earliest claimed: 2021-12-06 - Assignees: Aptiv Technologies AG - Applicants: Aptiv Technologies AG - Inventors: Yujie Gu; Zhengzheng Li - Web page: https://patentgrep.com/patent/US12111413B2 ## CPC - G01S 7/023: {Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques (auxiliary means for detecting or identifying radar signals or the like G01S7/021; means for anti-jamming G01S7/36)} - G01S 7/0236: {Avoidance by space multiplex} - G01S 13/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46) - G01S 13/931: of land 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 This document describes techniques, apparatuses, and systems for multi-channel joint interference mitigation. Radar radiation received by a radar system may include interference from other nearby radar systems. The interference can result in reduced sensitivity of the radar system. The techniques, apparatuses, and systems described herein mitigate the interference by identifying a set of samples of the radar radiation with interference. The interference can be estimated and mitigated by comparing this set (e.g., with interference) to a set of samples without interference and suppressing the interference without suppressing the detected signal. Further, the interference can be analyzed to determine if the interference contains detection information of one or more objects (e.g., other vehicles with radar systems causing interference). In this manner, interference mitigation may be obtained without losing information included in the set of samples including interference. ## Claims ### Claim 1 A method of performing multi-channel joint interference mitigation, the method comprising: determining, by a processor of a radar system, that multi-channel joint interference is present in a radar radiation received by a plurality of receive channels of the radar system; prior to generating radar data based on the radar radiation, mitigating the multi-channel joint interference in the radar radiation by: identifying, from first receive channels of the plurality of receive channels, a first set of samples of the radar radiation without interference; identifying, from second receive channels of the plurality of receive channels different from the first receive channels, a second set of samples of the radar radiation that includes the interference; estimating the interference in the second set of samples by comparing the first set of samples to the second set of samples; and suppressing, based on the estimating of the interference, the interference in the second set of samples; generating, based on the mitigating of the multi-channel joint interference in the radar radiation, the radar data; and outputting the radar data for at least one of detecting or tracking objects in an environment of the radar system. ### Claim 2 (depends on 1) The method of claim 1, wherein the first set of samples and the second set of samples include: a radar signal reflected off an object; and noise radiation. ### Claim 3 (depends on 2) The method of claim 2, wherein identifying the first set of samples comprises: calculating a signal-noise covariance matrix based on a signal component and a noise component of the radar radiation; and calculating an interference-signal-noise covariance matrix based on a signal component, an interference component, and a noise component of the radar radiation. ### Claim 4 (depends on 3) The method of claim 3, wherein estimating the interference in the second set of samples comprises: estimating an interference covariance matrix by comparing the signal-noise covariance matrix to the interference-signal-noise covariance matrix. ### Claim 5 (depends on 4) The method of claim 4, further comprising: determining one or more angles of origination of the interference to identify one or more sources of the interference. ### Claim 6 (depends on 5) The method of claim 5, wherein determining one or more angles of origin of the interference comprises: performing an eigen-decomposition on the interference covariance matrix to determine a quantity of dominant interference components in the interference. ### Claim 7 (depends on 6) The method of claim 6, wherein suppressing the interference comprises: constructing, based on performing the eigen-decomposition on the interference covariance matrix, an interference projection matrix; and applying the interference projection matrix to the radar radiation to remove the interference from the radar radiation. ### Claim 8 A radar system comprising: one or more processors configured to: determine that multi-channel joint interference is present in a radar radiation received by a plurality of receive channels of the radar system; prior to generating radar data based on the radar radiation, mitigate the multi-channel joint interference present in the radar radiation by: identifying, from first receive channels of the plurality of receive channels, a first set of samples of the radar radiation without interference; identifying, from second receive channels of the plurality of receive channels different from the first receive channels, a second set of samples of the radar radiation that comprises the interference; estimating the interference in the second set of samples by comparing the first set of samples to the second set of samples; suppressing, based on estimating the interference, the interference in