A shared radar and communications system. The system includes a transmitter and a receiver. The transmitter modules signals based on a first spreading code defined at least in part by a first plurality of information bits. The first plurality of information bits encodes selected information. The transmitter transmits the modulated signals. The receiver receives a first signal and a second signal. The first signal includes the transmitted signals transmitted by the transmitter and reflected from objects in an environment. The receiver processes the first signal to detect objects in the environment. The second signal is transmitted from another system. The second signal carries a second plurality of information bits. The receiver processes the second signal to determine the second plurality of information bits. The second plurality of information bits are encoded with information selected by the other system.

An apparatus comprises a transmitter that transmits a signal, a receiver, a multiplier, and a signal shifter included in one of the transmitter and the receiver. The receiver receives a reflected signal comprising an interferer signal with at least one of an amplitude noise or a phase noise and generates a baseband signal comprising a real portion and an imaginary portion. The multiplier multiplies the imaginary portion by a value β chosen based on a power difference α between the amplitude noise and the phase noise, resulting in a modified baseband signal. The signal shifter shifts the interferer signal and the modified baseband signal. An estimator can process the reflected signal and estimate a frequency and phase of the interferer signal for the signal shifter. The value β can be represented as: $\beta =\frac{1}{{\alpha }^2}$
where α represents the power difference between the amplitude noise and the phase noise.

A system for navigating a vehicle automatically from a current location to a destination location without a human operator is provided. The system of the vehicle includes a global positioning system (GPS) for identifying a vehicle location and a communications system for communicating with a server of a cloud system. The server is configured to identify that the vehicle location is near or at a parking location. The communications system is configured to receive mapping data for the parking location from the server, and the mapping data is at least in part used to find a path at the parking location to avoid a collision of the vehicle with at least one physical object when the vehicle is automatically moved at the parking location. The mapping data is processed by electronics of the vehicle so that when the vehicle is automatically moved collision with the at least one physical object is avoided and the electronics of the vehicle is configured to process a combination of sensor data obtained by sensors of the vehicle. The processing of the sensor data uses image data obtained from one or more cameras and light data obtained from one or more optical sensors.

Aspects and implementations of the present disclosure relate to filtering of return points from a point cloud based on radial velocity measurements. An example method includes: receiving, by a sensing system of an autonomous vehicle (AV), data representative of a point cloud comprising a plurality of return points, each return point comprising a radial velocity value and position coordinates representative of a reflecting region that reflects a transmission signal emitted by the sensing system; applying, to each of the plurality of return points, at least one threshold condition related to the radial velocity value of a given return point to identify a subset of return points within the plurality of return points; removing the subset of return points from the point cloud to generate a filtered point cloud; and identifying objects represented by the remaining return points in the filtered point cloud.

An autonomous vehicle (AV) includes a radar sensor system and a computing system that computes velocities of an object in a driving environment of the AV based upon radar data that is representative of radar returns received by the radar sensor system. The AV can be configured to compute a first velocity of the object based upon first radar data that is representative of the radar return from a first time to a second time. The AV can further be configured to compute a second velocity of the object based upon second radar data that includes at least a portion of the first radar data and further includes additional radar data representative of a radar return received subsequent to the second time. The AV can further be configured to control one of a propulsion system, a steering system, or a braking system to effectuate motion of the AV based upon the computed velocities.

A vehicular forward-sensing system includes a radar sensor and a forward viewing image sensor disposed within a windshield electronics module that is removably installed within the vehicle cabin at the vehicle windshield. A control is responsive to an output of the radar sensor and responsive to an output of the image sensor. Responsive to the image sensor viewing an object present in the path of forward travel of the vehicle and responsive to the radar sensor sensing the object present in the path of forward travel of the vehicle, the control determines that the object is an object of interest by processing by an image processing chip of image data of the object captured by the image sensor at a portion of an image plane of the image sensor that is spatially related to a location of the object present in the path of forward travel of the vehicle.

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.

A radar system and a corresponding method for a radar system are described herein. In accordance with one example, the method includes receiving—via a first RF port of a coupler—an antenna signal from an antenna, receiving—with an auxiliary receiver—a representation of the antenna signal via a second RF port of the coupler, and generating—with the auxiliary receiver—an auxiliary base-band signal from the representation of the antenna signal. Based on the auxiliary base-band signal, an external radar interference signal transmitted from an external radar device incident at the antenna is detected.

An in-vehicle radar signal control method includes: determining a target interference area of a first vehicle, a vehicle in the target interference area interfering with an in-vehicle radar signal of the first vehicle; determining vehicles in the target interference area as a first vehicle cluster, and determining strength of in-vehicle radar signals of vehicles in the first vehicle cluster; determining whether a new second vehicle enters the target interference area; and in response to a determination that the second vehicle enters the target interference area, obtaining an adjustment signal; the adjustment signal indicating one or more of: increasing or reducing strength of the in-vehicle radar signal of the first vehicle, adjusting a travel speed of the first vehicle, and adjusting a travel direction of the first vehicle.

An illustrative example method of tracking an object includes detecting one or more points on the object over time to obtain a plurality of detections, determining a position of each of the detections, determining a relationship between the determined positions, and determining an estimated heading angle of the object based on the relationship.