Parameter defined stepped frequency waveform for radar

A system comprising:

• a radar system having at least one processor configured to:
• transmit, from the radar system, radar transmit signals representing a parameter defined stepped frequency waveform for a frame having at least two chirps including an initial chirp of the frame and a current chirp of the frame, the transmit of the radar transmit signals representing the parameter defined stepped frequency waveform including,
• determining a pulse frequency for the current chirp relative to a pulse frequency of the initial chirp that cancels a coupling term in a frequency domain representation of radar receive signals received in response to the transmitting of the radar transmit signals by based on:
• i) a starting frequency of the initial chirp;
• ii) a slope of the initial chirp;
• iii) an index of the current chirp;
• and iv) a pulse repetition period of the initial chirp, and
• outputting the current chirp of the parameter defined stepped frequency waveform having the pulse frequency that cancels the coupling term in the frequency domain representation of the radar receive signals;
• receive, at the radar system, the radar receive signals representing the parameter defined stepped frequency waveform reflected off of an object in a field of view of the radar system;
• perform a transformation of the radar receive signals to determine a representation of the radar receive signals in the frequency domain with the representation of the radar receive signals in the frequency domain having the coupling term cancelled therefrom;
• determine a range and a range rate associated with the object in the field of view based on the representation of the radar receive signals in the frequency domain;
• and
• output, to a radar tracker, the range and range rate associated with the object in the field of view to enable radar tracking of the object in the field of view.