Multi-target detection with iterative pulse gating in ultra wide band radar

Abstract

A method includes transmitting, with a transmitter, a first radar detection frame, and starting a timer based at least in part on the transmission. The method also includes deactivating the receiver based at least in part on the transmission. The method additionally includes enabling the receiver to receive a first radar detection response based at least in part on the timer and a detection duration of a gated window of the receiver. In addition, the method includes receiving, with the receiver, the first radar detection response, the first radar detection response including a first reflection of a first target. The method additionally includes increasing the detection duration of the gated window based at least in part on a determination that the first reflection of the first target is detected in the first radar detection response.

Description

Technical Field

[0001] The present disclosure relates to determining position by using reflections of radio waves, and in particular to determining the position of multiple targets using iterative pulse gating. Background Art

[0002] Currently, some pulse-gated radar range tracking systems use gating to track a single target and prevent radar targets from being lost due to interference.

[0003] Existing pulse radar systems detect multiple targets based on a single channel impulse response (CIR) measurement or range-Doppler mapping. This detection has limitations, which depend on how rigorously the system is designed to meet resolution requirements. Furthermore, multi-target detection relies on signal processing methods that are limited by noise and interference. If conventional radar systems include pulse gating at the receiver, the gating is only used to gate the coupling path.

[0004] Ultra-wideband (UWB) modems can be used as pulse radars, where a transmitter transmits a short-duration pulse. The receiver then receives reflections of the pulse, captured in the CIR measured by the receiver. In an ideal system, each reflection is confined to one range cell (also called a tap), and multiple reflections can be detected as long as they are separated by at least one tap. However, in practical systems, due to the limited bandwidth of the receiver chain, each pulse reflection at the receiver experiences pulse broadening, and this broadening results in a tail whose energy slowly decays across several taps. This then interferes with pulse reflections at subsequent taps, limiting the receiver's multi-target detection capabilities. Summary of the Invention

[0005] According to a first aspect of the present invention, there is provided a method comprising:

[0006] transmitting, using a transmitter, a first radar detection frame;

[0007] starting a timer based at least in part on the transmission;

[0008] deactivating a receiver based at least in part on the transmission;

[0009] enabling the receiver to receive a first radar detection response based at least in part on the timer and a detection duration of a gating window of the receiver;

[0010] receiving, with the receiver, the first radar detection response, the first radar detection response comprising a first reflection from a first target; and

[0011] The detection duration of the gating window is increased based at least in part on a determination that the first reflection of the first target is detected in the first radar detection response.

[0012] In one or more embodiments, the method further comprises:

[0013] A channel impulse response is measured based at least in part on the first radar detection response, wherein the determining is based at least in part on the channel impulse response.

[0014] In one or more embodiments, the method further comprises:

[0015] A distance of the first object from the transmitter or the receiver is determined, wherein the detection duration of the gating window is increased based at least in part on the distance of the first object.

[0016] In one or more embodiments, the detection duration of the gating window is increased based at least in part on a sum of a duration corresponding to the distance to the first target and a predetermined number of taps of the receiver.

[0017] In one or more embodiments, the method further comprises:

[0018] After transmitting the first radar detection frame, transmitting a radar initialization frame using the transmitter;

[0019] enabling the receiver to receive a radar initialization response to the radar initialization frame based at least in part on the increased detection duration of the gating window; and

[0020] The radar initialization response is received with the receiver, the radar initialization response excluding the first reflection of the first target.

[0021] In one or more embodiments, the method further comprises:

[0022] The detection duration of the gating window is reset to an initial duration of the gating window based at least in part on a determination that no reflection of the target is detected in the radar detection response.

[0023] In one or more embodiments, the method further comprises:

[0024] transmitting a radar initialization frame using the transmitter;

[0025] starting the timer based at least in part on transmitting the radar initialization frame;

[0026] deactivating the receiver based at least in part on the transmitting the radar initialization frame;

[0027] enabling the receiver based at least in part on the timer and an initial duration of the gating window;

[0028] receiving, by the receiver, a radar initialization response to the radar initialization frame;

[0029] estimating residual power based at least in part on the radar initialization response;

[0030] setting a receiver gain of the receiver based at least in part on the residual power, wherein the first radar detection response is received based at least in part on the receiver gain; and

[0031] Reset the timer.

