Combined frequency modulated continuous wave radar detection

Abstract

Various aspects of the disclosure generally relate to wireless communication. In some aspects, a radar device can transmit a combined frequency-modulated continuous wave (FMCW) radar signal, where the combined FMCW radar signal includes: a first FMCW radar chirp that is generated based at least in part on a first set of transmission parameter values; and a second FMCW radar chirp that is generated based at least in part on a second set of transmission parameter values, where a transmission parameter value of the second set of transmission parameter values is different from a corresponding transmission parameter value of the first set of transmission parameter values. The radar device can detect a radar target based at least in part on a received signal corresponding to the combined FMCW radar signal, and perform an action based at least in part on detecting the radar target. Numerous other aspects are provided.

Description

[0001] Cross-reference to related applications

[0002] This patent application claims priority to U.S. Provisional Patent Application No. 63 / 037,912, entitled "COMBINED FREQUENCY MODULATED CONTINUOUS WAVE RADARD ETECTION", filed June 11, 2020, and U.S. Non-Provisional Patent Application No. 17 / 302,203, entitled "COMBINED FREQUENCY MODULATED CONTINUOUS WAVE RADARD ETECTION", filed April 27, 2021, both of which are expressly incorporated herein by reference. Technical Field

[0003] The various aspects of this disclosure generally relate to radar technology, for example, to combined frequency modulated continuous wave radar detection. Background Technology

[0004] A radar device is a sensor device used to detect targets, determine target characteristics, etc. Radar devices can be used in vehicles to determine features associated with the vehicle and / or features associated with the vehicle's environment. For example, a radar device can be configured to detect the proximity of an object, road information, the vehicle's position (e.g., relative to a target), etc. Summary of the Invention

[0005] In some aspects, a method performed by a radar device may include: transmitting a combined frequency modulated continuous wave (FMCW) radar signal, wherein the FMCW radar signal includes: a first FMCW radar chirp generated at least in part based on a first set of transmission parameter values; and a second FMCW radar chirp generated at least in part based on a second set of transmission parameter values, wherein the transmission parameter values ​​of the second set of transmission parameter values ​​are different from the corresponding transmission parameter values ​​of the first set of transmission parameter values; detecting a radar target at least in part based on a received signal corresponding to the combined FMCW radar signal; and performing an action at least in part based on the detection of the radar target.

[0006] In some aspects, a radar device for wireless communication may include: a memory; and one or more processors coupled to the memory. The memory and the one or more processors may be configured to: transmit a combined FMCW radar signal, wherein the combined FMCW radar signal includes: a first FMCW radar chirp generated at least partially based on a first set of transmission parameter values; and a second FMCW radar chirp generated at least partially based on a second set of transmission parameter values, wherein the transmission parameter values ​​of the second set of transmission parameter values ​​differ from the corresponding transmission parameter values ​​of the first set of transmission parameter values; detect a radar target at least partially based on a received signal corresponding to the combined FMCW radar signal; and perform an action at least partially based on the detection of the radar target.

[0007] In some aspects, a non-transitory computer-readable medium may store one or more instructions for wireless communication. When executed by one or more processors of a radar device, the one or more instructions may cause the one or more processors to: transmit a combined FMCW radar signal, wherein the combined FMCW radar signal includes: a first FMCW radar chirp generated at least partially based on a first set of transmission parameter values; and a second FMCW radar chirp generated at least partially based on a second set of transmission parameter values, wherein the transmission parameter values ​​of the second set of transmission parameter values ​​are different from the corresponding transmission parameter values ​​of the first set of transmission parameter values; detect a radar target at least partially based on a received signal corresponding to the combined FMCW radar signal; and perform an action at least partially based on the detection of the radar target.

[0008] In some aspects, an apparatus for wireless communication may include: components for transmitting a combined FMCW radar signal, wherein the combined FMCW radar signal includes: a first FMCW radar chirp generated at least partially based on a first set of transmission parameter values; and a second FMCW radar chirp generated at least partially based on a second set of transmission parameter values, wherein the transmission parameter values ​​of the second set of transmission parameter values ​​are different from the corresponding transmission parameter values ​​of the first set of transmission parameter values; components for detecting a radar target at least partially based on a received signal corresponding to the combined FMCW radar signal; and components for performing an action at least partially based on the detection of the radar target.

[0009] The aspects generally include methods, apparatus, systems, computer program products, non-transitory computer-readable media, user equipment, user gear, wireless communication equipment, and / or processing systems, as described substantially with reference to the accompanying drawings and specifications, and illustrated by means of the accompanying drawings and specifications.

[0010] The features and technical advantages of the examples according to this disclosure have been outlined rather broadly above to facilitate a better understanding of the detailed description that follows. Additional features and advantages will be described below. The disclosed concepts and specific examples can be readily used as the basis for modifying or designing other structures for achieving the same purpose as this disclosure. Such equivalent structures do not depart from the scope of the appended claims. The characteristics of the concepts disclosed herein, their organization and operation, and related advantages will be better understood from the following description when considered in conjunction with the accompanying drawings. Each drawing is provided for illustrative and descriptive purposes and not as a limitation of the claims. Attached Figure Description

[0011] To gain a more detailed understanding of the features described above, reference can be made to various aspects for a more specific description, some of which are illustrated in the accompanying drawings. However, it should be noted that the drawings illustrate only certain typical aspects of the disclosure and should therefore not be considered as limiting its scope, as the description may allow for other equivalent aspects. The same reference numerals in different drawings may identify the same or similar elements.

[0012] Figure 1 This is a diagram illustrating an example environment in which the combined frequency modulated continuous wave (FMCW) radar signal described herein can be implemented according to this disclosure.

[0013] Figure 2 This illustrates the provisions of this disclosure. Figure 1 A diagram illustrating example components of one or more devices (e.g., radar devices).

[0014] Figure 3-5 This is a diagram illustrating an example of detection associated with a combined FMCW radar according to this disclosure.

