Low frequency and high frequency hybrid radio radar system

Abstract

A hybrid radio radar system includes one or more low frequency antennas configured to receive low frequency reflected energy resulting from reflections of low frequency transmissions and one or more high frequency antennas configured to receive high frequency reflected energy resulting from reflections of high frequency transmissions. The high frequency transmissions have a frequency that is at least 1.5 times the frequency of the low frequency transmissions. A processor obtains and processes one or more low frequency digital signals resulting from the low frequency reflected energy received at each of the one or more low frequency antennas and one or more high frequency digital signals resulting from the high frequency reflected energy received at each of the one or more high frequency antennas. The processor controls operation of the vehicle based on information obtained by processing the low frequency reflected energy and the high frequency reflected energy.

Description

Technical Field

[0001] The subject disclosure relates to a hybrid low-frequency and high-frequency radio radar system. Background Art

[0002] Vehicles (e.g., cars, trucks, construction equipment, agricultural equipment, automated factory equipment) increasingly include sensors to obtain information about the vehicle and its environment. Exemplary sensors for obtaining information about the vehicle's surroundings include cameras, light detection and ranging (lidar) systems, and radio detection and ranging (radar) systems. Radar systems typically transmit radio frequency signals and obtain reflections based on one or more objects that reflect the transmitted radio frequency signals. By processing the reflections, the distance, Doppler (i.e., rate of change of distance), and direction of arrival (e.g., azimuth, elevation) of the reflection from each object can be obtained. The frequency of the transmitted radio frequency signal affects the resolution. Therefore, it is desirable to provide a hybrid low-frequency and high-frequency radio radar system. Summary of the Invention

[0003] In one exemplary embodiment, a hybrid radio radar system includes one or more low-frequency antennas that receive low-frequency reflected energy generated by reflections of low-frequency transmissions, and one or more high-frequency antennas that receive high-frequency reflected energy generated by reflections of high-frequency transmissions. The frequency of the high-frequency transmissions is at least 1.5 times the frequency of the low-frequency transmissions. A processor obtains and processes one or more low-frequency digital signals generated by the low-frequency reflected energy received at each of the one or more low-frequency antennas and one or more high-frequency digital signals generated by the high-frequency reflected energy received at each of the one or more high-frequency antennas, and controls vehicle operation based on information obtained from processing the low-frequency reflected energy and the high-frequency reflected energy.

[0004] In addition to one or more features described herein, the hybrid radio radar system also includes one or more first channels corresponding to one or more low-frequency antennas to output one or more low-frequency digital signals, and one or more second channels corresponding to one or more high-frequency antennas to output one or more high-frequency digital signals.

[0005] In addition to one or more features described herein, the hybrid radio radar system further includes one or more channels. Each of the one or more channels sequentially corresponds to one of the one or more low-frequency antennas to output one of the one or more low-frequency digital signals, and corresponds to one of the one or more high-frequency antennas to output one of the one or more high-frequency digital signals. The hybrid radio radar system further includes one or more switches. Each of the one or more switches sequentially couples one of the one or more low-frequency antennas or one of the one or more high-frequency antennas to one of the one or more channels.

[0006] In addition to one or more features described herein, the processor performs a fast Fourier transform on one or more low-frequency digital signals on a set of distance values ​​to obtain one or more low-frequency distance fast Fourier transform results, and performs a fast Fourier transform on one or more high-frequency digital signals to obtain one or more high-frequency distance fast Fourier transform results.

[0007] In addition to one or more features described herein, the processor performs a second Fast Fourier Transform on a combination of the one or more low frequency range Fast Fourier Transform results over a set of Doppler values ​​to obtain a low frequency Doppler Fast Fourier Transform result.

[0008] In addition to one or more features described herein, based on the low-frequency Doppler FFT results, the processor obtains low-frequency beamforming results that indicate an energy level at each of the set of range values, the set of Doppler values, and the set of angles at which objects can be located, and detects one or more objects based on the indication of the energy level, each of the one or more objects being associated with one of the set of range values, the set of Doppler values, and the set of angles.

[0009] In addition to one or more features described herein, the processor identifies one or more regions of interest corresponding to each of the one or more objects, each region of interest comprising one of a set of distance values, a set of Doppler values, and a set of angles associated with the object, and the regions of interest correspond to the region of interest distance values, the region of interest Doppler values, and the region of interest angles.

