A method and processor to determine spatial information regarding a vehicle. The method includes receiving at least one initial frame of FMCW radar data including spatial information regarding the vehicle associated with a radar signal reflected back from the vehicle via a surface of at least one stationary object other than the vehicle. The method also includes receiving at least one further frame of FMCW radar data including: spatial information regarding the vehicle associated with a radar signal reflected back from the vehicle via the surface of at least one stationary object other than the vehicle, and spatial information regarding the vehicle associated with a radar signal reflected directly back from the vehicle. The method further includes using the at least one initial frame of radar data to correct for static clutter associated with the at least one stationary object in the at least one further frame of radar data.

Techniques for automatic adaptive scanning with a laser scanner include obtaining range measurements at a coarse angular resolution and forming a horizontally sorted range gate subset and a characteristic range. A fine angular resolution is determined automatically based on the characteristic range and a target spatial resolution. If the fine angular resolution is finer than the coarse angular resolution, then a minimum and maximum vertical angle is automatically determined in each horizontal slice extending a bin size from any previous horizontal slice. A set of adaptive minimum and maximum vertical angles is determined automatically by dilating and interpolating the minimum and maximum vertical angles of all the slices to the second horizontal angular resolution. A horizontal start angle, and the set of adaptive minimum and maximum vertical angles are sent to cause the ranging system to obtain measurements at the second angular resolution.

Techniques for automatic adaptive scanning with a laser scanner include obtaining range measurements at a coarse angular resolution and forming a horizontally sorted range gate subset and a characteristic range. A fine angular resolution is determined automatically based on the characteristic range and a target spatial resolution. If the fine angular resolution is finer than the coarse angular resolution, then a minimum and maximum vertical angle is automatically determined in each horizontal slice extending a bin size from any previous horizontal slice. A set of adaptive minimum and maximum vertical angles is determined automatically by dilating and interpolating the minimum and maximum vertical angles of all the slices to the second horizontal angular resolution. A horizontal start angle, and the set of adaptive minimum and maximum vertical angles are sent to cause the ranging system to obtain measurements at the second angular resolution.

Provided is a pulse radar device including: a TX unit configured to emit a TX pulse according to a single TX clock signal; a multiple-RX units configured to receive echo pulses received through a plurality of RX antennas according to multiple RX clock signals; a pulse radar driving unit configured to generate the single TX clock signal and the multiple RX clock signals using a reference clock signal. The pulse radar driving unit provides the single TX clock signal and the multiple RX clock signals for the TX unit and the multiple-RX unit. The pulse radar driving unit adjusts an RX clock-to-clock delay that is the delay between the multiple RX clock signals so as to adjust a directivity of the multiple-RX unit, and a TX-to-RX delay between the single TX clock signal and the multiple RX clocks signals so as to adjust a detection range.

Provided is a pulse radar device including: a TX unit configured to emit a TX pulse according to a single TX clock signal; a multiple-RX units configured to receive echo pulses received through a plurality of RX antennas according to multiple RX clock signals; a pulse radar driving unit configured to generate the single TX clock signal and the multiple RX clock signals using a reference clock signal. The pulse radar driving unit provides the single TX clock signal and the multiple RX clock signals for the TX unit and the multiple-RX unit. The pulse radar driving unit adjusts an RX clock-to-clock delay that is the delay between the multiple RX clock signals so as to adjust a directivity of the multiple-RX unit, and a TX-to-RX delay between the single TX clock signal and the multiple RX clocks signals so as to adjust a detection range.

The echoes being picked up in the distance-speed domain, the method being wherein it includes a step of producing a mask, in the distance-speed plane, overlying the zone of detection of the ground and/or sea clutter echoes picked up by the sidelobes, the zone being determinable by the antenna parameters of the radar, the waveform emitted by the radar and the environmental context of the radar, all the points of the distance-speed plane which are covered by the mask being assigned a characteristic which is specific to the mask; a step of filtering the received echoes, in which the echoes covered by the mask are rejected from the radar reception processing.

The echoes being picked up in the distance-speed domain, the method being wherein it includes a step of producing a mask, in the distance-speed plane, overlying the zone of detection of the ground and/or sea clutter echoes picked up by the sidelobes, the zone being determinable by the antenna parameters of the radar, the waveform emitted by the radar and the environmental context of the radar, all the points of the distance-speed plane which are covered by the mask being assigned a characteristic which is specific to the mask; a step of filtering the received echoes, in which the echoes covered by the mask are rejected from the radar reception processing.

Techniques for automatic adaptive scanning with a laser scanner include obtaining range measurements at a coarse angular resolution and forming a horizontally sorted range gate subset and a characteristic range. A fine angular resolution is determined automatically based on the characteristic range and a target spatial resolution. If the fine angular resolution is finer than the coarse angular resolution, then a minimum and maximum vertical angle is automatically determined in each horizontal slice extending a bin size from any previous horizontal slice. A set of adaptive minimum and maximum vertical angles is determined automatically by dilating and interpolating the minimum and maximum vertical angles of all the slices to the second horizontal angular resolution. A horizontal start angle, and the set of adaptive minimum and maximum vertical angles are sent to cause the ranging system to obtain measurements at the second angular resolution.

Techniques for automatic adaptive scanning with a laser scanner include obtaining range measurements at a coarse angular resolution and forming a horizontally sorted range gate subset and a characteristic range. A fine angular resolution is determined automatically based on the characteristic range and a target spatial resolution. If the fine angular resolution is finer than the coarse angular resolution, then a minimum and maximum vertical angle is automatically determined in each horizontal slice extending a bin size from any previous horizontal slice. A set of adaptive minimum and maximum vertical angles is determined automatically by dilating and interpolating the minimum and maximum vertical angles of all the slices to the second horizontal angular resolution. A horizontal start angle, and the set of adaptive minimum and maximum vertical angles are sent to cause the ranging system to obtain measurements at the second angular resolution.

A method for the coherent integration of Fill Pulses in Pulse Doppler Radar sensors is disclosed. The present invention uses a pre- and a post-coherent waveform transmission and reception period to collect transient signals from reflections of Fill Pulses throughout the range extent. It then reassembles these signals to produce additional coherently integrable pulses of interval returns that are input to the filter and coherently integrated along with normally coherently integrated pulses. The result is an improved Signal To Noise Ratio (SNR) and Signal To Clutter Ratio (SCR) which is related to the total number of pulses emitted, including the Fill Pulses. This improvement can be obtained almost solely by signal processing in a digitally controlled Radar, and requires few if any hardware modifications.