Non-line-of-sight object detection

A system for scheduling UWB radar and ranging sessions, the system comprising:

• one or more UWB anchors of a vehicle;
• and
• a controller of the vehicle, configured to:
• detect, via the one or more UWB anchors of the vehicle, TOF messages exchanged between the one or more UWB anchors and a mobile device in a ranging mode,
• responsive to a lack of receipt of TOF messages from a quantity of the UWB anchors necessary for performing trilateration for at least a plurality of consecutive ranging rounds, switching on radar mode to detect angle of arrival information and distance between the UWB anchors and the mobile device,
• responsive to switching to the radar mode, receive CIR data from the UWB anchors,
• determine a position of the mobile device based on the CIR data and the TOF messages, and
• utilize the position of the mobile device for one or more vehicle applications.

A non-transitory computer-readable medium comprising instructions that, when executed by a controller of a vehicle having a plurality of UWB anchors, cause the controller to perform operations including to:

• detect, via UWB anchors of a vehicle, TOF messages exchanged between the UWB anchors and a mobile device;
• responsive to a lack of receipt of TOF messages from a quantity of the UWB anchors necessary for performing trilateration for at least a plurality of consecutive ranging rounds, switch to a radar mode to detect angle of arrival and distance information between the UWB anchors and the mobile device;
• responsive to switching to the radar mode, receive CIR data from the UWB anchors;
• determine a position of the mobile device based on the CIR data and the TOF messages;
• and
• utilize the position of the mobile device for one or more vehicle application.