[0015] Figure 6 This is a flowchart of an example process associated with combined FMCW radar detection according to this disclosure. Detailed Implementation

[0016] Aspects of this disclosure are described more fully below with reference to the accompanying drawings. However, this disclosure may be embodied in many different forms and should not be construed as limited to any particular structure or function presented throughout this disclosure. Rather, these aspects are provided to make this disclosure thorough and complete, and to fully convey the scope of this disclosure to those skilled in the art. Based on the teachings herein, those skilled in the art should understand that the scope of this disclosure is intended to cover any aspect of the disclosure herein, whether implemented independently of or in combination with any other aspect of this disclosure. For example, any number of the aspects set forth herein may be used to implement an apparatus or practice. Furthermore, the scope of this disclosure is intended to cover an apparatus or method practiced using a structure, function, or structure and function other than or different from the aspects of this disclosure set forth herein. It should be understood that any aspect of the disclosure herein may be embodied by one or more elements of the claims.

[0017] In certain situations, frequency-modulated continuous wave (FMCW) radar can be used to detect specific targets. FMCW radar uses a linearly frequency-modulated signal to obtain the range. The received signal is mixed with the transmitted signal to obtain the beat frequency between the two. The beat frequency is a function of the round-trip time to the reflecting target and can therefore be directly mapped to its range. Beamforming associated with multiple receiver channels can be used to determine the direction of arrival (DoA) of the received signal, which can be correlated with the target's azimuth position. Multiple radar signal chirps can be transmitted in time as a series of equally spaced pulses. Radial motion occurring between pulses within a resolution cell range causes an offset on the pulse, which can be used to calculate the Doppler radial velocity in that cell. The received radar data can be represented as a three-dimensional (3D) tensor, where the first two dimensions (range and DoA) constitute the polar space, and the third dimension (Doppler radial velocity) contains velocity information.

[0018] In many situations, especially when other nearby FMCW radar equipment is in use, it can be difficult to distinguish between jamming and real targets. In some cases, this difficulty arises because the beat frequency calculated, at least in part, based on the difference between the instantaneous frequencies of the transmitted FMCW signal and the received jamming signal, may not be distinguishable from the beat frequency associated with the reflecting target. This is particularly true when the jamming signal is an FMCW chirp transmitted from another nearby radar equipment. As a result, the radar equipment may trigger unnecessary actions based on false target detection, fail to trigger the actions it should have triggered when the target was present due to the presence of jamming, transmit additional radar chirps to attempt to distinguish the target, thereby increasing processing and communication resource consumption, and so on.

[0019] Some embodiments described herein can utilize combined FMCW signals that include verification features for more accurately distinguishing between interference and targets. For example, a radar device can transmit a combined FMCW radar signal including a first FMCW radar chirp and a second FMCW radar chirp. The second FMCW radar chirp can be generated using different transmission parameter values ​​than the first FMCW radar chirp. Targets can be detected by verifying the target based on components of the received signals corresponding to the two chirs. In this way, the aspects disclosed herein can contribute to more reliably distinguishing between interference and genuine targets. Therefore, such radar devices and techniques can improve road safety and / or prevent collisions involving vehicles equipped with FMCW radar devices for target detection. The aspects of the radar devices and techniques described herein can contribute to more efficient target detection, resulting in a reduction in processing and communication resource consumption.

[0020] Although this article describes some examples in conjunction with one or more radar devices used in road environments, one or more radar devices can be similarly used and / or designed for other types of example environments (e.g., marine environments, and / or aerospace environments, etc.).

[0021] Figure 1 This is a diagram illustrating an example environment 100 that can implement the systems and / or methods described herein. For example... Figure 1 As shown, environment 100 may include radar device 105 and target 110. In some aspects, radar device 105 may be implemented as a sensor in a vehicle, and / or a sensor installed independently of the vehicle. Radar device 105 includes one or more devices capable of generating, transmitting, receiving, storing, processing, and / or providing information associated with transmitted FMCW radar signals, and / or received signals. Target 110 may be any object capable of reflecting at least a portion of the radar signal.

[0022] As shown in the figure, radar device 105 may include a first signal generator 115 for generating a first FMCW radar chirp. In some aspects, the first FMCW radar chirp may be generated at least in part based on a first set of transmission parameter values. The set of transmission parameter values ​​may indicate the starting frequency, slope (rate of change of frequency), initial phase, power, amplitude, and / or periodicity (time interval between chirps), etc.

[0023] The radar device 105 may further include a second signal generator 120 for generating a second FMCW radar chirp. In some aspects, the second FMCW radar chirp may be generated at least partially based on a second set of transmission parameter values. In some aspects, at least one transmission parameter value in the second set of transmission parameter values ​​may differ from the corresponding transmission parameter value in the first set of transmission parameter values. In some aspects, the first FMCW radar chirp may be orthogonal to the second FMCW radar chirp. In some aspects, a first transmission power associated with the first FMCW radar chirp may be equal to a second transmission power associated with the second FMCW radar chirp. In some aspects, the first transmission power associated with the first FMCW radar chirp may not be equal to the second transmission power associated with the second FMCW radar chirp.

[0024] like Figure 1 As shown, radar device 105 may include a transmit chain (Tx) 125 that generates and transmits a combined FMCW radar signal 130 based at least in part on a first FMCW radar chirp and a second FMCW radar chirp. In some aspects, transmit chain 125 may include any type of transmit chain configured to combine two or more FMCW radar chirs and transmit the resulting combined radar signal 130. In some aspects, transmit chain 125 may be configured to generate the combined FMCW radar signal 130 by summing the first and second FMCW radar chirs. In some aspects, the combined radar signal 130 may be based on more than two FMCW radar chirs, and radar device 105 may include more than two signal generators.

