Elevation angle estimation in horizontal antenna array with doppler and velocity measurements

A radar system for a vehicle, comprising:

• a transmitter configured to transmit a reference signal;
• a receiver comprising an antenna array having a plurality of horizontally-spaced antenna elements and configured to receive at least one echo signal related to reflection of the reference signal from an object;
• and
• a processor configured to:
• determine a first uncertainty curve associated with an azimuth measurement related to the at least one echo signal;
• determine a second uncertainty curve associated with a Doppler measurement and a velocity measurement related to the at least one echo signal;
• and
• locate an intersection of the first uncertainty curve and the second uncertainty curve to determine an elevation of the object.

A vehicle, comprising:

• a radar system including:
• a transmitter configured to transmit a reference signal;
• and
• a receiver comprising an antenna array having a plurality of horizontally-spaced antenna elements and configured to receive at least one echo signal related to reflection of the reference signal from an object;
• and
• a processor configured to:
• determine a first uncertainty curve associated with an azimuth measurement related to the at least one echo signal;
• determine a second uncertainty curve associated with a Doppler measurement related to the at least one echo signal;
• and
• locate an intersection of the first uncertainty curve and the second uncertainty curve to determine an elevation of the object.