Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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 k1 azimuthal angle ?i and elevation angle ?i combinations associated with each element of the vector, and selecting a selected area in an azimuth-elevation plane around a subset of the k1 azimuthal angle ?i and elevation angle ?i combinations for each element of the vector. Fine beamforming is performed in the selected area with a second set of k2 azimuthal angle ?i and elevation angle ?i combinations associated with each element of the vector. The second set of k2 azimuthal angle ?i and elevation angle ?i combinations is more closely spaced in the azimuth-elevation plane than the first set of k1 azimuthal angle ?i and elevation angle ?i combinations.

Abstract: 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.

Abstract: 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.

Abstract: A radar system and method of processing one or more return signals obtained by a receive section of a radar system resulting from transmitting one or more signals involve a transmit section to transmit the one or more signals, and a receive section to receive the one or more return signals resulting from reflection of the one or more signals by a target. The system also includes a processor to process the one or more return signals using a two-stage fast Fourier transform (FFT) to obtain a range-Doppler map indicating energy levels at each of a set of range values and a set of Doppler values, to filter the range-Doppler map using a kernel sized according to an estimate of a number of the set of range values over which the energy levels above a threshold value are spread, and to perform target detection based on a result of filtering.

Abstract: 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.

Abstract: A method of tracking an object includes establishing a track from a plurality of sequential Doppler radar frames f?1, f?2, f?3, etc. A location of a representative centroid of a cluster of data points is identified in a Doppler radar frame f. A radial velocity between a location of the track in the Doppler radar frame f?1 and the location of the representative centroid of the cluster in the Doppler radar frame f is calculated. An error between a Doppler velocity of the track in the Doppler radar frame f?1 and the calculated radial velocity is calculated. When the calculated error is less than a minimum error threshold, the representative centroid of the cluster in the Doppler radar frame f is associated with the track.

Abstract: 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 k1 azimuthal angle ?i and elevation angle ?i combinations associated with each element of the vector, and selecting a selected area in an azimuth-elevation plane around a subset of the k1 azimuthal angle ?i and elevation angle ?i combinations for each element of the vector. Fine beamforming is performed in the selected area with a second set of k2 azimuthal angle ?i and elevation angle ?i combinations associated with each element of the vector. The second set of k2 azimuthal angle ?i and elevation angle ?i combinations is more closely spaced in the azimuth-elevation plane than the first set of k1 azimuthal angle ?i and elevation angle ?i combinations.

Abstract: 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.

Abstract: An apparatus for and a method of interfacing a host to a modem. Data is transferred between the host and the modem via a serial interface. The modem provides the physical layer implementation functions (i.e., transmission and reception functions) in addition to providing low level MAC layer function processing. Functions provided include collision detection, back-off algorithm according to a programmed back-off time, conditional transmission, automatic retransmissions and ACK/NACK packet generation and processing. This serves to eliminate any stringent access timing constraints usually placed on the host processor resulting in reduced cost and complexity of the host.

Abstract: A soft decision maximum likelihood detection method and apparatus. Both encoding and decoding schemes are provided for a forward error correcting code. The decoding technique utilizes soft decision maximum likelihood decoding especially suited for codes that operate on symbols rather than bits. The decoding technique utilizes a maximum likelihood function in combination with an erasure correcting coding scheme to correct b+1 errors in a block wherein the erasure correcting code itself can correct up to b erasures. The decoding method uses likelihood values for all possible symbol values for each received symbol in addition to hard decisions. First, the (b+1)th error is corrected by assuming a single error in each symbol location. Then, for each symbol in a codeword all valid symbol possibilities are tested. For each symbol possibility, the metric of the resulting codeword is calculated using the likelihoods provided by the receiver.