[0010] In addition to one or more features described herein, the processor performs a second fast Fourier transform or discrete Fourier transform (DFT) on a combination of portions of the one or more high-frequency range fast Fourier transform results corresponding to the region of interest range values ​​over a set of Doppler values ​​corresponding to the region of interest Doppler values ​​to obtain a high-frequency Doppler Fourier transform result.

[0011] In addition to one or more features described herein, based on the high-frequency Doppler Fourier transform results, the processor obtains a high-frequency beamforming result indicating an energy level at each region of interest range value, each region of interest Doppler value, and each region of interest angle, and detects one or more objects based on the indication of the energy levels.

[0012] In addition to one or more features described herein, the processor retains only one of the one or more objects detected using the high frequency beamforming results that corresponds to one of the one or more objects detected using the low frequency beamforming results.

[0013] In another exemplary embodiment, a method of assembling a hybrid radio radar system includes arranging one or more low-frequency antennas to receive low-frequency reflected energy generated by reflections of low-frequency transmissions, and arranging one or more high-frequency antennas to receive high-frequency reflected energy generated by reflections of high-frequency transmissions. The frequency of the high-frequency transmissions is at least 1.5 times the frequency of the low-frequency transmissions. The method also includes configuring a processor to obtain and process one or more low-frequency digital signals generated by the low-frequency reflected energy received at each of the one or more low-frequency antennas and one or more high-frequency digital signals generated by the high-frequency reflected energy received at each of the one or more high-frequency antennas, and controlling operation of a vehicle based on information obtained by processing the low-frequency reflected energy and the high-frequency reflected energy.

[0014] In addition to one or more features described herein, the method also includes coupling one or more first channels with one or more low-frequency antennas to output one or more low-frequency digital signals, and coupling one or more second channels with one or more high-frequency antennas to output one or more high-frequency digital signals.

[0015] In addition to one or more features described herein, the method also includes sequentially coupling one or more channels to one of the one or more low-frequency antennas to output one of the one or more low-frequency digital signals, and to one of the one or more high-frequency antennas to output one of the one or more high-frequency digital signals, and sequentially arranging one or more switches to couple one of the one or more low-frequency antennas or one of the one or more high-frequency antennas to one of the one or more channels.

[0016] In addition to one or more features described herein, the method further includes configuring the processor to perform a fast Fourier transform on the one or more low-frequency digital signals over a set of distance values ​​to obtain one or more low-frequency distance fast Fourier transform results, and to perform a fast Fourier transform on the one or more high-frequency digital signals to obtain one or more high-frequency distance fast Fourier transform results.

[0017] In addition to one or more features described herein, the method further includes configuring the processor to perform a second Fast Fourier Transform on a combination of one or more low frequency range Fast Fourier Transform results over a set of Doppler values ​​to obtain a low frequency Doppler Fast Fourier Transform result.

[0018] In addition to one or more features described herein, the method further includes configuring a processor based on the low-frequency Doppler FFT results, including configuring the processor to obtain low-frequency beamforming results indicating an energy level at each of the set of range values, each of the set of Doppler values, and each of a set of angles at which an object can be located, and detecting one or more objects based on the indication of the energy level, each of the one or more objects being associated with one of the set of range values, one of the set of Doppler values, and one of the set of angles.

[0019] In addition to one or more features described herein, the method also includes configuring the processor to identify one or more regions of interest (ROIs) corresponding to each of the one or more objects, each region of interest including one of a set of distance values, one of a set of Doppler values, and one of a set of angles associated with the object, and a region of interest corresponding to the region of interest distance value, the region of interest Doppler value, and the region of interest angle.

[0020] In addition to one or more features described herein, the method further includes configuring the processor to perform a second Fast Fourier Transform or Discrete Fourier Transform (DFT) on a combination of portions of the one or more high-frequency range Fast Fourier Transform results corresponding to the region of interest range values ​​at a set of Doppler values ​​corresponding to the region of interest Doppler values ​​to obtain a high-frequency Doppler Fourier Transform result.

[0021] In addition to one or more features described herein, the method also includes configuring a processor to obtain a high-frequency beamforming result based on the high-frequency Doppler Fourier transform result, the high-frequency beamforming result indicating an energy level at each region of interest range value, each region of interest Doppler value, and each region of interest angle, and detecting one or more objects based on the indication of the energy level.

[0022] In addition to one or more features described herein, the method also includes configuring the processor to retain only one of the one or more objects detected using the high frequency beamforming results that corresponds to one of the one or more objects detected using the low frequency beamforming results.

