Determining object motion and acceleration vector in a vehicle radar system

US11536830B2 · kind B2 · utility

Assignee

• Arriver Software AB · SE

Inventors

• Martin Hofmann · Puchheim, DE
• Habib Ur Rehman Paracha · Munich, DE

Key dates

• Filing date: Nov 20, 2018
• Grant date: Dec 27, 2022
• Expiry date: Sep 2, 2039

Classification

• Technology area (CPC G): Physics
• CPC primary: G01S13/72
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

A vehicle radar system (3) which, for each one of a plurality of radar cycles, is arranged to, provide a measured azimuth angle (θm) and radial velocity (vdm) for a first plurality of detections (9, 20). For each one of the plurality of radar cycles, the radar system (3) is arranged to select one of these detections for each one of two velocity components (vx, vy) in a set of components (vx, vy, ax, ay; a) to be determined; select one detection from a second plurality of detections (9, 20) for each one of at least one corresponding acceleration component (ax, ay; a); calculate the components (vx, vy, ax, ay; a) for the selected detections; determine a calculated radial velocity (vdc) for each one of at least a part of the other detections in the first plurality of detections (9, 20) using the calculated components (vx, vy, ax, ay; a); determine an error between each calculated and measured radial velocity (vdc, vdm); and determine the number of inliers. The set of components (vx, vy, ax, ay; a) that results in the largest number of inliers is then chosen.