The present invention relates to a method of estimating a velocity magnitude of a moving target in a horizontal plane using radar signals received by a radar detection system, the radar detection system being configured to resolve multiple dominant points of reflection, i.e. to receive a plurality of radar signals from the moving target in a single measurement instance of a single, wherein each of the resolved points of reflection is described by data relating to a range, an azimuth angle and a raw range rate of the points of reflection in said single radar measurement instance. The invention further relates to a radar detection system.

A vehicle radar system (3) including a control unit arrangement (8) and at least one radar sensor arrangement (4) arranged to acquire a plurality of measured radar detections (z.sub.t, z.sub.t+1) at different times. The control unit arrangement (8) engages a tracking algorithm using the present measured radar detections (z.sub.t, z.sub.t+1) as input. For each track, for each one of a plurality of measured radar detections (z.sub.t, z.sub.t+1), the control unit arrangement (8) calculates a corresponding predicted detection (x.sub.t|t−1|, x.sub.t+1|t|) and a corrected predicted detection (x.sub.t|t|, x.sub.t+1|t+1|), and calculates an innovation vector (19, 19) constituted by a first vector type (18a, Δφ) and a second vector type (18b, Δr). The control unit arrangement (8) calculates a statistical distribution (24; σ.sub.inno,φ, σ.sub.inno,r) for at least one of the vector types (18a, Δφ; 18b, Δr) and to determine how it is related to another statistical distribution (25; σ.sub.meas,φ, σ.sub.meas,r); and/or to determine its symmetrical characteristics. The tracking algorithm is maintained or re-initialize in dependence of result.

Independent ranging sessions that are initiated by multiple initiating user equipments (UEs) are monitored and combined into a single combined ranging session to reduce overhead. A UE monitors a first set of ranging sessions initiated by a first initiator UE, which include pre-ranging messages identifying UEs in the first set of ranging sessions, and monitors a second set of ranging sessions initiated by a second initiator UE, which include pre-ranging messages identifying UEs in the second set of ranging sessions. The UE initiates a third set of ranging sessions by broadcasting pre-ranging messages identifying UEs in the third set of ranging sessions that comprises the UEs in the first set of ranging sessions and the UEs in the second set of ranging sessions. The original initiator UEs, upon receiving the pre-ranging messages initiating the third set of ranging sessions, terminate the initiation of their ranging sessions.

Disclosed are systems and techniques for processing range sensor data. For instance, an apparatus can be configured to obtain a plurality of measurements from one or more range sensors, and to determine, based on a sparsity constraint, a plurality of coefficients corresponding to a sparse basis expansion of a global environment model. In some aspects, the apparatus can be further configured to perform operations to determine, based on the global environment model, the plurality of coefficients, and the plurality of measurements, at least one of a linear velocity, an angular velocity, or both, corresponding to a range sensor of the one or more range sensors, wherein the global environment model is based on a sparse basis expansion.

Systems and methods for operating radar systems. The methods comprise, by a processor: receiving point cloud information generated by radar devices; grouping data points of the point cloud to form at least one segment; computing possible true range-rate values for each data point in the at least one segment; identifying a scan window including possible true range-rate values for a largest number of data points; determining whether at least two modulus of the data points associated with the possible true range-rate values included in the identified scan window have moduli values that are different by a certain amount; determining a new range-rate value for each data point of the segment, when a determination is made that at least two modulus of the data points do have moduli values that are different by the certain amount; and modifying the point cloud information in accordance with the new range-rate value.

A follow-on object for use in a salvo mission in which one or more lead objects (LO) and a follow-on object track a target. A track state of a tracked object within a sensor field-of-view (FOV) of the follow-on object is initialized. Target-state estimator (TSE) processing based on sensor measurements from the sensor FOV is performed to maintain the track state of the tracked object. Kinematic characteristics of the tracked object are evaluated based on the sensor measurements to compute a probability that the tracked object is an LO based on the evaluated kinematic characteristics. If the probability is not greater than a threshold, the tracked object is designated as the target and TSE processing is resumed. Otherwise, the tracked object is designated as an LO and the track state is re-initialized and the track of the LO is excluded from some intercept task considerations.

The disclosure provides systems, apparatuses, and techniques for operating automotive MIMO radars in crowded multi-path environments to obtain reliable detections by linearly predicting whether a bistatic condition occurred. To avoid saturating computing resources processing bistatic detections, the described techniques enable a radar system to quickly identify and discard from the field-of-view radar detections that are likely a result of bistatic conditions. By ignoring unusable radar returns that are likely a result of bistatic conditions, an example radar system can focus on processing radar returns from static conditions, for example, in providing radar-based detections as output to an automotive system that is driving a vehicle in an autonomous or a semi-autonomous mode. In so doing, the example radar system provides a highly accurate static object detector that is sufficiently quick in detecting bistatic conditions for use in vehicle-safety systems as well as autonomous and semi-autonomous control.

Independent ranging sessions that are initiated by multiple initiating user equipments (UEs) are monitored and combined into a single combined ranging session to reduce overhead. A UE monitors a first set of ranging sessions initiated by a first initiator UE, which include pre-ranging messages identifying UEs in the first set of ranging sessions, and monitors a second set of ranging sessions initiated by a second initiator UE, which include pre-ranging messages identifying UEs in the second set of ranging sessions. The UE initiates a third set of ranging sessions by broadcasting pre-ranging messages identifying UEs in the third set of ranging sessions that comprises the UEs in the first set of ranging sessions and the UEs in the second set of ranging sessions. The original initiator UEs, upon receiving the pre-ranging messages initiating the third set of ranging sessions, terminate the initiation of their ranging sessions.

A scanning imaging sensor is configured to sense an environment through which a vehicle is moving. A method for determining one or velocities associated with objects in the environment includes generating features from the first set of scan lines and the second set of scan lines, the two sets corresponding to two instances in time. The method further includes generating a collection of candidate velocities based on feature locations and time differences, the features selected pairwise with one from the first set and another from the second set. Furthermore, the method includes analyzing the distribution of candidate velocities, for example, by identifying one or more modes from the collection of the candidate velocities.

Various embodiments relate to a device and method for controlling vehicles and a radar system for vehicles. The vehicle controller may include a spectrum generator generating a 2D spectrum, a range-velocity map generator generating a range-velocity map corresponding to each height value included in a height set, a correlation coefficient determiner determining a correlation coefficient corresponding to each height value included in the height set, and a target determiner estimating a height of a target based on the correlation coefficient and recognizing the target based on the height of the target.