[0032] In one or more embodiments, the method further comprises:

[0033] transmitting a second radar detection frame using the transmitter;

[0034] enabling the receiver to receive a second radar detection response based at least in part on the increased detection duration of the gating window;

[0035] receiving, with the receiver, a second radar detection response comprising a first reflection from a second target; and

[0036] It is determined that the first reflection of the second target is detected in the second radar detection response.

[0037] In one or more embodiments, the method further comprises:

[0038] After the transmitting of the first radar detection frame, transmitting a second radar detection frame using the transmitter; and

[0039] The receiver is enabled to receive a second radar detection response based at least in part on the detection duration of the gating window, wherein the detection duration of the gating window is increased to avoid the first reflection of the first target in the second radar detection response.

[0040] In one or more embodiments, the first reflection of the first target is received in the first radar detection response before the first reflection of the second target is received in the first radar detection response.

[0041] According to a second aspect of the present invention, there is provided a radar system comprising:

[0042] one or more transmitters that perform transmission of radar detection frames; and

[0043] and processing circuitry configured to start a timer based at least in part on the transmission, disable a receiver based at least in part on the transmission, enable the receiver to receive radar detection responses based at least in part on the timer and a detection duration of a gating window for the receiver, and increase the detection duration of the gating window based at least in part on a determination that a target was detected in one of the radar detection responses.

[0044] In one or more embodiments, the processing circuitry is further configured to measure a channel impulse response based at least in part on the one of the radar detection responses, and the determining is based at least in part on the channel impulse response.

[0045] In one or more embodiments, the processing circuitry is further configured to determine a distance of the target from the radar system and increase the detection duration of the gating window based at least in part on the distance of the target.

[0046] In one or more embodiments, the processing circuitry is further configured to increase the detection duration of the gating window based at least in part on a sum of a duration corresponding to the range of the target and a predetermined number of taps of the radar system.

[0047] In one or more embodiments, the processing circuitry is further configured to reset the detection duration of the gating window to an initial duration of the gating window based at least in part on a determination that no target was detected in one of the radar detection responses.

[0048] In one or more embodiments, the one or more transmitters are co-located with the receiver.

[0049] In one or more embodiments, the one or more transmitters perform transmission of a radar initialization frame,

[0050] The processing circuitry is further configured to start the timer based at least in part on the transmission of the radar initialization frame, disable the receiver based at least in part on the transmission of the radar initialization frame, and enable the receiver based at least in part on the timer and an initial duration of the gating window,

[0051] The receiver receives a radar initialization response to the radar initialization frame,

[0052] The processing circuitry is additionally configured to estimate a residual power based at least in part on the radar initialization response and to set a receiver gain of the receiver based at least in part on the residual power,

[0053] The receiver receives the one of the radar detection responses based at least in part on the receiver gain, and

[0054] The processing circuitry is additionally configured to reset the timer.

[0055] In one or more embodiments, the one or more transmitters perform transmission of subsequent radar detection frames.

[0056] The processing circuitry is additionally configured to enable the receiver to receive subsequent radar detection responses based at least in part on an increased detection duration of the gating window, and

[0057] The processing circuitry is additionally configured to detect a reflection of a second target in the subsequent radar detection response.

[0058] In one or more embodiments, the one or more transmitters perform transmission of subsequent radar detection frames.

[0059] The processing circuitry is additionally configured to enable the receiver to receive subsequent radar detection responses based at least in part on the increased detection duration of the gating window, and

[0060] The processing circuitry does not sense a first reflection from the target in the subsequent radar detection response.

[0061] According to a third aspect of the present invention, there is provided a computer-readable medium comprising instructions, which when executed by processing circuitry perform operations comprising:

[0062] starting a timer based at least in part on the transmitter transmitting the radar detection frame;

[0063] deactivating a receiver based at least in part on the transmission;

[0064] enabling the receiver based at least in part on the timer and a detection duration of a gating window of the receiver, wherein the receiver receives a radar detection response based at least in part on the enabling; and

[0065] The detection duration of the gating window is increased based at least in part on a determination that a first reflection of a target is detected in the radar detection response.