[0023] The above features and advantages and other features and advantages of the present disclosure will become apparent from the following detailed description when taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Additional features, advantages, and details appear by way of example only in the following detailed description, which refers to the accompanying drawings, in which:

[0025] Figure 1is a block diagram of a vehicle including a hybrid low-frequency and high-frequency radio radar system according to one or more embodiments;

[0026] Figure 2 is a block diagram of a hybrid low-frequency and high-frequency radio radar system according to an exemplary embodiment;

[0027] Figure 3 is a block diagram of a hybrid low-frequency and high-frequency radio radar system according to an exemplary embodiment; and

[0028] Figure 4 is a flow chart of a method of processing a digital signal obtained from reflected energy received by a hybrid low-frequency and high-frequency radio radar system, according to one or more embodiments. DETAILED DESCRIPTION

[0029] The following description is merely exemplary in nature and is in no way intended to limit the present disclosure, its application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features.

[0030] As previously mentioned, a radio radar system is one of the sensors that can be used to obtain information about objects around a vehicle. The frequency at which the radio radar system transmits energy affects the resolution of the information obtained. Specifically, increasing the transmission frequency results in higher angular resolution (i.e., DOA resolution) and Doppler resolution based on processing the subsequent reflections. However, as the transmission frequency increases, the distance at which an object can be detected (i.e., the detection distance) decreases. In addition, in order to improve the DOA resolution, it is necessary to increase the number of receiving antennas. In addition, the increase in Doppler resolution is accompanied by an increase in ambiguity. Ambiguity means that, for example, an object that appears at a distance change rate of 15 meters per second (m / s) also appears at 30 meters per second and additional multiples, making it difficult to distinguish real objects from fake objects.

[0031] Embodiments of the systems and methods detailed herein relate to hybrid low-frequency and high-frequency radio radar systems. The terms low-frequency and high-frequency are used to denote relative frequencies, rather than absolute distances or values. That is, the frequency of any high-frequency transmitted signal (e.g., on the order of 240 gigahertz (GHz)) is at least one and a half times greater than the frequency of any low-frequency transmitted signal (e.g., on the order of 77-81 GHz). Specifically, processing reflections received as a result of low-frequency transmitted signals (referred to as low-frequency reflections) helps resolve issues arising from processing reflections of high-frequency transmitted signals (referred to as high-frequency reflections).

[0032] That is, detections obtained using low-frequency signals are more robust to ambiguities in Doppler and DOA than detections obtained using high-frequency signals. Consequently, detections obtained using low-frequency signals can be used to determine whether Doppler frequency and DOA detections obtained using high-frequency signals are ambiguous or true. Specifically, a region of interest is identified based on low-frequency reflections, and only high-frequency reflections associated with that region of interest are processed. Processing high-frequency reflections results in higher resolution than processing low-frequency reflections. Furthermore, by comparing the results of processing low-frequency and high-frequency reflections, ambiguities caused by high-frequency reflections are resolved. Specifically, Doppler detections based on processing high-frequency reflections are retained only if they correspond to detections based on processing low-frequency reflections.

[0033] According to an exemplary embodiment, Figure 1 is a block diagram of a vehicle 100 including a hybrid low-frequency and high-frequency radio radar system 110 . Figure 1 The exemplary vehicle 100 shown is an automobile 101. Aspects of the radio radar system 110 are Figure 2 and 3 The vehicle 100 also includes a controller 120 and other sensors 130 (e.g., cameras, lidar systems). The number and location of the radio radar systems 110 and other sensors 130 around the vehicle 100 are not affected by the Figure 1 Controller 120 may obtain information from radio radar system 110 and other sensors 130 to control the operation of vehicle 100. Exemplary operations include collision avoidance, automatic braking, and adaptive cruise control.

[0034] Detection of one or more objects 140 (e.g., other vehicles, pedestrians) is performed by controller 120, controller 105 within radio radar system 110, or a combination of both. This detection is based on processing reflected energy 115 generated by low-frequency transmissions 111 and high-frequency transmissions 112 of radio radar system 110. Controller 120 and controller 105 of radio radar system 110 include processing circuitry that may include application-specific integrated circuits (ASICs), electronic circuitry, processors (shared, dedicated, or grouped) and memory that executes one or more software or firmware programs, combinational logic circuitry, and / or other suitable components to provide the described functionality.

