# US 2024/0201358 A1 · Object Range and Velocity Detection from Varying Radar Pulse Repetition Times > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2024/0201358 A1 - Document ID: US20240201358A1 - Status: Published application - Kind: A1 - Application number: 17/019,320 - Filed: 2020-09-13 - Published: 2024-06-20 - Earliest claimed: 2019-09-17 - Assignees: Aptiv Technologies AG - Applicants: Aptiv Technologies Limited - Inventors: Xining Yu; James Fredrick Searcy; Zhengzheng Li - Web page: https://patentgrep.com/patent/US20240201358A1 ## CPC - G01S 13/582: {adapted for simultaneous range and velocity measurements} - G01S 7/415: {Identification of targets based on measurements of movement associated with the target} - G01S 13/22: using irregular pulse repetition frequency {(G01S13/12 takes precedence)} - G01S 13/24: using frequency agility of carrier wave - G01S 13/286: {frequency shift keyed} - G01S 13/30: using more than one pulse per radar period - G01S 13/343: {using sawtooth modulation} - G01S 13/345: {using triangular modulation} - G01S 13/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46) - G01S 13/584: {adapted for simultaneous range and velocity measurements} - G01S 13/931: of land vehicles - G01S 7/2883: {using FFT processing} - G01S 7/356: {involving particularities of FFT processing} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract The techniques of this disclosure relate to object range and velocity detections from varying radar pulse repetition times. A device includes a transmitter, a receiver, and a processor. The transmitter is configured to transmit a series of electromagnetic pulses within a frame having a varying pulse repetition time between electromagnetic pulses. A center frequency of the electromagnetic pulses varies by a frequency step. The receiver is configured to receive a series of corresponding reflected electromagnetic pulses reflected from an object. The processor is configured to determine range and velocity information of the object based on the received series of corresponding reflected electromagnetic pulses. By varying the pulse repetition times between consecutive pulses in a radar frame, the radar system may improve a range resolution, particularly in the case of frequency-modulated continuous-wave (FMCW) radar systems. ## Claims ### Claim 1 A device, comprising: a transmitter configured to transmit a radar frame including a series of electromagnetic pulses having a varying pulse repetition time between each electromagnetic pulse in the series, and each electromagnetic pulse in the series having a center frequency that varies by a frequency step from the other electromagnetic pulses in the series, the pulse repetition time based on the frequency step of the respective electromagnetic pulse; a receiver configured to receive a corresponding series of reflected pulses that reflect from an object in response to the radar frame; and a processor configured to determine range and velocity information of the object based on the corresponding series of reflected pulses, the range information based on a single reflected pulse of the corresponding series of reflected pulses and on combined reflected pulses of the series of reflected pulses. ### Claim 2 (canceled) ### Claim 3 (depends on 1) The device in accordance with claim 1, wherein the processor is further configured to determine a first range resolution of the object based on an individual bandwidth of the electromagnetic pulses within the series of electromagnetic pulses within the frame. ### Claim 4 (depends on 3) The device in accordance with claim 3, wherein the processor is further configured to determine a second range resolution of the object based on a combined bandwidth of the electromagnetic pulses within the series of electromagnetic pulses within the frame. ### Claim 5 (depends on 4) The device in accordance with claim 4, wherein the second range resolution is less than the first range resolution. ### Claim 6 (depends on 1) The device in accordance with claim 1, wherein the transmitter is further configured to vary the pulse repetition time based on a count of a number of repetitions, an initial center frequency, and an initial pulse repetition time. ### Claim 7 (depends on 1) The device in accordance with claim 1, wherein the transmitter is configured to transmit the frame by emitting stepped-frequency frequency modulated continuous wave (FMCW) radar signals. ### Claim 8 (depends on 1) The device in accordance with claim 1, wherein the transmitter is configured to transmit the frame by emitting a first frequency slope and a second frequency slope in a frequency step portion. ### Claim 9 (depends on 8) The device in accordance with claim 8, wherein the transmitter is configured to emit the first frequency slope and the second frequency slope having a same bandwidth. ### Claim 10 (depends on 9) The device in accordance with claim 9, wherein the transmitter is configured to emit the first frequency slope and the second frequency slope having up-chirp portions having positive slopes. ### Claim 11 (depends on 10) The