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US 12,663,530 B2Granted
Method for processing radar sensing data, radar device, and vehicle including radar device
AssigneeHl Klemove Corp.
InventorKyung Jin You
Life of this patent
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Abstract
Provided are a time division multiplexing (TDM) frequency modulation continuous wave (FMCW) radar device including N×M virtual channels implemented by N transmission channels (wherein N is a natural number greater than or equal to 2) and M reception channels (wherein M is a natural number greater than or equal to 2), wherein locations of at least some channels from among the N×M virtual channels overlap each other, a radar sensing data processing method of the radar device, and a vehicle including the radar device.
Claims19
A method for processing radar sensing data by a time division multiplexing (TDM) frequency modulation continuous wave (FMCW) radar device, the method comprising:
- generating a first array by using signals emitted and received by the TDM FMCW radar device, the first array being a four-dimensional array having a sampling index, a chirp index, a virtual channel, and a transmission channel, as dimensions, respectively, wherein the TDM FMCW radar device has N×M virtual channels implemented by N transmission channels (N is a natural number more than 1) and M reception channels (M is a natural number more than 1), and locations of at least some channels of the N×M virtual channels overlap each other;
- generating a second array by performing, in a sampling index dimension direction, range fast Fourier transform (FFT) on each virtual channel of each of the N transmission channels of the first array, the second array being a four-dimensional array having a range index, a chirp index, a virtual channel, and a transmission channel as dimensions, respectively;
- generating a third array by adding, in a chirp index dimension direction, predetermined data to the second array based on the N transmission channels;
- generating a fourth array by performing, in the chirp index dimension direction, the FFT on each virtual channel of each of the N transmission channels of the third array, the fourth array being a four-dimensional array having a range index, a Doppler index, a virtual channel, and a transmission channel as dimensions, respectively;
- generating a range-Doppler map from the fourth array;
- extracting, from the range-Doppler map, L peaks (L is a natural number) having a range index and a Doppler index satisfying a predetermined condition;
- extracting, from among the L peaks, at least one peak having a phase difference of two adjacent virtual channels, which is less than a predetermined threshold difference;
- and
- determining at least one physical quantity related to movement of an object by using the extracted peak.
6 more elements
A time division multiplexing (TDM) frequency modulation continuous wave (FMCW) radar device comprising:
- an antenna unit including N transmission antennas (N is a natural number greater than or equal to 2), M reception antennas (M is a natural number greater than or equal to 2), and N×M virtual antennas implemented according to an array of the N transmission antennas and the M reception antennas, wherein locations of at least some channels of the N×M virtual antennas overlap each other;
- a radar integrated circuit (IC) configured to process signals transmitted and received by the antenna unit;
- and
- a processor configured to determine at least one physical quantity related to movement of an object by analyzing the received signals,
- wherein the processor is configured to:
- generate a first array by using the signals transmitted and received via the antenna unit, the first array being a four-dimensional array having a sampling index, a chirp index, a virtual channel, and a transmission channel as dimensions, respectively;
- generate a second array by performing, in a sampling index dimension direction, range fast Fourier transform (FFT) on each virtual channel of each of the N transmission channels of the first array, the second array being a four-dimensional array having a range index, a chirp index, a virtual channel, and a transmission channel as dimensions, respectively;
- generate a third array by adding, in a chirp index dimension direction, predetermined data to the second array based on the N transmission channels;
- generate a fourth array by performing, in the chirp index dimension direction, FFT on each virtual channel of each of the N transmission channels of the third array, the fourth array being a four-dimensional array having a range index, a Doppler index, a virtual channel, and a transmission channel as dimensions, respectively;
- generate a range-Doppler map from the fourth array;
- extract, from the range-Doppler map, L peaks (L is a natural number) having a range index and a Doppler index satisfying a predetermined condition;
- extract, from among the L peaks, at least one peak having a phase difference of two adjacent virtual channels, which is less than a predetermined threshold difference;
- and determine at least one physical quantity related to the movement of the object by using the extracted peak.
10 more elements
A vehicle comprising:
- a vehicle body including a controller configured to control a vehicle;
- and
- a radar device configured to provide information of sensing a surrounding object via the controller, wherein the radar device includes:
- an antenna unit including N transmission antennas (N is a natural number greater than or equal to 2), M reception antennas (M is a natural number greater than or equal to 2), and N×M virtual antennas implemented according to an array of the N transmission antennas and the M reception antennas, wherein locations of at least some channels of the N×M virtual antennas overlap each other;
- a radar integrated circuit (IC) configured to process signals transmitted and received by the antenna unit;
- and a processor configured to determine at least one physical quantity related to movement of the object by analyzing the received signals, wherein the processor is configured to:
- generate a first array by using the signal transmitted and received via the antenna unit, the first array being a four-dimensional array having a sampling index, a chirp index, a virtual channel, and a transmission channel, as dimensions, respectively;
- generate a second array by performing, in a sampling index dimension direction, range fast Fourier transform (FFT) on each virtual channel of each of the N transmission channels of the first array, the second array being a four-dimensional array having a range index, a chirp index, a virtual channel, and a transmission channel as dimensions, respectively;
- generate a third array by adding, in a chirp index dimension direction, predetermined data to the second array based on the N transmission channels;
- generate a fourth array by performing, in a chirp index dimension direction, FFT on each virtual channel of each of the N transmission channels of the third array, the fourth array being a four-dimensional array having a range index, a Doppler index, a virtual channel, and a transmission channel as dimension, respectively;
- generate a range-Doppler map from the fourth array;
- extract, from the range-Doppler map, L peaks (L is a natural number) having a range index and a Doppler index satisfying a predetermined condition;
- extract, from among the L peaks, at least one peak having a phase difference of two adjacent virtual channels, which is less than a predetermined threshold difference;
- and determine at least one physical quantity related to movement of the object by using the extracted peak.
11 more elements
Dependencies are inferred from the claim text.