Processing of a range-Doppler matrix of a radar system is described. For easy, efficient and rapid ascertainment of a detection threshold of the range-Doppler matrix, only a partial quantity of the cells of the range-Doppler matrix is selected, and the detection threshold is ascertained on the basis of the selected partial quantity of cells of the range-Doppler matrix.

Feedback for map information is based on an integrated navigation solution for a device within a moving platform using obtained motion sensor data from a sensor assembly of the device, obtained radar measurements for the platform and obtained map information for an environment encompassing the platform. An integrated navigation solution is generated based at least in part on the obtained motion sensor data using a nonlinear state estimation technique that uses a nonlinear measurement model for radar measurements. The map information is assessed based at least in part on the integrated navigation solution and radar measurements so that feedback for the map information can be provided.

Methods and systems include, in at least one aspect: obtaining from a camera 2D image data of an object, obtaining from a radar device radar data of the object, combining the radar data and the 2D image data to produce 3D location information of the object, and modeling a 2D trace of the object using the 2D image data by finding an initial version of the 2D trace, receiving an initial portion of the 3D location information, extending the initial portion of the 3D location information in accordance with physical-world conditions to find at least one 3D location beyond the initial portion of the 3D location information, projecting the at least one 3D location into a 2D image plane of the camera to locate 2D region, and processing the 2D region in the 2D image data to extend the 2D trace of the object in flight.

Embodiments relate to using an active reflected wave detector to classify the state of a person in an environment and optionally respond accordingly. In one embodiment there is provided a computer implemented method of determining a state of a person comprising: receiving an output of an active reflected wave detector; classifying a state of the person as being in a safe supported state based on the output using measurements of reflections associated with the person, wherein said classifying is based at least on: a height metric associated with at least one reflection from the person conveyed in the output of the active reflected wave detector; and a plurality of velocity magnitude measurements of the person corresponding to different times, each of said velocity magnitude measurements determined using the reflections associated with the person conveyed in the output of the active reflected wave detector.

In some examples, a first plurality of independent waveforms can be generated and converted into a first plurality of independent transmitted radar signals transmitted towards a field of view using a transmitter array comprising a first plurality of transmitter antennas. Further, a second plurality of receive radar signals to the first plurality of independent transmitted radar signals can be received from the field of view using a receiver array comprising a second plurality of receiver antennas. The second plurality of receive radar signals can be combined to form a combined receive radar signal and a representation of one or more areas of interest in the field of view can be provided using the combined receive radar signal. One or more attributes of the one or more areas of interest can be rendered using the representation of the one or more areas of interest.

This application provides a signal detection method and apparatus, and a radar system, which may be applied to the internet of vehicles, intelligent vehicle, autonomous driving, or intelligent driving field. The signal detection method (700) includes: A first radar transmits a first sounding signal in a first time period of a first frame (710). The first radar transmits a second sounding signal in a second time period of the first frame (720). The first radar receives reflected signals corresponding to the first sounding signal and the second sounding signal (730). The first radar determines a false alarm target based on a difference between a first distance-velocity spectrum and a second distance-velocity spectrum (740). The second sounding signal is a signal obtained through first phase code modulation based on the first sounding signal. The signal detection method can be used to determine the false alarm target, and identify a real target, thereby improving a probability and reliability of detecting the correct target.

Provided is a radar apparatus that detects a target object with high accuracy. The radar apparatus includes: transmission circuitry, which, in operation, alternately outputs a first transmission signal with a first central frequency and a second transmission signal with a second central frequency higher than the first central frequency for each transmission period; and one or a plurality of transmission antennas, which, in operation, transmit the fast transmission signal and the second transmission signal. The second central frequency is higher than a frequency (1+1/Nc) times the first central frequency, where Nc is an integer indicating a number of times of transmission of each of the first transmission signal and the second transmission signal for the each transmission period within a predetermined duration.

A method and apparatus for selecting frequency modulated continuous wave waveform parameters for multiple radar coexistence by a user equipment is described. The user equipment may transmit a radar waveform consisting of a number of chirps, with each chirp having a same duration. The user equipment may vary waveform parameters of the radar waveform for at least a subset of the number of chirp, where the waveform parameters may be chosen from a codebook comprising at least one codeword of parameters. Reflected radar waveforms are received and processed where the processing includes applying a fast time discrete Fourier transform to reflected radar waveforms to produce a one dimension peak in a time delay dimension for each reflected waveform; and applying a slow time discrete Fourier transform to the reflected radar waveforms, where peaks for the reflected waveforms are added.

A system and method for generating communications waveforms that can operate in congested frequency spaces and in applications in which the receiver is moving with respect to the transmitter is provided. In one or more examples, each symbol to be encoded and transmitted is converted into a sequence of frequency chirps. The sequence of frequencies used by the sequence of chirps is based on the symbol that is to be encoded. Each chirp can have a center frequency, and the frequency can be swept over the duration of the chirp. In this way each chirp can have a varying frequency over the duration of the chirp, but the phase of the chirp can be continuous throughout the duration of the chirp. The bandwidth and sweep rate of the chirp can be based on the expected maximum velocity of the receiver and the transmitter relative to one another.

An object recognition determination produced by a perception system from data received from a ranging sensor system can be verified. A certificate can be produced that includes data for points of readings from the ranging sensor system. The points can have been segmented, by the perception system, into point sets that correspond to objects in an environment of a cyber-physical system. The certificate can also include lists of pairs of points in a point set and a velocity of the point set. A test of information in the certificate can be performed. Based on a result of the test: a rectification can be made to the perception system or the ranging sensor system or a communication can be transmitted to a control signal production module configured to produce, in response to the communication, a control signal to be transmitted to an actuator system configured to control the cyber-physical system.