[0066] These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1A An example of a UWB pulse radar system is shown. Figure 1B The delay between the transmission of a UWB signal to a target and the reception of a reflection of the signal reflected by the target is shown.

[0068] Figure 2A Showing the coupling between a transmitter and a co-located receiver in a UWB pulse radar system. Figure 2B The effect of coupling on the signal received by the receiver antenna is shown.

[0069] Figure 3 Shows how the pulse is broadened over several taps when the signal of the coupling path and the reflected signal pass through the receiver's RF filter.

[0070] Figure 4 It shows how gating the receiver during the duration of a transmit pulse can produce a coherent combined pulse from several transmitted pulses.

[0071] Figure 5 The difficulty of multiple target detection due to pulse stretching of the targets at increasing distances from the radar system is shown.

[0072] Figure 6A A first detection window according to an embodiment of the present disclosure is shown. Figure 6B A second detection window according to an embodiment of the present disclosure is shown. Figure 6C A third detection window according to an embodiment of the present disclosure is shown.

[0073] Figure 7 An algorithm for a radar system to perform multiple target detection using iterative pulse gating according to an embodiment of the present disclosure is shown.

[0074] Figure 8 An algorithm for transmitting radar frames and receiving responses to radar frames according to an embodiment of the present disclosure is shown.

[0075] Figure 9 A radar system according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0076] This disclosure describes an iterative scanning method for a radar system to detect multiple targets. The radar system's transmitter first transmits a frame. The radar system's receiver then detects the distance to the closest target based on reflections of the frame. Subsequently, the receiver's gating window (e.g., the duration the receiver is off) can be increased to account for the delay of the reflections. The radar system can then detect the next closest target, and so on.

[0077] Various embodiments of this method can improve the detection performance of a radar system for multiple targets. Additionally, some embodiments can allow detection of closely spaced targets that would otherwise be difficult due to the resolution limitations of the radar system.

[0078] The following basic information forms the basis on which various aspects of the present disclosure can be explained. Such information is provided for illustrative purposes only and therefore should not be interpreted as limiting the scope of the present disclosure, its potential applications, or the claims.

[0079] Figure 1A An example of a UWB pulse radar system 100 is shown. Figure 1A As shown, the UWB pulse radar system 100 includes a transmitter 110 and a receiver 130 co-located with the transmitter 110. The transmitter 110 includes at least one transmitter antenna, and the receiver 130 includes at least one receiver antenna. Figure 1A In FIG, a transmitter 110 transmits a UWB signal that is reflected by an object 120 located at a distance d from the transmitter 110 and a receiver 130. The reflection travels distance d back to the receiver 130, which receives a signal corresponding to the reflection.

[0080] Figure 1B , which shows the delay between the transmission of the UWB signal to the target 120 and the reception of the reflection by the receiver 130. Figure 1B As shown, the signal 150 received by the receiver 130 is delayed by a delay τ relative to the signal 140 transmitted by the transmitter 110. The delay τ can be calculated as

[0081] τ = 2d / c (Equation 1)

[0082] where c is the speed of light.

[0083] Receiver 130 samples signal 150 at a predetermined sampling rate. The time period corresponding to the sampling rate (i.e., equal to the sampling interval) is a "tap." For example, for a receiver operating an analog-to-digital converter at a sampling rate of 1 GHz, the sampling rate is 1 ns. Therefore, the duration of a tap is also 1 ns.

[0084] Figure 2A FIG. 2 shows the coupling between the transmitter 210 and the co-located receiver 230 in the UWB pulse radar system 200. Figure 2A As shown, transmitter 210 transmits a signal for detecting target 220. Because receiver 230 is co-located with transmitter 210, receiver 230 quickly receives a large amount of the power of the signal transmitted by transmitter 210. This phenomenon is called "coupling".

[0085] After the transmitted signal is reflected by the target 220 , the receiver 230 receives these reflections of the transmitted signal from the target 220 .

