Radar sensor having a CFAR detector

A radar sensor comprising:

• a radar transceiver for transmitting and receiving RF bursts at a random PRF, and for producing a baseband output;
• an antenna for radiating RF bursts to, and receiving echo RF bursts from a target;
• a baseband interference filter for filtering baseband interference from the baseband output;
• an amplifier for amplifying the filtered baseband interference;
• an interference envelope detector for generating a smoothed interference envelope of the amplified filtered baseband interference;
• a threshold detector responsive to the difference between the baseband output and the smoothed interference envelope.
• a threshold detector responsive to the difference between the baseband output and the
• smoothed interference envelope.

A method of radar sensing, comprising:

• transmitting RF bursts at a PRF;
• receiving RF echo bursts at the PRF;
• sampling the received RF echo bursts with controlled timing at the PRF to provide a sampled baseband output;
• noise modulating the PRF to randomize sampled interference;
• filtering the sampled baseband output to exclude baseband signals and produce an interference signal;
• threshold detecting the baseband signal using the interference signal to augment the threshold level.