An object sensing apparatus 1 includes: an emission unit 11 configured to emit an RF transmission signal in each period; a reception unit 21 configured to receive a reflected wave of the RF transmission signal as an RF reception signal; an IF signal generation unit 22 configured to generate an IF signal by mixing the RF transmission signal and the RF reception signal; a one-dimensional spectrum generation unit 23 configured to generate a one-dimensional spectrum with respect to distance obtained using the object sensing apparatus as a reference, based on the IF signal, and use the generated one-dimensional spectrum to generate a one-dimensional spectrum with fixed object reflection removed, from which a signal component caused by a reflected wave from a fixed object present in an emission range has been removed; a position detection unit 24 configured to detect a position of an object other than the fixed object based on the amplitude of the one-dimensional spectrum with fixed object reflection removed; and a displacement detection unit 25 configured to detect displacement of the object other than the fixed object, based on the phase of the one-dimensional spectrum with fixed object reflection removed, which corresponds to the position of the object other than the fixed object.

An object sensing apparatus 1 includes: an emission unit 11 configured to emit an RF transmission signal in each period; a reception unit 21 configured to receive a reflected wave of the RF transmission signal as an RF reception signal; an IF signal generation unit 22 configured to generate an IF signal by mixing the RF transmission signal and the RF reception signal; a one-dimensional spectrum generation unit 23 configured to generate a one-dimensional spectrum with respect to distance obtained using the object sensing apparatus as a reference, based on the IF signal, and use the generated one-dimensional spectrum to generate a one-dimensional spectrum with fixed object reflection removed, from which a signal component caused by a reflected wave from a fixed object present in an emission range has been removed; a position detection unit 24 configured to detect a position of an object other than the fixed object based on the amplitude of the one-dimensional spectrum with fixed object reflection removed; and a displacement detection unit 25 configured to detect displacement of the object other than the fixed object, based on the phase of the one-dimensional spectrum with fixed object reflection removed, which corresponds to the position of the object other than the fixed object.

Described is a way to process radar data for a radar sensor mounted on a vehicle to generate motion spectrum data for estimating ego-motion information of the vehicle. Data samples of each of a plurality of radar return signals received at each antenna element of the radar sensor are generated for each antenna element. Respective Doppler-processed data including a plurality of data values is calculated for each Doppler bin index. In generating a set of motion spectrum data, which comprises a plurality of data elements each calculated for a respective Doppler bin index and a respective spatial bin index, data values of the Doppler-processed data calculated for the Doppler bin index are selected to calculate a covariance matrix. A spectral estimation algorithm, which uses the covariance matrix, can determine a spatial spectrum value for each spatial bin index.

A method of determining ego-motion information of a vehicle comprising a radar sensor having a plurality of antenna elements, comprising: acquiring motion spectrum comprising a plurality of data elements, each calculated for a respective one of a plurality of Doppler bin indices and for a respective one of a plurality of spatial bin indices, each spatial bin index indicating a respective angle-of-arrival of a radar return signal at the radar sensor; and determining the ego-motion information by solving a motion equation system comprising equations of motion generated using the motion spectrum data and each relating a respective value indicating a radial velocity, a respective value indicating an angular displacement, and a variable indicating a velocity of the vehicle.

Techniques for allowing a vehicle equipped with at least one radar to take-off and land using radar return images of a landing site. The at least one radar generates radar return image(s) of the landing site, specifically of reflective symbols attached to the landing site, allowing the vehicle to orient itself to the landing site and providing information specific to the landing site. Position and velocity in relation to a landing site can be determined using at least one radar and a guidance and landing system. Using the position and velocity information, the guidance and landing system can guide the vehicle to and from the landing site and/or determine whether an obstacle requires the use of an alternate landing site.

Aspects of the disclosure are directed to spatial imaging using an imaging radar including generating a plurality of range/Doppler/channel images from a detected image and a four-dimensional image; generating a transfer matrix for each of the plurality of range/Doppler/channel images; generating a plurality of scatterer parameters using maximum likelihood (ML) processing on the plurality of range/Doppler/channel images; generating a plurality of refined scatterer parameters from the plurality of scatterer parameters and the transfer matrix; determining a minimal-order scatterer configuration using the plurality of refined scatterer parameters and the transfer matrix; and generating a set of determined scatterer parameters from the minimal-order scatterer configuration and the transfer matrix.

A computer includes a processor and a memory storing instructions executable by the processor to receive radar data from a radar sensor of a vehicle; demarcate a zone of coverage of the radar sensor, the zone of coverage having an area based on a number of objects indicated by the radar data; and after demarcating the zone of coverage, in response to detecting a newly present object in the zone of coverage, adjust a scanning rate of the radar sensor based on a distance of the newly present object from the radar sensor.

A computer includes a processor and a memory storing instructions executable by the processor to receive radar data from a radar sensor of a vehicle; demarcate a zone of coverage of the radar sensor, the zone of coverage having an area based on a number of objects indicated by the radar data; and after demarcating the zone of coverage, in response to detecting a newly present object in the zone of coverage, adjust a scanning rate of the radar sensor based on a distance of the newly present object from the radar sensor.

A circuitry for simultaneous localization and mapping for a mobile platform, wherein the circuitry is configured to: estimate, based on obtained radar detection data, an ego-motion of the mobile platform; and update, based on the estimated ego-motion and the obtained radar detection data, a set of particles, wherein each particle of the set of particles includes a location and an orientation of the mobile platform and an occupancy grid map that represents an environment of the mobile platform, wherein the occupancy grid map includes a plurality of cells and each cell of the plurality of cells is assigned an occupation probability which indicates a probability that the cell is occupied by a target.

A scanning and perception system for a vehicle camera having an instantaneous field of view (iFOV) and configured to capture an image of an object at a saturation level in the camera's iFOV. The system also includes a light source configured to illuminate the camera's iFOV. The system additionally includes a radar configured to determine the object's velocity and the object's distance from the vehicle, and a mechanism configured to steer the radar and/or the camera. The system also includes an electronic controller programmed to regulate the mechanism and adjust illumination intensity of the light source in response to the saturation level in the image or the determined distance to the object. The controller is also programmed to merge data indicative of the captured image and data indicative of the determined position of the object and classify the object and identify the object's position in response to the merged data.