[0025] like Figure 1 As shown, radar device 105 may include multiple receive chains (Rx) 140, 145. In some aspects, the number of receive chains 140, 145 may correspond to the number of transmit chains, and / or the number of signal generators, etc. In some aspects, receive chains 140 and 145 may be configured to receive receive signal 150, and / or components of receive signal 150, etc. As shown, for example, receive signal 150 may include the reflection of the transmitted combined FMCW radar signal 130 from target 110. In some aspects, receive signal 150 may include one or more jamming signals.

[0026] like Figure 1As shown, radar device 105 may include target detection component 155, which is configured to detect radar target 110 at least partially based on received signal 150 corresponding to combined FMCW radar signal 130. In some aspects, target detection component 155 may be configured to detect radar target 110 at least partially based on a first component of received signal 150 corresponding to a first FMCW radar chirp and a second component of received signal 150 corresponding to a second FMCW radar chirp. In some aspects, a first receiver chain 140 receives the first component of received signal 150, and a second receiver chain 145 receives the second component of received signal 150.

[0027] In some aspects, as follows: Figure 3 The target detection component 155 can detect radar target 110 by determining a first beat frequency and a second beat frequency, and by determining that the first beat frequency is equal to or at least approximately equal to the second beat frequency (within a specified threshold of the second beat frequency). In some aspects, the target detection component 155 can determine the first beat frequency based at least in part on the relationship between a first FMCW radar chirp and a first component of the received signal 150. In some aspects, the target detection component 155 can determine the second beat frequency based at least in part on the relationship between a second FMCW radar chirp and a second component of the received signal 150.

[0028] In some aspects, as follows: Figure 4 The target detection component 155 can detect the radar target 110 by determining that a first receiving parameter value associated with a first component of the received signal 150 is equal to a second receiving parameter value associated with a second component of the received signal 150. In some aspects, the first component of the received signal 150 may correspond to a first FMCW radar chirp, and the second component of the received signal 150 may correspond to a second FMCW radar chirp.

[0029] In some aspects, the first receiving parameter value may indicate the distance corresponding to a first component of the received signal, the Doppler frequency shift corresponding to the first component of the received signal, the direction of arrival corresponding to the first component of the received signal, and / or the position of the radar target represented in the three-dimensional image, etc. Similarly, the second receiving parameter value may indicate the distance corresponding to a second component of the received signal, the Doppler frequency shift corresponding to the second component of the received signal, the direction of arrival corresponding to the second component of the received signal, and / or the position of the radar target represented in the three-dimensional image, etc.

[0030] In some aspects, radar device 105 can perform actions based at least in part on the detection of radar target 110. For example, in some aspects, radar device 105 can output an indication that radar target 110 has been detected. The output of the indication of detection can be provided to a computing device, a vehicle's sensor controller, a mobile device, and / or an output device, etc. In some aspects, radar device 105 can output instructions to a vehicle motion controller to take evasive action relative to target 110. According to various aspects of this disclosure, radar device 105 can be configured to perform any number of different types of actions based at least in part on the detection of target 110.

[0031] Figure 1 The number and arrangement of devices and components shown are provided as one or more examples. In reality, with... Figure 1 Compared to what is shown, there may be additional equipment and / or components, fewer equipment and / or components, different equipment and / or components, or equipment and / or components arranged differently. Furthermore, Figure 1 The two or more devices and / or components shown can be implemented within a single device, or Figure 1 The single device and / or component shown can be implemented as multiple distributed devices. Additionally or alternatively, a set of devices and / or components of environment 100 (e.g., one or more devices and / or components) can perform one or more functions described as being performed by another set of devices and / or components of environment 100.

[0032] Figure 2 This is a diagram illustrating example components of device 200 according to the present disclosure. Device 200 may correspond to radar equipment (e.g., Figure 1 The radar device 105 is depicted in the image. In some aspects, the radar device 105 may include one or more devices 200 and / or one or more components of device 200. Device 200 may facilitate the detection of various aspects of a target using combined frequency modulated continuous wave (FMCW) radar signals, as described below. Figure 3-6 As described. Figure 2 As shown, device 200 may include bus 210, processor 220, memory 230, storage component 240, input component 250, output component 260, and / or communication interface 270, etc.

[0033] Bus 210 includes components in the device 200 that allow communication. Processor 220 may be implemented in hardware, software, or a combination of hardware and software. Processor 220 may include a central processing unit (CPU), graphics processing unit (GPU), accelerated processing unit (APU), microprocessor, microcontroller, digital signal processor (DSP), field-programmable gate array (FPGA), application-specific integrated circuit (ASIC), or other types of processing components. In some aspects, processor 220 may include one or more processors capable of being programmed to perform one or more functions. Memory 230 may include random access memory (RAM), read-only memory (ROM), and / or another type of dynamic or static storage device (e.g., flash memory, magnetic memory, and / or optical memory) that stores information and / or instructions for use by processor 220.

[0034] Storage component 240 may store information and / or software related to the operation and use of device 200. For example, storage component 240 may include a hard disk (e.g., a magnetic disk, optical disk, magneto-optical disk, and / or solid-state disk, etc.), an optical disk (CD), a digital versatile disk (DVD), a floppy disk, a magnetic tape cassette, magnetic tape, and / or another type of non-transitory computer-readable medium. Storage component 240 may include non-transitory computer-readable media and corresponding drives. In some aspects, storage component 240 may include memory 230, be included in memory 230, or be integrated into memory 230.

[0035] Input component 250 includes components that allow device 200 to receive information, such as via user input (e.g., a touchscreen display, keyboard, keypad, mouse, button, switch, and / or microphone). Additionally or alternatively, input component 250 may include components for determining the location or position of device 200 (e.g., a Global Positioning System (GPS) component, and / or a Global Navigation Satellite System (GNSS) component, etc.), and / or sensors for sensing information (e.g., an accelerometer, gyroscope, actuator, and / or another type of position or environmental sensor, etc.). In some aspects, input component 250 may include a receiver chain (e.g., receiver chain 140, receiver chain 145, etc.) and / or one or more of its components, and / or a target detection component (e.g., target detection component 155) and / or one or more of its components, etc.

