# US 9,753,132 B1 · On-demand multi-scan micro doppler for vehicle

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- Number: US 9,753,132 B1
- Document ID: US9753132B1
- Status: Granted
- Kind: B1
- Application number: 15/463,298
- Filed: 2017-03-20
- Granted: 2017-09-05
- Earliest claimed: 2016-04-25
- Assignees: Uhnder, Inc.
- Applicants: Uhnder, Inc.
- Inventors: Jean P. Bordes; Raghunath K. Rao; Monier Maher
- Web page: https://patentgrep.com/patent/US9753132B1

## CPC

- G01S 13/50: Systems of measurement based on relative movement of target
- G01S 7/354: {Extracting wanted echo-signals (Doppler systems G01S13/50)}
- G01S 13/18: wherein range gates are used
- G01S 13/325: {using transmission of coded signals, e.g. P.S.K. signals}
- G01S 13/36: with phase comparison between the received signal and the contemporaneously transmitted signal
- G01S 13/931: of land vehicles
- G01S 7/356: {involving particularities of FFT processing}
- G01S 2013/93271: {in the front of the vehicles}
- G01S 2013/93272: {in the back of the vehicles}
- G01S 2013/93274: {on the side of the vehicles}
- G01S 2013/93276: {in the windshield area}
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

A radar sensing system for a vehicle includes a transmitter, a receiver, a memory, and a processor. The transmitter transmits a radio signal and the receiver receives a reflected radio signal. The processor samples reflected radio signals during a plurality of time slices. The processor produces samples by correlating reflected radio signals to time-delayed replicas of transmitted radio signals. The processor accumulates the time slices into a first radar data cube and stores the first radar data cube in a memory. The processor combines a portion of the first radar data cube with a portion of a previously stored radar data cube. Based at least in part on the combined portions of the radar data cubes, the processor processes a time series that is a time series of the first radar data cube concatenated with a time series from the previously stored radar data cube.

## Claims

### Claim 1

A radar sensing system for a vehicle, the radar sensing system comprising:
at least one transmitter configured for installation and use on a vehicle, and configured to transmit radio signals;
at least one receiver configured for installation and use on the vehicle, and configured to receive radio signals, wherein the received radio signals include reflected radio signals that are the transmitted radio signals reflected from an object;
wherein the at least one receiver is configured to correlate received radio signals of the at least one receiver with a plurality of time-delayed replicas of the transmitted radio signals to produce 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 the at least one receiver;
wherein the samples are produced during a first plurality of time slices of a first scan;
wherein the first plurality of time slices is accumulated into a first radar data cube;
wherein the receiver is further configured to output the first radar data cube to a processor;
wherein the processor is configured to selectively store at least a portion of the first radar data cube in a memory;
wherein the processor is further configured to combine the at least a portion of the first radar data cube with at least a portion of a second radar data cube that was previously stored in the memory;
wherein, based at least in part on the combined at least a portion of the first radar data cube and the at least a portion of the second radar data cube, the processor is configured to process a first time series of samples that is a first time series of samples of the first radar data cube concatenated with a second time series of samples from the second radar data cube; and
wherein the processor is further configured to Doppler process the concatenated first and second time series of samples by performing Fourier analysis on each of the concatenated first and second time series of samples.

### Claim 2 (depends on 1)

The vehicle radar sensing system of claim 1, wherein the transmitted radio signals and the received radio signals are respectively transmitted and received simultaneously.

### Claim 3 (depends on 2)

The vehicle radar sensing system of claim 2 further comprising post processing of an output of the Doppler processing to establish angle of arrival for each output of the Doppler processing.

### Claim 4 (depends on 2)

The vehicle radar sensing system of claim 2, wherein the Doppler processing is performed on a time series synthesized from the time series data from two or more range bins.

### Claim 5 (depends on 2)

The vehicle radar sensing system of claim 2, wherein the radio signals comprise phase modulated continuous wave radio frequency (RF) signals.

### Claim 6 (depends on 1)

The vehicle radar sensing system of claim 1, wherein a time-delayed replica of the transmitted radio signals that is highly correlating with a delay of the received signal produces a complex value with a larger amplitude as compared to an amplitude of non-correlating signals.

### Claim 7

A method for achieving high resolution Doppler measurements for a vehicle radar sensing system, the method comprising:
providing a radar sensing system comprising a plurality of transmitters configured for installation and use on a vehicle, a receive pipeline comprising a plurality of receivers configured for installation and use on the vehicle, and a processor for processing signals received by the receivers, wherein the received signals include reflected radio signals that are radio signals transmitted by the plurality of transmitters and reflected from an object;
sampling the received signals during a plurality of time slices, wherein each time slice comprises a plurality of samples, a respective sample for each range bin of each plurality of range bins for each receiver of the plurality of receivers in each time slice, and wherein the samples are produced by correlating the received signals to time-delayed replicas of the transmitted signals;
accumulating the plurality of time slices into a first radar data cube;
providing the first radar data cube to a processor;
storing at least a portion of the first radar data cube in a memory with the processor, wherein only a subset of the first radar data cube is identified and saved in the memory, and wherein the subset comprises a first time series of samples from each receiver of the plurality of receivers for a particular range bin, or bins, of interest;
combining the subset of the first radar data cube with one or more previously stored subsets of additional radar data cubes; and
based at least in part on the combined first radar data cube and the one or more previously stored radar data cubes, the processor Doppler processing a time series of samples that is a first time series of the subset of the first radar data cube concatenated with at least a second time series from the one or more previously stored subsets of the additional radar data cubes, wherein the Doppler processing comprises performing Fourier analysis on each sample of the time series of samples that is a first time series of the subset of the first radar data cube concatenated with at least a second time series from the one or more previously stored subsets of the additional radar data cubes.

### Claim 8 (depends on 7)

The method of claim 7, wherein the transmitted radio signals and the received radio signals are respectively transmitted and received simultaneously.

### Claim 9 (depends on 8)

The method of claim 8 further comprising post processing an output of the Doppler processing to establish angle of arrival for each Doppler output.

### Claim 10 (depends on 7)

The method of claim 7, wherein a time-delayed replica of the transmitted radio signals that is highly correlating with a delay of the received signal produces a complex value with a larger amplitude as compared to an amplitude of non-correlating signals.

### Claim 11 (depends on 7)

The method of claim 7, wherein the Doppler processing is performed on a time series synthesized from the time series data from two or more range bins.

### Claim 12 (depends on 7)

The method of claim 7, wherein the radio signals comprise phase modulated continuous wave radio frequency (RF) signals.

### Claim 13 (depends on 7)

The method of claim 7, wherein the concatenated first and second time series of samples provides a higher Doppler resolution than the first time series, and wherein the higher Doppler resolution is achieved during the second scan, and wherein the second scan is substantially equal in time duration to the first scan.