US 2024/0192353 A1Published application

Ego velocity estimator for radar systems

AssigneeNXP B.V.

InventorsRyan Haoyun Wu, Dongyin Ren

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Abstract

A radar system includes transmitter and receiver antennas positioned to illuminate and receive reflections from a ground surface, a processor, and a non-transitory computer-readable medium. The processor obtains ground reflections, the corresponding ranges, and measured radial velocities, and determines a set of test ego velocities. For each test ego velocity and ground reflection, the processor generates a test radial velocity. The processor determines an absolute difference between the test radial velocity and the measured radial velocity, and whether the absolute difference satisfies a criterion. In response to satisfying the criterion, the absolute difference is accumulated into a total cost for the test ego velocity. After each ground reflection and test ego velocity is analyzed, the processor compares the total costs for the test ego velocities to obtain a smallest total cost and corresponding test ego velocity. The test ego velocity is an ego velocity of the radar system.

Claims20

Dependent claims

A radar system, comprising:

at least one transmitter (TX) antenna positioned to illuminate a ground surface;
at least one receiver (RX) antenna positioned to receive ground reflections;
at least one processor;
and
at least one non-transitory computer-readable medium storing machine instructions which, when executed by the at least one processor, cause the at least one processor to:
obtain a set of ground reflections and corresponding ranges and measured radial velocities;
determine a set of test ego velocities;
for each particular test ego velocity in the set of test ego velocities:
for each particular ground reflection in the set of ground reflections:
generate a test radial velocity based on the particular test ego velocity, the particular ground reflection, the corresponding range, and a height of the radar system relative to the ground surface;
determine an absolute difference between the test radial velocity and the corresponding measured radial velocity;
determine whether the absolute difference satisfies a criterion indicative of a maximum acceptable difference;
in response to the absolute difference satisfying the criterion, accumulate the absolute difference into a total cost for the particular test ego velocity;
compare the total costs for the set of test ego velocities to obtain a smallest total cost and a corresponding particular test ego velocity;
and
use the particular test ego velocity as an ego velocity of the radar system.

13 more elements

A method for determining an ego velocity of a radar system, comprising:

obtaining, from the radar system, a set of ground reflections and corresponding ranges and radial velocities;
determining a set of test ego velocities;
for each particular test ego velocity in the set of test ego velocities:
for each particular ground reflection in the set of ground reflections:
generating a test radial velocity based on the particular test ego velocity, the particular ground reflection, the corresponding range, and a height of the radar system;
determining an absolute difference between the test radial velocity and the corresponding measured radial velocity;
determining whether the absolute difference satisfies a criterion indicative of a maximum acceptable difference;
in response to the absolute difference satisfying the criterion, accumulating the absolute difference into a total cost for the particular test ego velocity;
comparing the total costs for the set of test ego velocities to obtain a smallest total cost and a corresponding test ego velocity;
and
using the corresponding test ego velocity as an ego velocity of the radar system.

8 more elements

A non-transitory computer-readable medium storing machine instructions which, when executed by at least one processor, cause the at least one processor to:

obtain a set of ground reflections and corresponding ranges and radial velocities from a radar system;
determine a set of test ego velocities;
for each particular test ego velocity in the set of test ego velocities:
for each particular ground reflection in the set of ground reflections:
generate a test radial velocity based on the particular test ego velocity, the particular ground reflection, the corresponding range, and a height of the radar system relative to a ground surface;
determine an absolute difference between the test radial velocity and the corresponding measured radial velocity;
determine whether the absolute difference satisfies a criterion indicative of a maximum acceptable difference;
in response to the absolute difference satisfying the criterion, accumulate the absolute difference into a total cost for the particular test ego velocity;
compare the total costs for the set of test ego velocities to obtain a smallest total cost and a corresponding test ego velocity;
and
use the corresponding test ego velocity as an ego velocity of the radar system.

8 more elements

Dependencies are inferred from the claim text.

Facts

Application: 18/064,072Filed 9 Dec 2022
Published: 13 Jun 2024
Term ends: Not estimatedThe source records don’t support an estimate.

Classification8 codes

G01S 13/60
Velocity or trajectory determination systems; Sense-of-movement determination systems: wherein the transmitter and receiver are mounted on the…
G01S 13/42
Systems determining position data of a target: simultaneous measurement of distance and other co-ordinates
G01S 13/584
Using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting…:…
G01S 13/931
For anti-collision purposes: of land vehicles