Extended target-matched cfar detector

A method for detecting radar targets in a host system, the method comprising:

• generating a predetermined radio frequency (RF) waveform using an RF signal generator;
• transmitting the RF waveform, via an RF antenna connected to the RF signal generator, away from the host system and toward a plurality of different radar target types;
• receiving radar return signatures from at least some of the plurality of different radar target types via the RF antenna;
• processing the radar return signatures via an electronic control unit (ECU) using a plurality of parallel constant false-alarm rate (CFAR) subdetectors to thereby detect the radar targets as a set of detection events, including detecting, via each respective one of the CFAR subdetectors each having a corresponding plurality of cells under test, a respective one or more of the radar target types in the corresponding plurality of cells under test via corresponding detection parameters;
• merging the set of detection events, via the ECU, into a merged set of the detection events;
• and
• executing a control action aboard the host system via the ECU responsive to the merged set of the detection events.

A vehicle comprising:

• a vehicle body;
• and
• a radar circuit connected to the vehicle body and including:
• a radio frequency (RF) signal generator configured to generate a predetermined RF waveform;
• a radio frequency (RF) antenna connected to the RF signal generator, and configured to transmit the RF waveform away from the vehicle body and toward a plurality of radar targets of different target types, and to receive radar return signatures therefrom;
• and
• an electronic control unit (ECU) configured to receive the radar return signatures from the RF antenna, process the radar return signatures via a plurality of parallel constant false-alarm rate (CFAR) subdetectors to thereby detect the radar targets as a set of detection events, and execute a control action aboard the host system responsive to a merged set of the detection events;
• wherein each respective one of the CFAR subdetectors has a corresponding plurality of cells under test and is configured to detect a corresponding one or more of the radar targets using detection parameters for a given one of the different radar target types, the detection parameters including a power or energy level in the corresponding plurality of cells under test, and each respective one of the CFAR subdetectors is further configured to detect the corresponding one of the radar target types by comparing the power or energy threshold to the power or energy level of the corresponding plurality of cells under teat;
• and
• wherein the ECU is configured to merge the set of detection events using an object-level processing subroutine into the merged set, and thereafter execute a control action aboard the vehicle responsive to the merged set.