Gm Global Technolgoy Operations, Inc.

Gonen Barkan

Igal Bilik

Ishai Eljarat

Shahar Villeval

Ilya Shapir Poltorak

Gaston Solodky

Shmuel Nedjar

A method includes obtaining an initial point cloud for each of two or more radar systems that share a common field of view. Each initial point cloud results from processing reflected energy at each of the two or more radar systems. Each point of the initial point cloud indicates one or more hypotheses for a range, a Doppler, and a direction of arrival (DOA) to an object that resulted in the reflected energy. A point cloud, obtained from the initial point cloud, has a same number of hypotheses for the range, the Doppler, and the DOA. Resolving ambiguity in the common field of view is based on the point clouds to obtain resolved and unresolved points in the common field of view. A radar image obtained from each of the two or more radar systems is used to control an aspect of operation of a vehicle.

Ambiguity mitigation based on common field of view of radar systems

A system and method to detect a target with a radar system of a vehicle involve transmitting two or more chirps, in turn, from two or more transmit elements. Each chirp is a continuous wave liner frequency modulated waveform. The method also includes receiving reflections generated by each of the two or more chirps from each of the two or more transmit elements at two or more receive elements, and processing the reflections based on a Doppler sampling frequency corresponding with a period of each of the two or more chirps to determine velocity of each detected target relative to the vehicle.

Resolving doppler ambiguity in multi-input multi-output radar using digital multiple pulse repetition frequencies

A vehicle, radar system and method of detecting an object is disclosed. The radar system includes plurality of sensors a plurality of sensors, wherein a field of view of one of the plurality of sensors overlaps a field of view of at least another of the plurality of sensors at a region, and a processor. The processor is receives from the plurality of sensors a detection from the region, the detection related to an object, determines an overlap value for the region, adjusts a density parameter of a clustering criterion based on the overlap value, and determines a valid clustering of the detection with a neighboring detection using the adjusted density parameter.

DBSCAN parameters as function of sensor suite configuration

A system and method to perform two-stage beamforming in a radar system includes obtaining an incoming signal vector x associated with a detected target. The method also includes performing coarse beamforming with a first set of kazimuthal angle &#x3b8;and elevation angle &#x3c6;combinations associated with each element of the vector, and selecting a selected area in an azimuth-elevation plane around a subset of the kazimuthal angle &#x3b8;and elevation angle &#x3c6;combinations for each element of the vector. Fine beamforming is performed in the selected area with a second set of kazimuthal angle &#x3b8;and elevation angle &#x3c6;combinations associated with each element of the vector. The second set of kazimuthal angle &#x3b8;and elevation angle &#x3c6;combinations is more closely spaced in the azimuth-elevation plane than the first set of kazimuthal angle &#x3b8;and elevation angle &#x3c6;combinations.

Two-stage beamforming

A vehicle, system and method of driving the vehicle. A radar system obtains a measured location of an object in an environment of the vehicle. A processor predicts a location of the object, determines a distance between the predicted location of the object and the measured location of the object, determines a confidence level for the predicted location the object based on the determined distance, selects a tracking state for the object based on the confidence level, and drives the vehicle to avoid the object according to the tracking state of the object. The processor and radar system may be onboard the vehicle.

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Lehavim, Israel

Gonen Barkan