[0086] Figure 2B 2 shows the effect of coupling in the signal received by receiver 230. Specifically, Figure 2B As shown, transmitter 210 transmits signal 240. Receiver 230 receives signal 260 corresponding to signal 240 via coupling. Additionally, receiver 230 receives signal 270, which corresponds to a reflection of transmitted signal 240 by target 220. Because signal 260 originates directly from transmitter 210, signal 260 does not experience the delay associated with being reflected by target 220. Therefore, signal 260 is received by receiver 230 before signal 270.

[0087] In addition, if Figure 2B As shown, signal 260 has much greater power than signal 270 .

[0088] When detecting target 220, radar system 200 evaluates the channel impulse response (CIR) to signal 240. Specifically, radar system 200 can calculate the received CIR by coherent integration of the transmitted pulse. The CIR can be modeled as

[0089]

[0090] The first item h (s) (τ) is the signal of the coupling path and is assumed to be static. For example, it is assumed to be constant over time. is the target reflection, which is calculated based on the distance d=(τ tgt c) The Doppler frequency f of the target at position c) / 2 d The amplitude of the reflected signal is ρ, and the transmitted pulse is p(τ). tgt is the delay corresponding to the distance of the target from the radar system 200 .

[0091] In a typical embodiment, the channel impulse response has 128 taps. In various embodiments, the channel impulse response has more or less than 128 taps. Thus, if the taps are 1 ns, the channel impulse response has a duration of 128 ns.

[0092] Signal 260 (eg, from the coupling path) and signal 260 (eg, from the reflected signal) pass through a radio frequency (RF) filter of receiver 230. As a result, the pulse is stretched.

[0093] Specifically, Figure 31 shows how a pulse is broadened across several taps when the signal of the coupling path and the reflected signal pass through the RF filter of receiver 230. The number of taps corresponds to τ. Due to the coupling path from transmitter 210, the signal received by receiver 230 includes signal 360. The received signal also includes portion 365 resulting from pulse broadening due to RF filter imperfections. In addition, the received signal includes a reflection path 370 resulting from reflection 270 from target 220.

[0094] Thus, at any given delay τ, a superposition of two signals is produced. For example, one signal of the superposition may be signal 360 from the coupling path, and the other signal 370 may be from the target reflection.

[0095] To mitigate the effects of the coupling path's signal 360, the receiver 230 may be turned off (eg, "gated") during the duration of the transmit pulse. Figure 4 It shows how gating the receiver during the duration of a transmit pulse can produce a coherent combined pulse from a number n of transmitted pulses 440a, 440b, ..., 440n.

[0096] like Figure 4 As shown, receiver 230 is off for duration 475a, during which transmitter 210 transmits pulse 440a. Thus, after time τ, receiver 230 receives reflected signal 450a from target 220.

[0097] In the pulse repetition interval (T PRI ), transmitter 210 transmits pulse 440b. Receiver 230 turns off for duration 475b, and receiver 230 receives reflected signal 450b from target 220. These operations are repeated for transmission of pulse 440n, off duration 475n, and reception of reflected signal 450n. Reflected signals 450a, 450b, ..., 450n can then be summed to produce a coherent combined pulse.

[0098] A UWB radar system can detect multiple targets depending on the pulses reflected from each target arriving with different delays at the receiver 230. Therefore, in this context, pulse broadening from target reflections can be severely limited.

[0099] For example, Figure 5 2 illustrates the difficulty of detecting multiple targets at increasing distances from the radar system 200 due to pulse broadening of the targets. Figure 5As shown, the receiver 230 is turned off during the gating window 575. After the gating window, the receiver 230 first receives the reflection 580 from the first closest target and then receives the reflection 585 from the second closest target. Subsequently, the receiver 230 receives the reflection 590 from the third farthest target. Figure 5 , reflection 580 has the greatest power, reflection 585 has the next greatest power, and reflection 590 has the least power.

[0100] Specifically, the pulse stretching from reflection 585 has less power than the pulse stretching from reflection 580. Therefore, reflection 585 from the more distant second target is obscured by the energy attenuation of reflection 580 from the closer first target. This obscuration can severely limit the radar system's multi-target detection capabilities.

[0101] To potentially address this and other issues, various embodiments of the present disclosure may use an iterative scanning approach, such as Figure 6A 、 6B and 6C.