[0035] Figure 2 is a block diagram of a hybrid low-frequency and high-frequency radio radar system 110 according to an exemplary embodiment. Four low-frequency antennas 210a transmitting low-frequency transmissions 111 and four high-frequency antennas 210b transmitting high-frequency transmissions 112 are shown. Alternative embodiments of the radio radar system 110 may include any number of antennas 210. Figure 2In the illustrated embodiment, the radio radar system 110 includes separate low-frequency receiver channels 220a and high-frequency receiver channels 220b (generally referred to as 220). Each antenna 210 is coupled to a different receiver channel 220, such that, in the exemplary embodiment, four low-frequency receiver channels 220a are coupled to four low-frequency antennas 210a, respectively, and four high-frequency receiver channels 220b are coupled to four high-frequency antennas 210b, respectively.

[0036] Each receiver channel 220 includes known components, such as amplifiers, mixers, and analog-to-digital converters, to down-convert the reflected energy 115 received at each antenna 210 and output a digital signal 225. The digital signals 225a, 225b (generally referred to as 225) output by the receiver channels 220 are processed by the controller 105 of the radio radar system 110, the controller 120 of the vehicle 100, or a combination of both. Figure 4 This process is discussed further.

[0037] Figure 3 is a block diagram of a hybrid low-frequency and high-frequency radio radar system 110 according to an exemplary embodiment. Four low-frequency antennas 210a and four high-frequency antennas 210b are shown in an exemplary embodiment, as shown in FIG. Figure 2 As shown. For the low frequency antenna 210a and the high frequency antenna 210b, a separate set of receiver channels 220 is used, in the exemplary case a set of four. Switch 230, which sequentially connects the low frequency antenna 210a and the high frequency antenna 210b to the receiver channels 220, facilitates the use of a common set of receiver channels 220. Based on the corresponding input from the low frequency or high frequency antenna 210, a digital signal 225 is output from each receiver channel 220. As previously described, the processing of the digital signal 225 by the controller 105 of the radio radar system 110, the controller 120 of the vehicle 100, or a combination of the two will be referred to. Figure 4 Further discussion.

[0038] Figure 4 is a flow chart of a method 400 of processing a digital signal 225 obtained from reflected energy 115 received by a hybrid low-frequency and high-frequency radio radar system 110, according to one or more embodiments. Figure 4As shown, these processes are generally divided into a low-frequency process 401 and a high-frequency process 402. The digital signal 225 input to the low-frequency process 401 is generated by processing the reflected energy 115 received due to the low-frequency transmission 111 (e.g., the digital signal 225 generated by the receiver channel 220a). The digital signal 225 input to the high-frequency process 402 is generated by processing the reflected energy 115 received due to the high-frequency transmission 112 (e.g., the digital signal 225 generated by the receiver channel 220b). The low-frequency process 401 (at blocks 410 to 450) and the high-frequency process 412 (at blocks 460 to 490) are described in detail.

[0039] At block 410, obtaining a range fast Fourier transform refers to performing a fast Fourier transform on each digital signal 225 (obtained using low frequency transmission 111) along a set of range values. The result is an indication of the energy level over a set of range values ​​(i.e., range bins). Figure 4 As shown, the number of outputs of the range fast Fourier transform process at block 410 is the same as the number of digital signals 225 input to the range fast Fourier transform process. At block 420, obtaining a Doppler fast Fourier transform refers to combining the various range fast Fourier transform outputs from block 410 and performing another fast Fourier transform process. The result indicates the energy level on the range segment and along the Doppler segment. At block 430, a beamforming process is performed. This is a low-resolution process relative to the beamforming (at block 480) as part of the high-frequency process 402. The range fast Fourier transform, Doppler fast Fourier transform, and beamforming processes are generally well known in radio radar detection and are discussed here to emphasize how these processes can be modified in the hybrid radio radar system 110.

[0040] At block 430, performing beamforming refers to determining the energy level in each range bin and each Doppler bin for each of a set of DOAs. At block 440, performing detection refers to identifying one or more objects 140 based on the range bins, Doppler bins, and DOAs for which the corresponding energy levels are highest (e.g., exceeding a threshold). At block 450, determining a region of interest (RIO) refers to determining a subset of range bins, Doppler bins, and DOA values ​​within which detections are identified (at block 440). The RIO may not be limited to the exact range bin, Doppler bin, and DOA of a detected object 140. This is because a detected object 140 (e.g., another vehicle) may result in multiple detections based on multiple parts of the same object 140 (e.g., a front bumper, a side mirror) as the source of reflected energy 115. Therefore, the RIO may include a subset of range bins, Doppler bins, and DOAs, where the subset is sized based on the largest object 140 expected to be detected. This will be discussed further with reference to block 490.

