Fmcw radar with dynamic waveform model based on ego motion

A radar sensor system comprising:

• a transmit antenna configured to transmit a radar signal into an environment of the radar sensor system;
• a receive antenna configured to receive a return signal from the environment of the radar sensor system responsive to the radar signal;
• and
• radar processing circuitry that is configured to perform acts comprising:
• causing the transmit antenna to transmit a radar signal having a predefined pulse repetition interval (PRI);
• monitoring ego velocity of the radar sensor;
• adjusting the predefined pulse repetition interval (PRI) based on the ego velocity of the radar sensor.

A central processing unit comprising:

• a computer-readable medium having stored thereon instructions which, when executed by a processor, cause the processor to perform certain acts;
• one or more processors configured to execute the instructions, the acts comprising:
• causing a transmit antenna to transmit a radar signal having a predefined pulse repetition interval (PRI);
• monitoring ego velocity of the radar sensor;
• detecting that the ego velocity has exceeded a first predetermined ego velocity threshold;
• and
• decreasing the predefined pulse repetition interval (PRI) based on the first predetermined ego velocity threshold.