On-demand multi-scan micro doppler for vehicle

A radar sensing system for a vehicle, the radar sensing system comprising:

• a plurality of transmitters configured for installation and use on a vehicle, and configured to transmit radio signals;
• a receive pipeline comprising a plurality of receivers configured for installation and use on the vehicle, and configured to receive radio signals, wherein the received radio signals are transmitted radio signals that are reflected from an object;
• and
• a processor;
• wherein the receive pipeline is configured to correlate received radio signals of the plurality of receivers with a plurality of time-delayed replicas of the transmitted radio signals to produce samples comprising complex-valued digitized samples;
• wherein each time-delayed replica of the plurality of time-delayed replicas of the transmitted radio signals corresponds with a particular range bin of a particular receiver of the plurality of receivers;
• wherein samples are produced during a first plurality of time slices of a first scan;
• wherein a time slice of the first plurality of time slices comprises a two-dimensional array of samples, the two-dimensional array defined by the plurality of receivers and a respective plurality of range bins for each receiver of the plurality of receivers;
• wherein each range bin of each respective plurality of range bins contains a sample from the respective receiver of the plurality of receivers;
• wherein the first plurality of time slices is accumulated into a first three-dimensional array during the first scan;
• wherein the receive pipeline is further configured to produce samples during a second plurality of time slices of a second scan;
• wherein the second plurality of time slices is accumulated into a second three-dimensional array during the second scan;
• wherein the receive pipeline is further configured to output the first and second three-dimensional arrays to the processor;
• wherein the processor is configured to selectively store a portion of the first three-dimensional array in a memory, wherein the portion of the first three-dimensional array comprises less than the entire first three-dimensional array, and wherein the portion of the first three-dimensional array comprises a first time series of samples from at least one range bin of each receiver of the plurality of receivers;
• wherein the processor is further configured to selectively store a portion of the second three-dimensional array into the memory, wherein the portion of the second three-dimensional array comprises less than the entire second three-dimensional array, and wherein the portion of the second three-dimensional array comprises a second time series of samples for the at least one range bin of each receiver of the plurality of receivers;
• wherein the processor is further configured to combine the portion of the second three-dimensional array with the portion of the first three-dimensional array and store the combined three-dimensional array in the memory, and wherein the portion of the second three-dimensional array that is less than the entire second three-dimensional array is combined with the portion of the first three-dimensional array that is less than the entire first three-dimensional array by concatenating the second time series of samples for the at least one range bin of each receiver of the plurality of receivers to the first time series of samples for the at least one range bin of each receiver of the plurality of receivers;
• and
• wherein the processor is further configured to Doppler process the concatenated first and second time series of samples for the at least one range bin of each receiver of the plurality of receivers by performing Fourier analysis on each of the concatenated first and second time series of samples.