Provided is a radar device to generate a plurality of motion hypotheses on a basis of a motion model of a target and to perform motion compensation by calculating a range compensation amount and a phase compensation amount of the target with respect to the sensor on a basis of the motion hypothesis and the motion model.

Provided is a radar device to generate a plurality of motion hypotheses on a basis of a motion model of a target and to perform motion compensation by calculating a range compensation amount and a phase compensation amount of the target with respect to the sensor on a basis of the motion hypothesis and the motion model.

Described are techniques for interleaving range and Doppler radar processing. A data cube is memory accessed differently, from one look period to the next, which allows Doppler processing for a current look period to happen in parallel with range processing for a next look period. Range processing for a first look period writes to rows of the data cube; Doppler processing reads from and empties its columns. But before Doppler processing can finish, a second look period begins. Rather than re-writing to the rows, range processing in the second look period writes to the columns just emptied by the ongoing Doppler processing. Doppler processing for the first look period is allowed to finish by executing during processing idle times in the second period, e.g., in-between chirps. With better processor utilization, Doppler processing is afforded more time to do its complex operations, while keeping look periods as short as possible.

Described are techniques for interleaving range and Doppler radar processing. A data cube is memory accessed differently, from one look period to the next, which allows Doppler processing for a current look period to happen in parallel with range processing for a next look period. Range processing for a first look period writes to rows of the data cube; Doppler processing reads from and empties its columns. But before Doppler processing can finish, a second look period begins. Rather than re-writing to the rows, range processing in the second look period writes to the columns just emptied by the ongoing Doppler processing. Doppler processing for the first look period is allowed to finish by executing during processing idle times in the second period, e.g., in-between chirps. With better processor utilization, Doppler processing is afforded more time to do its complex operations, while keeping look periods as short as possible.