[0036] Output component 260 may include components that provide output information from device 200 (e.g., a display, speaker, haptic feedback component, and / or audio or visual indicator, etc.). In some aspects, output component 260 may include a transmission chain (e.g., transmission chain 125, etc.) and / or one or more of its components, a signal generator (e.g., signal generator 115, and / or signal generator 120, etc.) and / or one or more of its components, etc.

[0037] Communication interface 270 may include transceiver-like components (e.g., a transceiver and / or separate receiver and transmitter) that enable device 200 to communicate with other devices, for example, via a wired connection, a wireless connection, or a combination of wired and wireless connections. Communication interface 270 may allow device 200 to receive information from and / or provide information to another device. For example, communication interface 270 may include an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency interface, a universal serial bus (USB) interface, a wireless LAN interface (e.g., a Wi-Fi interface), and / or a cellular network interface, etc. In some aspects, communication interface 270 may enable device 200 to perform actions at least in part based on the detection of a target, as described above. Figure 1 As stated above.

[0038] Device 200 can perform one or more of the processes described herein. Device 200 can perform these processes based on software instructions stored in a non-transitory computer-readable medium (e.g., memory 230 and / or storage component 240) executed by processor 220. Computer-readable medium is defined herein as a non-transitory storage device. Storage devices include storage space within a single physical storage device or storage space distributed across multiple physical storage devices.

[0039] Software instructions may be read into memory 230 and / or storage component 240 via communication interface 270 from another computer-readable medium or from another device. When executed, the software instructions stored in memory 230 and / or storage component 240 may cause processor 220 to perform one or more of the processes described herein. Thus, for example, software instructions may include, within or otherwise contribute to, instantiation and functionality of send chains (e.g., send chain 125, etc.), signal generators (e.g., signal generator 115, and / or signal generator 120, etc.), receive chains (e.g., receive chain 140, and / or receive chain 145, etc.), target detection components (e.g., target detection component 155, etc.).

[0040] Additionally or alternatively, hardwired circuitry may be used in place of or in combination with software instructions to perform one or more of the processes described herein. Therefore, the aspects described herein are not limited to any particular combination of hardware circuitry and / or software.

[0041] In some aspects, device 200 includes components for performing one or more processes described herein and / or components for performing one or more operations of the processes described herein. For example, device 200 may include components for transmitting a combined FMCW radar signal, wherein the combined FMCW radar signal includes: a first FMCW radar chirp generated at least partially based on a first set of transmission parameter values; and a second FMCW radar chirp generated at least partially based on a second set of transmission parameter values, wherein the transmission parameter values ​​of the second set of transmission parameter values ​​are different from the corresponding transmission parameter values ​​of the first set of transmission parameter values; components for detecting a radar target at least partially based on a received signal corresponding to the combined FMCW radar signal; and / or components for performing an action at least partially based on the detection of a radar target; and so on. In some aspects, these components may include combinations of... Figure 2 The described device 200 includes one or more components, such as bus 210, processor 220, memory 230, storage component 240, input component 250, output component 260, and / or communication interface 270, etc.

[0042] Figure 2 The number and arrangement of components shown are provided as an example. In practice, with... Figure 2 Compared to the examples shown, device 200 may include additional components, fewer components, different components, or components arranged differently. Additionally or alternatively, a set of components of device 200 (e.g., one or more components) may perform one or more functions described as being performed by another set of components of device 200.

[0043] Figure 3 This is a conceptual illustration of an example 300 associated with combined FMCW radar detection according to this disclosure. Example 300 shows the repetition of a first FMCW chirp 305 (as indicated by the solid arrow above the "time" axis) over time, a second FMCW chirp 310 (as indicated by the solid arrow below the "time" axis), a first component 315 of the received signal (as indicated by the dashed arrow above the "time" axis), and a second component 320 of the received signal (as indicated by the dashed arrow below the "time" axis).

[0044] In some respects, for example, a single instance of a first FMCW chirp can be represented by a pair of arrows, with an upward arrow indicating an increase from a first frequency value to a second frequency value, and a following downward arrow indicating a decrease from the second frequency value to the first frequency value. Similarly, a single instance of a first component of the received signal can be represented by a pair of arrows, with an upward arrow indicating an increase from a first frequency value to a second frequency value, and a following downward arrow indicating a decrease from the second frequency value to the first frequency value.

[0045] In some respects, for example, a single instance of the second FMCW chirp can be represented by a pair of arrows, with a descending arrow indicating a decrease from the first frequency value to the second frequency value, and an ascending arrow immediately following it indicating an increase from the second frequency value to the first frequency value. Similarly, a single instance of the second component of the received signal can be represented by a pair of arrows, with a descending arrow indicating a decrease from the first frequency value to the second frequency value, and an ascending arrow immediately following it indicating an increase from the second frequency value to the first frequency value.

[0046] In some aspects, the first FMCW chirp 305 may be generated using a first signal generator (e.g., first signal generator 115, etc.). In some aspects, the second FMCW chirp 310 may be generated using a second signal generator (e.g., second signal generator 120, etc.). In some aspects, as described herein, the first and second FMCW chirps 305 and 310 may be combined to generate a combined FMCW radar signal.

[0047] In some aspects, the first component 315 of the received signal can be received by a first receiving chain (e.g., receiving chain 140, etc.). In some aspects, the second component 320 of the received signal can be received by a second receiving chain (e.g., receiving chain 145, etc.). In some aspects, the first and second components 315 and 320 of the received signal can be used by a target detection component (e.g., target detection component 155, etc.) to detect a target (e.g., target 110, etc.).

[0048] For example, such as Figure 3 As shown, the target detection component can determine the first beat frequency based at least in part on the instantaneous frequency difference 325 between the first FMCW radar chirp 305 and the first component 315 of the received signal. Similarly, the target detection component can determine the second beat frequency based at least in part on the instantaneous frequency difference 330 between the second FMCW radar chirp 310 and the second component 320 of the received signal. In some aspects, the target detection component can detect a target by determining that the first beat frequency is equal to the second beat frequency (or within a specified threshold of the second beat frequency).

