Method and apparatus for determining a target vehicle position from a source vehicle using a radar

A method of determining the position of a target vehicle comprising:

• determining a first range and a second range from a first radar sensor;
• determining a first range and a second range from a second radar sensor;
• calculating a first position and a second position from the first range and second range measurements;
• evaluating a measured range-rate;
• generating a first set of points corresponding to the first position;
• generating a second set of points corresponding to the second position;
• calculating a plurality of calculated range-rate values in response to the first set of points and the second set of points;
• comparing the plurality of calculated range-rate values to the measured range-rate;
• selecting the closest range-rate to the measured range-rate from the plurality of range-rate values;
• and
• generating a couple of target object position points from the first set of points and the second set of points corresponding to the closest range-rate to the measured range-rate.

A method of operating a countermeasure system comprising:

• determining a first range and a second range from a first radar sensor;
• determining a first range and a second range from a second radar sensor;
• calculating a first position and a second position from the first range and second range measurements;
• evaluating a measured range-rate;
• generating a first set of points corresponding to the first position;
• generating a second set of points corresponding to the second position;
• calculating a plurality of calculated range-rate values in response to the first set of points and the second set of points;
• comparing the plurality of calculated range values to the measured range-rate;
• selecting the closest range-rate from the plurality of range-rate values;
• and
• generating a couple of target object position points from the first set of points and the second set of points corresponding to the closest calculated range-rate to the measured range-rate.