A motion detection device is provided. The motion detection device includes a first antenna, a voltage-controlled oscillator, a phase detector and a signal processing unit. The first antenna receives a first signal generated by a second signal reflected by a target object, so as to output the first signal to the phase detector or the voltage-controlled oscillator. The voltage-controlled oscillator receives first signal or the second signal and receives a frequency adjustment signal, so as to generate an oscillating signal according to the frequency adjustment signal and the one of the first signal and the second signal. The phase detector receives the oscillating signal and another one of the first signal and the second signal, and generates a first phase output signal and a second phase output signal. The signal processing unit estimates motion parameters of the target object according to the first and the second phase output signal.

A method is provided for determining a mobility status of a target object located in an environment of a sensor configured to monitor a surrounding environment of a vehicle. According to the method, a detection angle of the target object is determined with respect to the sensor based on data acquired by the sensor, and an ideal beam vector for a stationary object is predicted based on the detection angle. The ideal beam vector and a measured beam vector obtained from the data acquired by the sensor are normalized, and a correlation of the normalized ideal beam vector and the normalized measured beam vector is determined. A score is determined based on the correlation of the normalized ideal and measured beam vectors and indicates whether the target object is stationary or moving.

A clutter suppressing device for suppressing echo data of static clutter components indicating reflection waves caused by radar transmission signals reflecting on a static object is provided. The device includes a static clutter component suppressor configured to receive reception signals containing the static clutter components, and suppress the static clutter components, a reference data memory configured to store, as reference data, echo data of the reception signals obtained in fine weather and in which the static clutter components are suppressed by the static clutter component suppressor, and a rain component extracting module configured to extract echo data indicating rain components contained in the reception signals, by removing the reference data stored in the reference data memory from echo data of the reception signals obtained in rainy weather and in which the static clutter components are suppressed by the static clutter component suppressor.

A traffic radar system (TRS) utilizing an automated test process which aids the operator in quickly conducting comprehensive system tuning fork tests that includes front and rear antennas and stationary, moving opposite, and moving same-lane operations. The automated process has the ability to select the proper radar antenna and proper mode of operation for each step of the test. The process will measure the input fork signals and report if the signals are within the specified tolerance. Optionally, the process can be set to not allow the radar system to enter the normal operating mode if the tuning fork tests have not been successfully completed.

Provided are methods for object tracking, which can include receiving sensor data characterizing respective detected objects. The methods can also include generating a data structure based on the data characterizing the respective detected objects. The data structure can include a graph of nodes representing states of the objects and edges representing hypothetical transitions in states of the objects. The methods can also include applying a predictive model to the data structure. The predictive model can be trained to receive the state as inputs and produce an identification of a set of nodes and edges corresponding to the one of the respective detected objects. The methods can further include providing data based on the identification of the set of nodes and edges to a planning system of the vehicle and causing the vehicle to operate based on providing the data. Systems and computer program products are also provided.

Provided are methods for object tracking, which can include receiving sensor data characterizing respective detected objects. The methods can also include generating a data structure based on the data characterizing the respective detected objects. The data structure can include a graph of nodes representing states of the objects and edges representing hypothetical transitions in states of the objects. The methods can also include applying a predictive model to the data structure. The predictive model can be trained to receive the state as inputs and produce an identification of a set of nodes and edges corresponding to the one of the respective detected objects. The methods can further include providing data based on the identification of the set of nodes and edges to a planning system of the vehicle and causing the vehicle to operate based on providing the data. Systems and computer program products are also provided.

A clutter suppressing device for suppressing echo data of reflection waves caused by radar transmission signals reflecting on a static object is provided. Each of the radar transmission signals is transmitted at a predetermined azimuth from a radar antenna at a predetermined time interval. The clutter suppressing device includes an echo data memory configured to sequentially store a plurality of echo data of reflection waves caused by the radar transmission signals reflecting on objects, a filter configured to select, from the plurality of echo data, a data row in the azimuth direction for a predetermined distance, and suppress, in the data row, echo data of a target object moving at a speed within a predetermined range, and a suppression echo data output unit configured to output suppression echo data containing the echo data suppressed by the filter.

The various implementations described herein include methods, devices, and systems for utilizing radar in smart devices. In one aspect, an electronic device includes: (1) circuit boards; (2) a housing encasing the circuit boards; (3) a communications module coupled to the circuit boards, including one or more antennas and configured for communicating with remote devices; (4) a radar module coupled to the circuit boards, configured for generating radar data for a home environment and including: (a) low power radar transmitters; and (b) radar receivers; (5) one or more processors mounted to one of the circuit boards, the processors configured to: (a) govern operation of the communications module and the radar module; (b) determine location and/or movement of detected objects in the home environment; and (c) detect anomalies associated with the detected objects; and (6) a power source coupled to the processors, the communications module, and the radar module.

The various implementations described herein include methods, devices, and systems for utilizing radar in smart devices. In one aspect, an electronic device includes: (1) circuit boards; (2) a housing encasing the circuit boards; (3) a communications module coupled to the circuit boards, including one or more antennas and configured for communicating with remote devices; (4) a radar module coupled to the circuit boards, configured for generating radar data for a home environment and including: (a) low power radar transmitters; and (b) radar receivers; (5) one or more processors mounted to one of the circuit boards, the processors configured to: (a) govern operation of the communications module and the radar module; (b) determine location and/or movement of detected objects in the home environment; and (c) detect anomalies associated with the detected objects; and (6) a power source coupled to the processors, the communications module, and the radar module.

A ghost removal method includes steps of detecting, estimating and excluding. In the detecting, a position and a relative speed of a target moving object, and a position of a surrounding stationary object are detected with radio waves. In the estimating, a position and a relative speed of a ghost by the target moving object are estimated based on the detected position and relative speed of the target moving object and the position of the surrounding stationary object. In the excluding, a detected point where the estimated position and the relative speed of the ghost are detected is excluded from a candidate detection point of a moving object which is detected with radio waves.