A system and method characterizes the height of targets in an environment around a vehicle. Signals are transmitted into the environment and return signals are received to determine a track corresponding to a target. For each track, bins are generated, each bin corresponding to a segment of the range, the segments having a gradually increasing size between the minimum range and maximum range. Range and magnitude values of the received return signals are determined for a selected track. A plurality of filled bins are determined, filled bins indicating that a return signal within the selected track has a range value falling within the segment corresponding to said bin. When the number of filled bins exceeds a set threshold, the return signals having range values within the segments corresponding to the filled bins are analyzed to characterize a height of the target.

Embodiments of this disclosure provide a living object detection method and apparatus and electronic device. The apparatus includes a processor to calculate a distance matrix according to variance of Fourier transform amplitude values of radio signals received by a radio signal receiver within a determined period of time; and to calculate a distance between an object among objects and the radio signal receiver according to the distance matrix. According to this disclosure, a position of a living object among the objects may be detected based upon the distance in multiple scenarios.

The vehicle radar apparatus may include a transmitting array antenna configured to radiate radar signals for forward detection, N receiving array antennas configured to receive the radar signals reflected from a target after being radiated from the transmitting array antenna, and a control unit configured to estimate an azimuth of the target by using non-offset receiving array antennas among the N receiving array antennas and estimate an elevation of the target by using a phase difference between an offset receiving array antenna and the non-offset receiving array antenna among the N receiving array antennas and the azimuth of the target.

The vehicle radar apparatus may include a transmitting array antenna configured to radiate radar signals for forward detection, N receiving array antennas configured to receive the radar signals reflected from a target after being radiated from the transmitting array antenna, and a control unit configured to estimate an azimuth of the target by using non-offset receiving array antennas among the N receiving array antennas and estimate an elevation of the target by using a phase difference between an offset receiving array antenna and the non-offset receiving array antenna among the N receiving array antennas and the azimuth of the target.

An observation area is divided into coarse resolution areas each being an area larger than a range cell, a coarse-resolution-area creating unit (12) is provided to calculate a Doppler velocity for each coarse resolution area on the basis of Doppler velocities in a plurality of range cells included in each coarse resolution area among Doppler velocities in range cells calculated by a Doppler velocity calculating unit (11), and a range cell detecting unit (13) detects a range cell in which an observation target is present from the Doppler velocity for each coarse resolution area calculated by the coarse-resolution-area creating unit (12) and the Doppler velocities for the range cells calculated by the Doppler velocity calculating unit (11).

A method for measuring, using a radar or sonar, the velocity with respect to the ground of a carrier moving parallel to the ground, includes the following steps: a) orienting the line of sight of the radar or sonar toward the ground; b) emitting a plurality of radar or sonar signals (P.sub.1-P.sub.N) that are directed toward the ground, and acquiring respective echo signals (E.sub.1-E.sub.N); c) processing the acquired echo signals so as to obtain, for one or more echo delay values, a corresponding Doppler spectrum; d) for the or at least one the echo delay value, determining a high cut-off frequency of the corresponding Doppler spectrum; and e) computing the velocity of the carrier with respect to the ground on the basis of the one or more high cut-off frequencies. A system allowing such a method to be implemented.

A range-direction frequency domain converting unit (231-1) converts reception video signals into signals in a range direction frequency. A hit-direction frequency domain converting unit (232-1) converts the signals in the range direction frequency into signals based on the velocity and the range direction frequency so that the target Doppler frequency belongs to the same velocity bin number independently of variations in frequencies of transmission signals. A correlation unit (233-1) generates signals based on the velocity separated for each of the transmission frequencies and a range after correlation. An integration unit (234-1) generates band-synthesized signals based on the velocity and a range after correlation. A candidate target detecting unit (241) detects candidate targets based on the signal intensity from the output signals of the integration unit (233-1). A target relative velocity/relative range/arrival angle calculating unit (242) calculates the relative velocity, the relative range, and the arrival angle of the candidate targets.

Radio frequency motion sensors may be configured for operation in a common vicinity so as to reduce interference. In some versions, interference may be reduced by timing and/or frequency synchronization. In some versions, a master radio frequency motion sensor may transmit a first radio frequency (RF) signal. A slave radio frequency motion sensor may determine a second radio frequency signal which minimizes interference with the first RF frequency. In some versions, interference may be reduced with additional transmission adjustments such as pulse width reduction or frequency and/or timing dithering differences. In some versions, apparatus may be configured with multiple sensors in a configuration to emit the radio frequency signals in different directions to mitigate interference between emitted pulses from the radio frequency motion sensors.

Radio frequency motion sensors may be configured for operation in a common vicinity so as to reduce interference. In some versions, interference may be reduced by timing and/or frequency synchronization. In some versions, a master radio frequency motion sensor may transmit a first radio frequency (RF) signal. A slave radio frequency motion sensor may determine a second radio frequency signal which minimizes interference with the first RF frequency. In some versions, interference may be reduced with additional transmission adjustments such as pulse width reduction or frequency and/or timing dithering differences. In some versions, apparatus may be configured with multiple sensors in a configuration to emit the radio frequency signals in different directions to mitigate interference between emitted pulses from the radio frequency motion sensors.

A method and an apparatus for removing a motion artifact of a radar are provided. The method includes: obtaining a radar signal for a target to be measured by the radar; measuring posture of the radar; estimating a motion artifact caused by movement of the radar based on a vertical angle, a horizontal angle based on the posture of the radar, and displacement; and correcting the radar signal according to the motion artifact. The posture of the radar includes the vertical angle at which the radar signal is radiated in a vertical direction about a central axis, the horizontal angle at which the radar signal is radiated in a horizontal direction about the central axis, and the displacement of the radar according to the movement of the radar.