[0049] As mentioned above, Figure 3 This is provided only as one or more examples. Other examples may differ from those provided. Figure 3 As described.

[0050] Figure 4 This is a conceptual illustration of an example 400 associated with combined FMCW radar detection according to the present disclosure. As shown, example 400 includes a three-dimensional (3D) image 402 representing a first target location 404 associated with a target detected at least partially based on a first component of the received signal (e.g., first component 315, etc.). Example 400 also includes a 3D image 406 representing a second target location 408 associated with a target detected at least partially based on a second component of the received signal (e.g., second component 320, etc.).

[0051] As shown in the figure, the first target position 404 may include a vector, which may include a distance corresponding to a first component of the received signal, a Doppler shift corresponding to the first component of the received signal, and / or a direction of arrival (DoA) corresponding to the first component of the received signal, etc. Similarly, the second target position 408 may include a vector, which may include a distance corresponding to a second component of the received signal, a Doppler shift corresponding to the second component of the received signal, and / or a DoA corresponding to the second component of the received signal, etc.

[0052] In some aspects, a target detection component (e.g., target detection component 155, etc.) can detect a radar target by determining that a first receiving parameter value associated with a first component of the received signal corresponding to a first FMCW radar chirp is equal to a second receiving parameter value associated with a second component of the received signal corresponding to a second FMCW radar chirp (or within a specified threshold of the second receiving parameter value). That is, as shown, for example, the target detection component can detect a radar target by determining that one or more values ​​of one or more parameters represented in 3D image 402 are equal to one or more values ​​of one or more parameters represented in 3D image 406 (or within a specified threshold of the one or more values).

[0053] As shown, Example 400 also includes a 3D image 410 representing a first target location 412 associated with a target detected at least partially based on a first component of the received signal, and a 3D image 414 representing a second target location 416 associated with a target detected at least partially based on a second component of the received signal. As shown, the first target location 412 may include a vector that may include a distance corresponding to the first component of the received signal, a Doppler shift corresponding to the first component of the received signal, and / or a direction of arrival (DoA) corresponding to the first component of the received signal, etc. Similarly, the second target location 416 may include a vector that may include a distance corresponding to the second component of the received signal, a Doppler shift corresponding to the second component of the received signal, and / or a DoA corresponding to the second component of the received signal, etc.

[0054] In some aspects, as shown in the figures, the target detection component may fail to detect a radar target by determining that a first receiving parameter value associated with a first component of the received signal corresponding to a first FMCW radar chirp is not equal to a second receiving parameter value associated with a second component of the received signal corresponding to a second FMCW radar chirp (or is not within a specified threshold of the second receiving parameter value). That is, as shown in the figures, for example, the target detection component may fail to detect a radar target by determining that one or more values ​​of one or more parameters represented in 3D image 410 are not equal to one or more values ​​of one or more parameters represented in 3D image 414 (or are not within a specified threshold of the one or more values).

[0055] As mentioned above, Figure 4 This is provided only as one or more examples. Other examples may differ from those provided. Figure 4 As described.

[0056] Figure 5 This is a conceptual illustration of an example 500 associated with combined FMCW radar detection according to this disclosure. Example 500 includes a first vehicle (“V1”) and a second vehicle (“V2”). As shown, the first vehicle includes a first radar device 510 (e.g., radar device 105, etc.), and the second vehicle includes a second radar device 520 (e.g., radar device 105, etc.). As shown, the first vehicle travels on a first road 530 that includes a target, and the second vehicle travels on a second road 540 adjacent to the first road.

[0057] The first and / or second vehicle may include any vehicle equipped with the radar equipment described herein. For example, the first and / or second vehicle may be a consumer vehicle, an industrial vehicle, and / or a commercial vehicle, etc. The first and / or second vehicle may be capable of traveling on public roads and / or providing transportation, and / or may be used in operations associated with a construction site (e.g., a building site), etc. The first and / or second vehicle may be controlled autonomously and / or semi-autonomously. Additionally or alternatively, the first and / or second vehicle may be controlled by an operator.

[0058] As described herein, radar device 510 can transmit a combined FMCW radar signal 550 to detect a target. Radar device 510 can receive a received signal 560, which is a reflection of the transmitted combined FMCW radar signal 550. By utilizing the combined FMCW radar detection as described herein, radar device 510 can detect the target and distinguish the received signal 560 from, for example, interference signals 570 generated by radar device 520. In this way, the vehicle (and / or the vehicle's radar device) can detect the target when the vehicle approaches it.

[0059] As mentioned above, Figure 5 This is provided only as one or more examples. Other examples may differ from those provided. Figure 5 As described.

[0060] Figure 6 This is a diagram illustrating an example process 600 performed by, for example, a radar device according to this disclosure. Example process 600 is an example of an operation performed by a radar device (e.g., radar device 105, etc.) associated with combined FMCW radar detection.

[0061] like Figure 6 As shown, in some aspects, process 600 may include transmitting a combined FMCW radar signal, wherein the combined FMCW radar signal includes: a first FMCW radar chirp generated at least in part based on a first set of transmission parameter values; and a second FMCW radar chirp generated at least in part based on a second set of transmission parameter values, wherein the transmission parameter values ​​of the second set of transmission parameter values ​​are different from the corresponding transmission parameter values ​​of the first set of transmission parameter values ​​(block 610). For example, as described above, radar equipment (e.g., using signal generator 115, signal generator 120, transmission chain 125, processor 220, memory 230, storage component 240, and / or output component 260, etc.) may transmit the combined FMCW radar signal. In some aspects, the combined FMCW radar signal includes: a first FMCW radar chirp, which is generated at least partially based on a first set of transmission parameter values; and a second FMCW radar chirp, which is generated at least partially based on a second set of transmission parameter values, wherein the transmission parameter values ​​of the second set of transmission parameter values ​​differ from the corresponding transmission parameter values ​​of the first set of transmission parameter values, as described above. Figure 1-5 As stated above.

