A radar apparatus is mountable to a vehicle. The radar apparatus includes an observing unit, an estimating unit, a predicting unit, a matching processing unit, and a determining unit. The estimating unit calculates, regarding an initial detection target object, a plurality of velocity estimation values in which folding is presumed, using a velocity observation value calculated by the observing unit. The predicting unit calculates a prediction value from each of the plurality of velocity estimation values. The matching processing unit performs association of the velocity prediction value and the velocity observation value.

In accordance with described examples, a method determines if a velocity of an object detected by a radar is greater than a maximum velocity by receiving on a plurality of receivers at least one frame of chirps transmitted by at least two transmitters and reflected off of the object. A velocity induced phase shift (φ.sub.d) in a virtual array vector S of signals received by each receiver corresponding to a sequence of chirps (frame) transmitted by each transmitter is estimated. Phases of each element of virtual array vector S are corrected using φ.sub.d to generate a corrected virtual array vector S.sub.c. A first Fourier transform is performed on the corrected virtual array vector S.sub.c to generate a corrected virtual array spectrum to detect a signature that indicates that the object has an absolute velocity greater than a maximum velocity.

A non-transitory computer-readable medium stores instructions that cause processors to obtain an N×M range matrix comprising radar data indexed by velocity and antenna and an M×S steering matrix comprising expected phases indexed by antenna and hypothesis angle. For each unique X×Y range slice corresponding to a particular set of X velocities, processors store the particular range slice in a first buffer. For each unique Y×Z steering slice corresponding to a particular set of Y antenna, processors store the particular steering slice in a second buffer. The processors perform beamforming operations on the range, steering, and intermediate slices, storing the result in a third buffer as the intermediate slice. After each steering and range slice for the particular set of X velocities has been iterated through, the processors store the intermediate slice as a beamforming slice for the particular set of X velocities and the hypothesis angles.

The Fractional Fourier Transform (FrFT) may be used to extract multiple radar targets in clutter where some targets may be relatively weak. To do this, stronger targets may be removed by rotating to the proper axis t.sub.a using rotational parameter a, in which the target signal becomes a strong tone. By searching for the maximum peak over all values of a, stronger moving target echoes can be found and notched out, and weaker targets can then be extracted.

Methods, devices and instruction-carrying storage operate to track a target object over time and space. The tracking techniques involve obtaining a point cloud of reflection points at time n, a target from time n−1, state information including previous location information for the target and previous group distribution for previous reflection points associated with the target at time n−1; predicting a location of the target at time n based on the state information; determining a gate around the target and which of the multiple reflection points are within the gate; determining, for each of the multiple reflection points determined to be within the gate, a likelihood that the corresponding reflection point is associated with the target; determining current group distribution for the reflection points determined to likely be associated with the target; and outputting the determined current group distribution and current location information of the target.

Efficient super-resolution of stationary objects (e.g., objects on the roadside or above the road) can be achieved in automotive imaging radar by obtaining sensor information regarding the motion of the radar system (e.g., vehicle speed), performing analog plurality of scans of different elevations, removing motion from the data by applying the inverse of the motion of the radar system, applying a beamspace processing algorithm to achieve super resolution, and outputting a detailed high-resolution radar image of the stationary objects.

This radar device comprises a signal generation circuit for generating a baseband signal, a code generation circuit for generating a plurality of code sequences, a phase rotation circuit for applying phase rotation based on one of the code sequences from among the plurality of code sequences to the baseband signal and generating a plurality of code multiplexed transmission signals, and a plurality of transmission antennas for transmitting the plurality of transmission signals. The code length of the plurality of code sequences is greater than the code multiplexing number of the plurality of transmission signals.

This radar device comprises a signal generation circuit for generating a baseband signal, a code generation circuit for generating a plurality of code sequences, a phase rotation circuit for applying phase rotation based on one of the code sequences from among the plurality of code sequences to the baseband signal and generating a plurality of code multiplexed transmission signals, and a plurality of transmission antennas for transmitting the plurality of transmission signals. The code length of the plurality of code sequences is greater than the code multiplexing number of the plurality of transmission signals.

An electronic device includes a transmission antenna that transmits a transmission wave, a reception antenna that receives a reflected wave that is the transmission wave having been reflected, and a control unit that detects an object that reflects the transmission wave, based on a transmission signal transmitted as the transmission wave and a reception signal received as the reflected wave. The control unit performs control to detect, as a target, an object having a motion characteristic of a motion of an arm of a person, among objects located around the electronic device.

An electronic device includes a transmission antenna that transmits a transmission wave, a reception antenna that receives a reflected wave that is the transmission wave having been reflected, and a control unit that detects an object that reflects the transmission wave, based on a transmission signal transmitted as the transmission wave and a reception signal received as the reflected wave. The control unit performs control to detect, as a target, an object having a motion characteristic of a motion of an arm of a person, among objects located around the electronic device.