Vehicle radar sensing system

A vehicular sensing system, said vehicular sensing system comprising:

• a plurality of MIMO (multiple input multiple output) radar sensors disposed at a vehicle equipped with said vehicular sensing system and sensing exterior and forward of the equipped vehicle;
• wherein each MIMO radar sensor of said plurality of MIMO radar sensors comprises multiple transmitting antennas and multiple receiving antennas;
• wherein said transmitting antennas transmit radar signals and said receiving antennas receive radar signals;
• an electronic control unit (ECU) comprising a processor, wherein radar data captured by said plurality of MIMO radar sensors is provided to said ECU for processing by said processor;
• wherein said vehicular sensing system, via processing at said ECU of provided captured radar data for a plurality of scans by said plurality of MIMO radar sensors as the vehicle moves along a road, and based at least in part on vehicle motion information, determines different types of surfaces sensed by said plurality of MIMO radar sensors;
• wherein said vehicular sensing system, responsive at least in part to processing at said ECU of provided captured radar data, distinguishes a surface of the road along which the equipped vehicle is traveling from a non-road surface adjacent to the road;
• and
• wherein, responsive at least in part to processing at said ECU of provided captured radar data, said vehicular sensing system provides an output for at least one driving assist system of the equipped vehicle.

A vehicular sensing system, said vehicular sensing system comprising:

• at least one MIMO (multiple input multiple output) radar sensor disposed at a front portion of a vehicle equipped with said vehicular sensing system and sensing exterior and forward of the equipped vehicle;
• wherein said at least one MIMO radar sensor comprises multiple transmitting antennas and multiple receiving antennas;
• wherein said transmitting antennas transmit radar signals and said receiving antennas receive radar signals;
• an electronic control unit (ECU) comprising a processor, wherein radar data captured by said at least one MIMO radar sensor is provided to said ECU for processing by said processor;
• wherein said vehicular sensing system, via processing at said ECU of provided captured radar data for a plurality of scans by said at least one MIMO radar sensor as the vehicle moves along a road, and based at least in part on vehicle motion information, determines different types of surfaces sensed by said at least one MIMO radar sensor;
• wherein radar data of each scan of the plurality of scans is time stamped;
• wherein said vehicular sensing system, responsive at least in part to processing at said ECU of provided captured radar data, detects presence of at least one object exterior the equipped vehicle;
• and
• wherein, responsive at least in part to processing at said ECU of provided captured radar data, said vehicular sensing system provides an output for at least one driving assist system of the equipped vehicle.