[0062] like Figure 6 As further shown, in some aspects, process 600 may include detecting a radar target at least in part based on a received signal corresponding to a combined FMCW radar signal (block 620). For example, radar equipment (e.g., using receiver chain 140, receiver chain 145, target detection component 155, processor 220, memory 230, storage component 240, and / or input component 250, etc.) may detect a radar target at least in part based on a received signal corresponding to a combined FMCW radar signal, as described above in conjunction with... Figure 1-5 As stated above.

[0063] like Figure 6As further shown, in some aspects, process 600 may include performing actions at least in part based on the detection of a radar target (block 630). For example, as described above, radar equipment (e.g., using processor 220, memory 230, storage component 240, input component 250, output component 260, and / or communication interface 270, etc.) may perform actions at least in part based on the detection of a radar target.

[0064] Process 600 may include additional aspects, such as any single aspect or any combination of aspects described below and / or combined with one or more other processes described elsewhere herein.

[0065] In the first aspect, process 600 includes generating a combined FMCW radar signal by summing the first FMCW radar chirp and the second FMCW radar chirp.

[0066] In the second aspect, either alone or in combination with the first aspect, the first FMCW radar chirp is orthogonal to the second FMCW radar chirp.

[0067] In the third aspect, either alone or in combination with one or more of the first and second aspects, the first transmission power associated with the first FMCW radar chirp is equal to the second transmission power associated with the second FMCW radar chirp.

[0068] In the fourth aspect, either alone or in combination with one or more of the first to third aspects, the first transmit power associated with the first FMCW radar chirp is not equal to the second transmit power associated with the second FMCW radar chirp.

[0069] In the fifth aspect, alone or in combination with one or more of the first to fourth aspects, detecting a radar target includes: detecting the radar target at least partially based on a first component of a received signal corresponding to a first FMCW radar chirp, and detecting the radar target at least partially based on a second component of a received signal corresponding to a second FMCW radar chirp.

[0070] In the sixth aspect, alone or in combination with one or more of the first to fifth aspects, detecting a radar target includes: determining a first beat frequency based at least in part on the relationship between a first FMCW radar chirp and a first component of the received signal; determining a second beat frequency based at least in part on the relationship between a second FMCW radar chirp and a second component of the received signal; and determining that the first beat frequency equals the second beat frequency. Determining that the first beat frequency equals the second beat frequency may include determining that the first beat frequency is within a specified threshold of the second beat frequency.

[0071] In the seventh aspect, alone or in combination with one or more of the first to sixth aspects, detecting a radar target includes determining that a first receiving parameter value associated with a first component of a received signal corresponding to a first FMCW radar chirp is equal to a second receiving parameter value associated with a second component of a received signal corresponding to a second FMCW radar chirp. Determining that the first receiving parameter value is equal to the second receiving parameter value may include determining that the first receiving parameter value is within a specified threshold of the second receiving parameter value.

[0072] In the eighth aspect, either alone or in combination with one or more of the first to seventh aspects, the first receiving parameter value indicates at least one of the following: distance corresponding to a first component of the received signal, Doppler shift corresponding to a first component of the received signal, DoA corresponding to a first component of the received signal, position of the radar target in the three-dimensional image, or a combination thereof.

[0073] although Figure 6 An example block diagram of process 600 is shown, but in some respects, it differs from... Figure 6 Compared to the diagram shown, process 600 may include additional blocks, fewer blocks, different blocks, or blocks arranged differently. Additionally or alternatively, two or more blocks of process 600 may be executed in parallel.

[0074] The foregoing disclosure provides illustrations and descriptions, but is not intended to be exhaustive or to limit these aspects to the precise forms disclosed. Modifications and variations can be made based on the foregoing disclosure, or modifications and variations can be derived from practice in these aspects.

[0075] The following provides an overview of some aspects of this disclosure:

[0076] Aspect 1: A method performed by a radar device, comprising: transmitting a combined frequency modulated continuous wave (FMCW) radar signal, wherein the combined FMCW radar signal includes: a first FMCW radar chirp, the first FMCW radar chirp being generated at least partially based on a first set of transmission parameter values; and a second FMCW radar chirp, the second FMCW radar chirp being generated at least partially based on a second set of transmission parameter values, wherein the transmission parameter values ​​of the second set of transmission parameter values ​​are different from the corresponding transmission parameter values ​​of the first set of transmission parameter values; detecting a radar target at least partially based on a received signal corresponding to the combined FMCW radar signal; and performing an action at least partially based on the detection of the radar target.

[0077] Aspect 2: The method according to aspect 1 further includes generating the combined FMCW radar signal by summing the first FMCW radar chirp and the second FMCW radar chirp.

[0078] Aspect 3: The method according to any one of Aspect 1 or 2, wherein the first FMCW radar chirp is orthogonal to the second FMCW radar chirp.

[0079] Aspect 4: The method according to any one of Aspects 1-3, wherein the first transmission power associated with the first FMCW radar chirp is equal to the second transmission power associated with the second FMCW radar chirp.

[0080] Aspect 5: The method according to any one of Aspects 1-3, wherein the first transmission power associated with the first FMCW radar chirp is not equal to the second transmission power associated with the second FMCW radar chirp.

[0081] Aspect 6: The method according to any one of Aspects 1-5, wherein detecting the radar target comprises: detecting the radar target at least in part based on a first component of the received signal corresponding to the first FMCW radar chirp; and detecting the radar target at least in part based on a second component of the received signal corresponding to the second FMCW radar chirp.

[0082] Aspect 7: The method according to any one of Aspects 1-6, wherein detecting the radar target comprises: determining a first beat frequency based at least in part on the relationship between the first FMCW radar chirp and a first component of the received signal; determining a second beat frequency based at least in part on the relationship between the second FMCW radar chirp and a second component of the received signal; and determining that the first beat frequency is equal to the second beat frequency.

