# US 2025/0147148 A1 · Numerically efficient radar signal processing for automotive radars > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0147148 A1 - Document ID: US20250147148A1 - Status: Published application - Kind: A1 - Application number: 18/837,908 - Filed: 2023-02-15 - Published: 2025-05-08 - Earliest claimed: 2022-02-16 - Assignees: Magna Electronics Sweden AB - Applicants: Magna Electronics Sweden AB - Inventors: Jonathan MOSS; Hansjerg GOELZ - Web page: https://patentgrep.com/patent/US20250147148A1 ## CPC - G01S 7/352: {Receivers} - G01S 7/356: {involving particularities of FFT processing} - G01S 7/354: {Extracting wanted echo-signals (Doppler systems G01S13/50)} - G01S 7/358: {using I/Q processing} - G01S 13/343: {using sawtooth modulation} - G01S 13/44: Monopulse radar, i.e. simultaneous lobing - G01S 13/584: {adapted for simultaneous range and velocity measurements} - G01S 13/931: of land vehicles - 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 An automotive radar transceiver system (120, 200) including an antenna array (210) and a processing device (230) for processing radar signals received via the antenna array (210). The processing device (230) is arranged to obtain a complex-valued vector (x) of signal values, where each signal value is indicative of a radar signal received at a corresponding antenna element (220) in the antenna array (210). The processing device (230) is further arranged to generate a covariance matrix (C) from the complex-valued vector (x) of signal values by multiplying the complex-valued vector (x) with its complex conjugate, and the processing device (230) is arranged to perform a QR-decomposition of the covariance matrix (C) to generate a Q-matrix (Q), and to determine one or more angles associated with respective targets based on the QR-decomposition of the covariance matrix (C). ## Claims ### Claim 1 An automotive radar transceiver system comprising an antenna array and a processing device for processing radar signals received via the antenna array, where the processing device is arranged to obtain a complex-valued vector (x) of signal values, where each signal value is indicative of a radar signal received at a corresponding antenna element in the antenna array, where the processing device is arranged to generate a covariance matrix (C) from the complex-valued vector (x) of signal values by multiplying the complex-valued vector (x) with its complex conjugate, where the processing device is arranged to perform a QR-decomposition of the covariance matrix (C) to generate a Q-matrix (Q), and to determine one or more target angles associated with respective targets based on the QR-decomposition of the covariance matrix (C). ### Claim 2 (depends on 1) The automotive radar transceiver system according to claim 1, arranged to operate based on a frequency modulated continuous wave principle of operation. ### Claim 3 (depends on 1) The automotive radar transceiver system according to claim 1, where the processing device is arranged to separate one or more true target angles from one or more false target angles out of the determined target angles based on a Fast Fourier Transform processing of the obtained complex-valued vector (x) of signal values. ### Claim 4 (depends on 1) The automotive radar transceiver system according to claim 1, where the complex-valued vector (x) of signal values correspond to radar detection data for a given range and radial velocity. ### Claim 5 (depends on 1) The automotive radar transceiver system according to claim 1, where the processing device is arranged to determine the given range and radial velocity for performing the QR-decomposition based on a Fast Fourier Transform processing of radar signals received at the antenna elements of the antenna array. ### Claim 6 (depends on 1) The automotive radar transceiver system according to claim 1, where the processing device is arranged to determine the one or more target angles associated with respective targets based on a selected column vector from the Q-matrix (Q). ### Claim 7 (depends on 6) The automotive radar transceiver system according to claim 6, where the selected column vector is a final column vector (eN) in the Q-matrix (Q). ### Claim 8 (depends on 1) The automotive radar transceiver system according to claim 1, where the processing device is arranged to detect one or more targets in terms of range and radial velocity, and to obtain the complex-valued vector (x) of signal values for each range and radial velocity associated with a detected target. ### Claim 9 (depends on 8) The automotive radar transceiver system according to claim 8, where the processing device is furthermore arranged to only obtain the complex-valued vector (x) of signal values for targets that are detected in a predetermined span of ranges or at a predetermined radial velocity or in a predetermined azimuth direction span. ### Claim 10 (depends on 1) The automotive radar transceiver system according to claim 1, where the processing device is arranged to update an inverse covariance matrix (C−1) over time using a time sequence of the complex-valued vectors (x) of signal values, where each signal value in a complex-valued vector is indicative of a radar signal received at the corresponding antenna element in the antenna array at a given point in time. ### Claim 11 (depends on 1) The automotive radar transceiver system according to claim 1, where the processing device is arranged to update an inverse covariance matrix (C−1) or the matrix Q derived from QR-decomposition over time using a Sherman-Morrison method of update. ### Claim 12 (depends on 1) The automotive radar transceiver system according to claim 1, where the automotive radar transceiver system is arranged to adjust a center frequency of operation over time. ### Claim 13 (depends on 12) The automotive radar transceiver system according to claim 12, where the center frequency of operation is adjusted in-between frequency modulated continuous wave transmission cycles. ### Claim 14 (depends on 1) A vehicle comprising the automotive radar transceiver system according to claim 1. ### Claim 15 A method performed in an automotive radar transceiver system comprising an antenna array and a processing device for processing radar signals received via the antenna array, the method comprising the steps of: obtaining a complex-valued vector (x) of signal values, where each signal value is indicative of a radar signal received at a corresponding antenna element in the antenna array, generating a covariance matrix (C) from the complex-valued vector (x) of signal values by multiplying the complex-valued vector (x) with its complex conjugate, performing a QR-decomposition of the covariance matrix (C) to generate a Q-matrix (Q), and determining one or more angles associated with respective targets based on the QR-decomposition of the covariance matrix (C).