[0102] Specifically, Figure 6A 6. A first detection window 605a according to an embodiment of the present disclosure is shown. In the first detection window 605a, the initial gating window 675a ​​is set to gate the receiver 230 only for the coupling path. Thus, the receiver can detect a first reflection 680a from the first target at the closest position 680. The radar system can also receive a second reflection 680b from the first target. The radar system can use the position 680 of the first target to determine a delay and increase the duration of the initial gating window 675a ​​based on this. For example, a predetermined duration (e.g., corresponding to a predetermined number of taps) can be added to the delay to determine the adjusted duration of the first updated gating window 675b.

[0103] Figure 6B 6. A second detection window 605b is shown according to an embodiment of the present disclosure. In the second detection window 605b, the receiver 230 is gated for the duration of the first updated gating window 675b. Figure 6B As shown, first reflection 680a from the first target is not received in the CIR. Accordingly, the radar system can detect first reflection 685a from the second target, which is the next closest target, at position 685. The radar system can also receive second reflection 685b from the second target. Otherwise, due to the shadowing of the tail of first reflection 680a from the first target, detection of first reflection 685a and second reflection 685b from the second closest target may not be possible.

[0104] The radar system can then use the position 685 of the second target to determine a corresponding delay and increase the duration of the first updated gating window 675b based thereon. For example, a predetermined duration (e.g., corresponding to a predetermined number of taps) can be added to the delay to determine the duration of the second updated gating window 675c.

[0105] Figure 6C A third detection window 605c is shown according to an embodiment of the present disclosure. Within the third detection window 605c, the process can be repeated for the second updated gating window 675c. Specifically, the first reflection 690a from the location 690 of the third closest target can now be detected by the radar system because the first reflection 685a of the second target is no longer detected. The radar system also receives a second reflection 685b from the second closest target.

[0106] This process can continue until the target is no longer detected.At this point, the duration of the gating window can be reset to the duration of the initial gating window 675a.

[0107] Figure 7 An algorithm 700 is shown for a radar system performing multiple target detection using iterative pulse gating, according to an embodiment of the present disclosure.

[0108] Algorithm 700 begins at 705 where initialization may be performed. For example, initial receiver gains for the receiver antennas may be set. Additionally, initial durations of gating windows for the receiver antennas may be set. The algorithm then proceeds to 710.

[0109] At 710, the radar system performs operations for transmitting a radar initialization frame and receiving a radar initialization response, as will be described later in conjunction with Figure 8 The algorithm then proceeds to 715.

[0110] At 715, the radar system's processing circuitry estimates the residual power of the radar initialization response received at 870 for the transmit operation. A skilled artisan will understand how to program the processing circuitry to estimate the residual power of a received signal (e.g., a radar initialization response). The algorithm then proceeds to 720.

[0111] At 720, the processing circuitry sets the receiver gain of the receiver antenna based at least in part on the residual power estimated at 715. The algorithm then proceeds to 725.

[0112] At 725, the radar system performs operations for transmitting radar detection frames and receiving radar detection responses, as later described in conjunction with Figure 8 The algorithm then proceeds to 730.

[0113] At 730 , the processing circuitry measures the channel impulse response of the radar detection response received at 870 . A skilled artisan will understand how to program the processing circuitry to measure the channel impulse response of the radar detection response, for example using Equation 2. The algorithm then proceeds to 735 .

[0114] At 735, the processing circuitry determines whether a target is detected in the radar detection response based at least in part on the channel impulse response measured at 730. If the processing circuitry determines at 735 that a target is not detected, the algorithm proceeds to 740. If the processing circuitry determines at 735 that a target is detected, the algorithm proceeds to 745.

[0115] At 740, the processing circuitry resets the gating window. In some embodiments, the gating window can be reset to a previous value or its initial value. The gating window can also be modified to other values. The algorithm then returns to 710.