[0083] Aspect 8: The method according to any one of Aspects 1-7, wherein detecting the radar target includes determining that a first receiving parameter value associated with a first component of the received signal corresponding to the first FMCW radar chirp is equal to a second receiving parameter value associated with a second component of the received signal corresponding to the second FMCW radar chirp.

[0084] Aspect 9: According to the method of aspect 8, wherein the first receiving parameter value indicates at least one of the following: a distance corresponding to the first component of the received signal, a Doppler shift corresponding to the first component of the received signal, a direction of arrival corresponding to the first component of the received signal, the position of the radar target represented in a three-dimensional image, or a combination thereof.

[0085] Aspect 10: An apparatus for wireless communication in a device, comprising a processor; a memory coupled to the processor; and instructions stored in the memory and executable by the processor to cause the apparatus to perform the method according to one or more of aspects 1-9.

[0086] Aspect 11: A device for wireless communication, comprising: a memory; and one or more processors coupled to the memory, the memory and the one or more processors being configured to perform the method according to one or more of aspects 1-9.

[0087] Aspect 12: An apparatus for wireless communication, comprising at least one component for performing the method according to one or more of aspects 1-9.

[0088] Aspect 13: A non-transitory computer-readable medium storing code for wireless communication, said code including instructions executable by a processor to perform the methods described in accordance with one or more of aspects 1-9.

[0089] Aspect 14: A non-transitory computer-readable medium storing a set of instructions for wireless communication, the set of instructions comprising one or more instructions, which, when executed by one or more processors of a device, cause the device to perform the method according to one or more of aspects 1-9.

[0090] As used herein, the term "component" is intended to be interpreted broadly as hardware, firmware, or a combination of hardware and software. As used herein, a processor is implemented as hardware, firmware, and / or a combination of hardware and software. Clearly, the systems and / or methods described herein can be implemented in various forms of hardware, firmware, and / or combinations of hardware and software. The actual dedicated control hardware or software code used to implement these systems and / or methods does not limit these aspects. Therefore, this document does not refer to specific software code to describe the operation and behavior of the systems and / or methods—it should be understood that software and hardware can be designed to implement the systems and / or methods, at least in part, based on the descriptions herein.

[0091] As used in this article, depending on the context, a threshold can refer to a value that is greater than the threshold, greater than or equal to the threshold, less than the threshold, less than or equal to the threshold, equal to the threshold, not equal to the threshold, etc.

[0092] Although specific combinations of features are recited in the claims and / or disclosed in the specification, these combinations are not intended to limit the disclosure of aspects. In fact, many of these features can be combined in ways not specifically stated in the claims and / or disclosed in the specification. While each dependent claim listed below may directly depend on only one claim, the disclosure of aspects includes combinations of each dependent claim with every other claim in the claim set. The phrase “at least one” referring to a series of items means any combination of these items, including individual elements. For example, “at least one of a, b, or c” is intended to cover any combination of a, b, c, ab, ac, bc, and abc, as well as any combination of multiple identical elements (e.g., aa, aaa, aab, aac, abb, acc, bb, bbb, bbb, bbc, cc, and ccc, or any other order of a, b, and c).

[0093] Unless explicitly stated otherwise, no element, action, or instruction used herein should be construed as critical or necessary. Furthermore, as used herein, the articles “a” and “an” are intended to include one or more items and may be used interchangeably with “one or more.” Furthermore, as used herein, the article “the” is intended to include one or more items associated with the article “the” and may be used interchangeably with “the one or more.” Furthermore, as used herein, the terms “set” and “group” are intended to include one or more items (e.g., related items, unrelated items, a combination of related and unrelated items, etc.) and may be used interchangeably with “one or more.” If referring to only one item, the phrase “only one” or similar language is used. Furthermore, as used herein, the term “has” and / or similar terms are intended to be open-ended terms. Furthermore, the phrase “based on” is intended to mean “at least partially based on” unless explicitly stated otherwise. Furthermore, as used herein, unless explicitly stated otherwise (e.g., if used in combination with “any” or “only one of them”), the term “or” is intended to be inclusive when used in a series and may be used interchangeably with “and / or.”

Claims

1. A method performed by a radar device, comprising: Transmitting a combined frequency modulated continuous wave (FMCW) radar signal, wherein the combined FMCW radar signal includes: The first FMCW radar chirp, which is generated at least in part based on a first set of transmission parameter values; and The second FMCW radar chirp is generated at least in part based on a second set of transmission parameter values, wherein the transmission parameter values ​​of the second set of transmission parameter values ​​are different from the corresponding transmission parameter values ​​of the first set of transmission parameter values. Detecting radar targets is based at least in part on received signals corresponding to the combined FMCW radar signals; and The action is performed at least in part based on the detection of the radar target, wherein detecting the radar target includes: The first beat frequency is determined at least in part based on the relationship between the first FMCW radar chirp and a first component of the received signal; The second beat frequency is determined at least in part based on the relationship between the second FMCW radar chirp and a second component of the received signal; and It is determined that the first beat frequency and the second beat frequency are equal within a threshold.

2. The method according to claim 1, further comprising generating the combined FMCW radar signal by summing the first FMCW radar chirp and the second FMCW radar chirp.

3. The method according to claim 1, wherein, The first FMCW radar chirp is orthogonal to the second FMCW radar chirp.

4. The method according to claim 1, wherein, The first transmit power associated with the first FMCW radar chirp is equal to the second transmit power associated with the second FMCW radar chirp.

5. The method according to claim 1, wherein, The first transmit power associated with the first FMCW radar chirp is not equal to the second transmit power associated with the second FMCW radar chirp.

6. The method according to claim 1, wherein, Detecting the radar target includes: The radar target is detected at least in part based on a first component of the received signal corresponding to the first FMCW radar chirp; and The radar target is detected at least in part based on a second component of the received signal corresponding to the second FMCW radar chirp.