[0041] At block 460, obtaining a range fast Fourier transform refers to performing a fast Fourier transform on each digital signal 225 (obtained using high frequency transmission 112) along the set of range values. The result is an indication of the energy level across the set of range values ​​(i.e., range bins), and, as discussed with respect to the low frequency process 401, a separate range FFT result is obtained for each digital signal 225. At block 470, obtaining a Doppler fast Fourier transform or discrete Fourier transform (DFT) refers to combining the various range fast Fourier transform outputs from block 460 and performing another fast Fourier transform process or discrete Fourier transform process. However, as Figure 4 As shown, the output of the region of interest determination (at block 450) is input to block 470 along with the range FFT output. Thus, the Doppler FFT or discrete Fourier transform is not performed on the entire range FFT result, but is limited to the range and Doppler bins within the region of interest (i.e., the range and Doppler bins in which the object 140 is detected at block 440).

[0042] At block 480, a beamforming process is performed. This is a higher-resolution process relative to the beamforming (at block 430) performed as part of the low-frequency process 401. This higher-resolution process is computationally less expensive due to the fact that using the region of interest at block 470 results in a smaller Doppler Fast Fourier Transform input to block 480, and the fact that the beamforming process only considers the DOAs in the region of interest. Thus, performing beamforming refers to determining the energy levels at the range and Doppler bins for the DOAs within the region of interest (per block 450).

[0043] At block 490, detection and de-obfuscation refers to performing detection similar to the process at block 440 and then comparing the results to the results of the process at block 440. As described with reference to block 450, different portions of the same object 140 may be detected (e.g., a large truck perpendicular to vehicle 100). That is, reflected energy 115 may originate from the front bumper based on low-frequency transmission 111, while reflected energy may originate from the rear bumper based on high-frequency transmission 112. In this case, the DOA for the object 140 detected at blocks 440 and 490 (i.e., the large truck) will be different but will fall within the region of interest DOA subset. Furthermore, the Dopplers determined using low-frequency transmission 111 and high-frequency transmission 112 will be the same or at least within the region of interest Doppler subset. At block 490, de-obfuscation refers to retaining only the detections corresponding to the detections at block 440. At block 495, the detections from blocks 440 and 490 are further processed to facilitate controller 120 controlling the motion of vehicle 100 based on the object or objects 140 indicated by the detections.

[0044] Although the above disclosure has been described with reference to exemplary embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope thereof. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the present disclosure without departing from the basic scope of the present disclosure. Therefore, it is intended that the present disclosure is not limited to the particular embodiments disclosed, but is intended to include all embodiments falling within its scope.

Claims

1. A hybrid radio radar system comprising: one or more low frequency antennas configured to receive low frequency reflected energy resulting from reflections of the low frequency transmissions; one or more high frequency antennas configured to receive high frequency reflected energy resulting from reflections of the high frequency transmission, wherein the frequency of the high frequency transmission is at least 1.5 times the frequency of the low frequency transmission; a processor configured to obtain and process one or more low-frequency digital signals generated from low-frequency reflected energy received at each of the one or more low-frequency antennas and one or more high-frequency digital signals generated from high-frequency reflected energy received at each of the one or more high-frequency antennas, and to control operation of the vehicle based on information obtained by processing the low-frequency reflected energy and the high-frequency reflected energy; The processor is configured to perform a fast Fourier transform (FFT) on the one or more low-frequency digital signals over a set of distance values ​​to obtain one or more low-frequency distance fast Fourier transform results, and to perform a fast Fourier transform on the one or more high-frequency digital signals to obtain one or more high-frequency distance fast Fourier transform results; and The processor is configured to perform a second FFT on a combination of one or more low-frequency range FFT results over a set of Doppler values ​​to obtain a low-frequency Doppler FFT result, and based on the low-frequency Doppler FFT result, the processor is configured to obtain a low-frequency beamforming result indicating an energy level at each of the set of range values, each of the set of Doppler values, and each of a set of angles at which an object can be located, and to detect one or more objects based on the indication of the energy level, each of the one or more objects being associated with one of the set of range values, one of the set of Doppler values, and one of the set of angles, and the processor is configured to identify one or more regions of interest corresponding to each of the one or more objects, each region of interest including one of the set of range values, one of the set of Doppler values, and one of the set of angles associated with the object. and the region of interest corresponds to a region of interest distance value, a region of interest Doppler value, and a region of interest angle, the processor being configured to perform a second FFT or discrete Fourier transform (DFT) on a combination of portions of the one or more high-frequency range FFT results corresponding to the region of interest distance value at a set of Doppler values ​​corresponding to the region of interest Doppler values ​​to obtain a high-frequency Doppler Fourier transform result, based on the high-frequency Doppler Fourier transform result, the processor being configured to obtain a high-frequency beamforming result indicating an energy level at each region of interest distance value, each region of interest Doppler value, and each region of interest angle, and detect one or more objects based on the indication of the energy level, and the processor being configured to retain only the object, among the one or more objects detected using the high-frequency beamforming result, that corresponds to one of the one or more objects detected using the low-frequency beamforming result.

