Method, apparatus, and computer program product for radar detection of moving target

A method of navigating an autonomous vehicle using a radar device without requiring the use of Doppler information so that the vehicle is navigated relative to a moving target, the method comprising the steps of:

• scanning an area proximate the vehicle with radar signals at a first time to receive a first plurality of target data signals indicative of a position of the target at the first time;
• determining the position of the target at the first time by collecting the first plurality of target data signals into a first target data grouping, such that the first target data grouping defines a first reference point;
• scanning the area with radar signals at a second time, that is different than the first time, to receive a second plurality of target data signals indicative of a position of the target at the second time;
• determining the position of the target at the second time by collecting the second plurality of target data signals into a second target data grouping, such that the second target data grouping defines a second reference point;
• comparing the position of the first reference point to the position of the second reference point to track the moving target, such that no Doppler information is required when comparing the first and second reference points;
• and
• determining a trajectory of the vehicle based upon the tracked positions of the moving target relative to the vehicle.

An apparatus for tracking at least one moving target with a radar device without requiring the use of Doppler information, the apparatus comprising:

• a radar device for:
• (i) s scanning an area with radar signals at a first time to receive a first plurality of target data signals indicative of a position of the target at the first time;
• and (ii) s scanning the area with radar signals at a second time, that is different than the first time, to receive a second plurality of target data signals indicative of a position of the target at the second time;
• and
• processing circuitry for:
• (iii) determining the position of the target at the first time by collecting the first plurality of target data signals into a first target data grouping, such that the first target data grouping defines a first reference point;
• (iv) determining the position of the target at the second time by collecting the second plurality of target data signals into a second target data grouping, such that the second target data grouping defines a second reference point;
• and (v) comparing the position of the first reference point to the position of the second reference point to track the moving target, such that no Doppler information is required when comparing the first and second reference points.

A computer program product for tracking at least one moving target with a radar device without requiring the use of Doppler information, the computer program product comprising a computer-readable storage medium having computer-readable program instructions stored therein, the computer-readable program portions comprising:

• a first executable portion for scanning an area with radar signals at a first time to receive a first plurality of target data signals indicative of a position of the target at the first time;
• a second executable portion for determining the position of the target at the first time by collecting the first plurality of target data signals into a first target data grouping, such that the first target data grouping defines a first reference point;
• a third executable portion for scanning an area with radar signals at a second time, that is different than the first time, to receive a second plurality of target data signals indicative of a position of the target at the second time;
• a fourth executable portion for determining the position of the target at the second time by collecting the second plurality of target data signals into a second target data grouping, such that the second target data grouping defines a second reference point;
• and
• a fifth executable portion for comparing the position of the first reference point to the position of the second reference point to track the moving target, such that no Doppler information is required when comparing the first and second reference points.