7. The method according to claim 1, wherein, Detecting the radar target includes determining that a first receiving parameter value associated with a first component of the received signal corresponding to the first FMCW radar chirp is equal to a second receiving parameter value associated with a second component of the received signal corresponding to the second FMCW radar chirp.

8. The method according to claim 7, wherein, The first received parameter value indicates at least one of the following: The distance corresponding to the first component of the received signal, The Doppler frequency shift corresponding to the first component of the received signal, Corresponding to the direction of arrival of the first component of the received signal, The location of the radar target in the three-dimensional image, or Its combination.

9. A radar device, comprising: At least one memory, the at least one memory comprising instructions; and One or more processors are configured to execute the instructions causing the radar device to: Transmitting a combined frequency modulated continuous wave (FMCW) radar signal, wherein the combined FMCW radar signal includes: The first FMCW radar chirp, which is generated at least in part based on a first set of transmission parameter values; and The second FMCW radar chirp is generated at least in part based on a second set of transmission parameter values, wherein the transmission parameter values ​​of the second set of transmission parameter values ​​are different from the corresponding transmission parameter values ​​of the first set of transmission parameter values. Detecting radar targets is based at least in part on received signals corresponding to the combined FMCW radar signals; and The action is performed at least in part based on the detection of the radar target, wherein detecting the radar target includes: The first beat frequency is determined at least in part based on the relationship between the first FMCW radar chirp and a first component of the received signal; The second beat frequency is determined at least in part based on the relationship between the second FMCW radar chirp and a second component of the received signal; and It is determined that the first beat frequency and the second beat frequency are equal within a threshold.

10. The radar device according to claim 9, wherein, The memory and the one or more processors are also configured to generate the combined FMCW radar signal by summing the first FMCW radar chirp and the second FMCW radar chirp.

11. The radar device according to claim 9, in, The first FMCW radar chirp is orthogonal to the second FMCW radar chirp.

12. The radar device according to claim 9, in, The first transmit power associated with the first FMCW radar chirp is equal to the second transmit power associated with the second FMCW radar chirp.

13. The radar device according to claim 9, in, The first transmit power associated with the first FMCW radar chirp is not equal to the second transmit power associated with the second FMCW radar chirp.

14. The radar device according to claim 9, wherein, The memory and the one or more processors are configured to detect the radar target in the following manner: The radar target is detected at least in part based on a first component of the received signal corresponding to the first FMCW radar chirp; as well as The radar target is detected at least in part based on a second component of the received signal corresponding to the second FMCW radar chirp.

15. The radar device according to claim 9, wherein, The memory and the one or more processors are configured to detect the radar target by determining that a first receiving parameter value associated with a first component of the received signal corresponding to the first FMCW radar chirp is equal to a second receiving parameter value associated with a second component of the received signal corresponding to the second FMCW radar chirp.

16. The radar device according to claim 15, in, The first received parameter value indicates at least one of the following: The distance corresponding to the first component of the received signal, The Doppler frequency shift corresponding to the first component of the received signal, Corresponding to the direction of arrival of the first component of the received signal, The location of the radar target in the three-dimensional image, or Its combination.

17. A non-transitory computer-readable medium storing one or more instructions, said one or more instructions comprising: One or more instructions, when executed by one or more processors of a radar device, cause the radar device to: Transmitting a combined frequency modulated continuous wave (FMCW) radar signal, wherein the combined FMCW radar signal includes: The first FMCW radar chirp, which is generated at least in part based on a first set of transmission parameter values; and The second FMCW radar chirp is generated at least in part based on a second set of transmission parameter values, wherein the transmission parameter values ​​of the second set of transmission parameter values ​​are different from the corresponding transmission parameter values ​​of the first set of transmission parameter values. Detecting radar targets is based at least in part on received signals corresponding to the combined FMCW radar signals; and The action is performed at least in part based on the detection of the radar target, wherein detecting the radar target includes: The first beat frequency is determined at least in part based on the relationship between the first FMCW radar chirp and a first component of the received signal; The second beat frequency is determined at least in part based on the relationship between the second FMCW radar chirp and a second component of the received signal; and It is determined that the first beat frequency and the second beat frequency are equal within a threshold.

18. The non-transitory computer-readable medium according to claim 17, wherein, The one or more instructions also cause the radar device to generate the combined FMCW radar signal by summing the first FMCW radar chirp and the second FMCW radar chirp.

19. The non-transitory computer-readable medium according to claim 17, wherein, The first FMCW radar chirp is orthogonal to the second FMCW radar chirp.

20. The non-transitory computer-readable medium according to claim 17, wherein, The first transmit power associated with the first FMCW radar chirp is equal to the second transmit power associated with the second FMCW radar chirp.

21. The non-transitory computer-readable medium according to claim 17, wherein, The first transmit power associated with the first FMCW radar chirp is not equal to the second transmit power associated with the second FMCW radar chirp.

22. The non-transitory computer-readable medium according to claim 17, wherein, The one or more instructions that cause the radar device to detect the radar target cause the radar device to: The radar target is detected at least in part based on a first component of the received signal corresponding to the first FMCW radar chirp; as well as The radar target is detected at least in part based on a second component of the received signal corresponding to the second FMCW radar chirp.

23. The non-transitory computer-readable medium according to claim 17, wherein, The one or more instructions that cause the radar device to detect the radar target cause the radar device to determine that a first receiving parameter value associated with a first component of the received signal corresponding to the first FMCW radar chirp is equal to a second receiving parameter value associated with a second component of the received signal corresponding to the second FMCW radar chirp.

24. The non-transitory computer-readable medium according to claim 23, wherein, The first received parameter value indicates at least one of the following: The distance corresponding to the first component of the received signal, The Doppler frequency shift corresponding to the first component of the received signal, Corresponding to the direction of arrival of the first component of the received signal, The location of the radar target in the three-dimensional image, or Its combination.

25. A radar device, comprising: Components for performing the method according to any one of claims 1-8.

26. A computer program product comprising computer-readable instructions, which, when executed by a processor, cause the processor to perform the method according to any one of claims 1-8.

Images