the second set of samples; generate, based on the mitigated mitigation of the multi-channel joint interference in the radar radiation, the radar data; and output the radar data for at least detecting or tracking of objects in an environment of the radar system. ### Claim 9 (depends on 8) The radar system of claim 8, wherein the first set of samples and the second set of samples include: a radar signal reflected off an object; and noise radiation. ### Claim 10 (depends on 9) The radar system of claim 9, wherein the one or more processors are configured to identify the first set of samples by at least: calculating a signal-noise covariance matrix that includes a signal component and a noise component of the radar radiation; and calculating an interference-signal-noise covariance matrix that includes a signal component, an interference component, and a noise component of the radar radiation. ### Claim 11 (depends on 10) The radar system of claim 10, wherein the one or more processors are configured to estimate the interference in the second set of samples by at least: estimating an interference covariance matrix by comparing the signal-noise covariance matrix to the interference-signal-noise covariance matrix. ### Claim 12 (depends on 11) The radar system of claim 11, wherein the one or more processors are further configured to: determining one or more angles of origination of the interference to identify one or more sources of the interference. ### Claim 13 (depends on 12) The radar system of claim 12, wherein the one or more processors are configured to analyze the interference for radar detections by at least: performing an eigen-decomposition on the interference covariance matrix to determine a quantity of dominant interference components in the interference. ### Claim 14 (depends on 13) The radar system of claim 13, wherein the one or more processors are configured to suppress the interference by at least: constructing, based on performing the eigen-decomposition on the interference covariance matrix, an interference projection matrix; and applying the interference projection matrix to the radar radiation to remove the interference from the radar radiation. ### Claim 15 A non-transitory computer-readable storage media comprising instructions that, when executed, configure at least one processor of a radar system to: determine that multi-channel joint interference is present in a radar radiation received by a plurality of receive channels of the radar system; prior to generating radar data based on the radar radiation, mitigate the multi-channel joint interference present in the radar radiation by: identifying, from first receive channels of the plurality of receive channels, a first set of samples of the radar radiation without interference; identifying, from second receive channels of the plurality of receive channels different from the first receive channels, a second set of samples of the radar radiation that comprises the interference; estimating the interference in the second set of samples by comparing the first set of samples to the second set of samples; suppressing, based on estimating the interference, the interference in the second set of samples; generate, based on the mitigation of the multi-channel joint interference in the radar radiation, the radar data; and output the radar data for at least detecting or tracking of objects in an environment of the radar system. ### Claim 16 (depends on 15) The non-transitory computer-readable storage media of claim 15, wherein the instructions further configure the at least one processor to identify the first set of samples by at least: calculating a signal-noise covariance matrix based on a signal component and a noise component of the radar radiation; and calculating an interference-signal-noise covariance matrix based on a signal component, an interference component, and a noise component of the radar radiation. ### Claim 17 (depends on 16) The non-transitory computer-readable storage media of claim 16, wherein the instructions further configure the at least one processor to estimate the interference in the second set of samples by at least: estimating an interference covariance matrix by comparing the signal-noise covariance matrix to the interference-signal-noise covariance matrix. ### Claim 18 (depends on 17) The non-transitory computer-readable storage media of claim 17, wherein the instructions are further configured to: determine one or more angles of origination of the interference to identify one or more sources of the interference. ### Claim 19 (depends on 18) The non-transitory computer-readable storage media of claim 18, wherein the instructions are further configured to determine one or more angles of origin of the interference by at least: performing an eigen-decomposition on the interference covariance matrix to determine a quantity of dominant interference components in the interference. ### Claim 20 (depends on 19) The non-transitory computer-readable storage media of claim 19, wherein the instructions are further configured to suppress the interference by at least: constructing, based on performing the eigen-decomposition on the interference covariance matrix, an interference projection matrix; and applying the interference projection matrix to the radar radiation to remove the interference from the radar radiation.