2. The hybrid radio radar system according to claim 1 further includes one or more first channels corresponding to the one or more low-frequency antennas to output the one or more low-frequency digital signals, and one or more second channels corresponding to the one or more high-frequency antennas to output the one or more high-frequency digital signals.

3. The hybrid radio radar system of claim 1 , further comprising: One or more channels, wherein each of the one or more channels corresponds in turn to one of the one or more low-frequency antennas to output one of the one or more low-frequency digital signals; and one or more switches, wherein each of the one or more switches is configured to couple one of the one or more low-frequency antennas or one of the one or more high-frequency antennas to one of the one or more channels in turn.

4. A method of assembling a hybrid radio radar system, the method comprising: one or more low frequency antennas arranged to receive low frequency reflected energy resulting from reflections of the low frequency transmissions; one or more high frequency antennas arranged to receive high frequency reflected energy resulting from reflections of the high frequency transmission, wherein the frequency of the high frequency transmission is at least 1.5 times the frequency of the low frequency transmission; configuring a processor to obtain and process one or more low-frequency digital signals generated from low-frequency reflected energy received at each of the one or more low-frequency antennas and one or more high-frequency digital signals generated from high-frequency reflected energy received at each of the one or more high-frequency antennas, and to control operation of the vehicle based on information obtained by processing the low-frequency reflected energy and the high-frequency reflected energy; configuring the processor to perform a fast Fourier transform on the one or more low-frequency digital signals over a set of distance values ​​to obtain one or more low-frequency distance fast Fourier transform results, and to perform a fast Fourier transform on the one or more high-frequency digital signals to obtain one or more high-frequency distance fast Fourier transform results; The processor is configured to perform a second FFT on a combination of one or more low-frequency range FFT results over a set of Doppler values ​​to obtain a low-frequency Doppler FFT result, and based on the low-frequency Doppler FFT result, the processor is configured to obtain a low-frequency beamforming result, the low-frequency beamforming result indicating an energy level at each of the set of range values, each of the set of Doppler values, and each of a set of angles at which an object can be located, and the processor is configured to detect one or more objects based on the indication of the energy level, each of the one or more objects being associated with one of the set of range values, one of the set of Doppler values, and one of the set of angles, and the processor is configured to identify one or more regions of interest corresponding to each of the one or more objects, each region of interest including one of the set of range values, one of the set of Doppler values, and one of the set of angles associated with the object. a region of interest corresponding to a region of interest range value, a region of interest Doppler value, and a region of interest angle; configuring the processor to perform a second FFT or discrete Fourier transform (DFT) on a combination of portions of one or more high-frequency range FFT results corresponding to the region of interest range value at a set of Doppler values ​​corresponding to the region of interest Doppler value to obtain a high-frequency Doppler Fourier transform result; configuring the processor to obtain a high-frequency beamforming result based on the high-frequency Doppler Fourier transform result, the high-frequency beamforming result indicating an energy level at each region of interest range value, each region of interest Doppler value, and each region of interest angle; and detecting one or more objects based on the indication of the energy level; and configuring the processor to retain only the object, among the one or more objects detected using the high-frequency beamforming result, that corresponds to one of the one or more objects detected using the low-frequency beamforming result.

5. The method according to claim 4 further includes coupling the one or more first channels with one or more low-frequency antennas to output one or more low-frequency digital signals, and coupling the one or more second channels with one or more high-frequency antennas to output one or more high-frequency digital signals.

6. The method according to claim 4 further includes sequentially coupling one or more channels with one of the one or more low-frequency antennas to output one of the one or more low-frequency digital signals, and coupling with one of the one or more high-frequency antennas to output one of the one or more high-frequency digital signals, and arranging one or more switches to sequentially couple one of the one or more low-frequency antennas or one of the one or more high-frequency antennas to one of the one or more channels.

Images