device in accordance with claim 10, wherein the transmitter is configured to emit the first frequency slope and the second frequency slope having a same center frequency. ### Claim 12 (depends on 10) The device in accordance with claim 10, wherein the transmitter is configured to separate an end time of the first frequency slope and a start time of the second frequency slope by a time delay. ### Claim 13 (depends on 12) The device in accordance with claim 12, wherein the transmitter is configured to vary the time delay with each frequency step portion. ### Claim 14 (depends on 9) The device in accordance with claim 9, wherein the transmitter is configured to emit the first frequency slope having an up-chirp portion having a positive slope and the second frequency slope having a down-chirp portion having a negative slope. ### Claim 15 (depends on 14) The device in accordance with claim 14, wherein the transmitter is configured to emit the first frequency slope and the second frequency slope having a same center frequency. ### Claim 16 (depends on 15) The device in accordance with claim 15, wherein the transmitter is configured to emit the first frequency slope and the second frequency slope forming a triangular waveform, wherein the triangular waveform further includes a time delay. ### Claim 17 A method, comprising transmitting, with a radar system, a frame including a series of electromagnetic pulses having a varying pulse repetition time between each electromagnetic pulse in the series, and each electromagnetic pulse in the series having a center frequency that varies from the center frequency of the other electromagnetic pulses in the series by a frequency step, the pulse repetition time based on the frequency step of the respective electromagnetic pulse; receiving, with the radar system, a corresponding series of reflected pulses that reflect from an object in response to the frame; and determining, by the radar system, range and velocity information of the object based on the corresponding series of reflected pulses, the range information based on a single reflected pulse of the corresponding series of reflected pulses and on combined reflected pulses of the series of reflected pulses. ### Claim 18 (canceled) ### Claim 19 (depends on 17) The method in accordance with claim 17, including determining, with the radar system, a first range resolution of the object based on an individual bandwidth of the electromagnetic pulses within the series of electromagnetic pulses within the frame. ### Claim 20 (depends on 19) The method in accordance with claim 19, including determining, with the radar system, a second range resolution of the object based on a combined bandwidth of the electromagnetic pulses within the series of electromagnetic pulses within the frame. ### Claim 21 (depends on 20) The method in accordance with claim 20, wherein the second range resolution is less than the first range resolution. ### Claim 22 (depends on 17) The method in accordance with claim 17, including varying, with the radar system, the pulse repetition time based on a count of a number of repetitions, an initial center frequency, and an initial pulse repetition time. ### Claim 23 (depends on 17) The method in accordance with claim 17, wherein the radar system is configured to transmit the frame by emitting stepped-frequency frequency modulated continuous wave (FMCW) radar signals. ### Claim 24 (depends on 17) The method in accordance with claim 17, wherein the radar system is configured to transmit the frame by emitting a first frequency slope and a second frequency slope in a frequency step portion. ### Claim 25 A system comprising: a processor configured to: control a transmitter to transmit a radar frame including a series of electromagnetic pulses having a varying pulse repetition time between each electromagnetic pulse in the series, and each electromagnetic pulse in the series having a center frequency that varies from the center frequency of the other electromagnetic pulses in the series by a frequency step, the pulse repetition time based on the frequency step of the respective electromagnetic pulse; control a receiver to receive a corresponding series of reflected pulses that reflect from an object in response to the radar frame; and determine range and velocity information of the object based on the corresponding series of reflected pulses, the range information based on a single reflected pulse of the corresponding series of reflected pulses and on combined reflected pulses of the series of reflected pulses. ### Claim 26 (depends on 25) The system of claim 25, wherein the processor is further configured to determine a first range resolution of the object based on an individual bandwidth of the electromagnetic pulses within the series of electromagnetic pulses within the frame. ### Claim 27 (depends on 26) The system of claim 26, wherein the processor is further configured to determine a second range resolution of the object based on a combined bandwidth of the electromagnetic pulses within the series of electromagnetic pulses within the frame.