[0116] Returning briefly to 735, if the processing circuitry determines that a target is detected, the algorithm proceeds to 745. At 745, the processing circuitry determines (e.g., calculates) the distance from the receiver to the target detected at 735. This distance may be based on the delay from the transmission of the radar detection frame at 820 to the receipt of the radar detection response at 870. Specifically, the determination may be based at least in part on solving Equation 1 for the distance d. Thus, in some embodiments, the processing circuitry may determine the location of the target. The algorithm then proceeds to 750.

[0117] At 750, the processing circuitry increases the duration of the gating window for the receiver antenna based at least in part on the distance determined at 745. For example, the processing circuitry may determine the intermediate duration based at least in part on solving Equation 1 for the delay τ. The gating window may then be increased based at least in part on the sum of the intermediate duration and a predetermined duration (e.g., corresponding to a predetermined number of taps). In some embodiments, the predetermined duration is equivalent to two taps. Thus, in at least one embodiment, the predetermined duration may be 2 ns. In an embodiment for closely spaced targets, the predetermined number of taps is one. The predetermined number of taps may also be three or more. In several embodiments, the gating window is set equal to the sum of the intermediate duration and the predetermined number of taps. The algorithm then returns to 710.

[0118] Figure 8 An algorithm for transmitting a radar frame and receiving a response to a radar frame according to an embodiment of the present disclosure is shown. The algorithm begins at 810 where initialization may be performed. For example, a timer may be reset. The algorithm then proceeds to 820.

[0119] At 820, the radar system's transmitter antenna transmits a radar frame. When the transmitter antenna transmits a radar frame at operation 710, this radar frame can be considered a radar initialization frame. When the transmitter antenna transmits a radar frame at operation 725, this radar frame can be considered a radar detection frame. The algorithm then proceeds to 830 and 840 in parallel.

[0120] At 830, processing circuitry of the radar system starts a timer based at least in part on the transmission of the radar frame at 820. For example, the timer may be started upon the transmission.

[0121] At 840 , the processing circuitry deactivates the receiver antenna based at least in part on the transmission of the radar frame at 820 .

[0122] After 830 and 840 are completed, the algorithm then proceeds to 850 .

[0123] At 850, the processing circuitry determines whether the timer started at 830 has exceeded the duration of the gating window. If the processing circuitry determines that the timer has not exceeded the duration of the gating window, the algorithm returns to 850. On the other hand, if the processing circuitry determines that the timer has indeed exceeded the duration of the gating window, the algorithm proceeds to 860.

[0124] At 860 , the processing circuitry enables the receiver antenna to receive the reflection from the next target to be detected. The algorithm then proceeds to 870 .

[0125] At 870, the receiver antenna enabled at 860 receives the radar response based at least in part on the receiver gain. This gain was already set at 720 when the radar system transmitted the radar detection frame at 820. Thus, the radar detection response can be efficiently received.

[0126] The radar response includes the reflection from the next target to be detected. Therefore, when the transmitter antenna has transmitted the radar initialization frame in 820, the reflection received by the receiver antenna can be considered as the radar initialization response. For example, the radar initialization response can include the reflection from the first closest target, such as Figure 6A When the transmitter antenna has transmitted the radar detection frame in 820, the reflection received by the receiver antenna may be considered as a radar detection response.

[0127] The algorithm then ends in 880 .

[0128] As shown by returning from 750 to 710, Figure 7 The algorithm can be performed iteratively. Thus, in various embodiments, the receiver gain can be increased as the gating window is increased, thereby allowing reflections from more distant targets to experience additional gain.

[0129] Selected embodiments of the present disclosure can allow detection and tracking of multiple targets in UWB radar systems. Conventionally, pulse reflections from different targets interfere with each other, making detection and tracking difficult. The present disclosure can be applied to technologies such as breathing detection, person tracking, and camera autofocus.

[0130] Furthermore, the teachings of the present disclosure are not limited to ultra-wideband. Multiple target detection using iterative pulse gating can be performed in other radio frequency technologies. Furthermore, the teachings of the present disclosure can be applied to radar systems where the transmitter and receiver are not co-located.

[0131] Figure 9 A radar system 900 is shown according to an embodiment of the present disclosure. Transmitters 110 , 210 and receivers 130 , 230 may be included in and / or implemented by radar system 900 .

[0132] Radar system 900 may include a network interface 910 , a user input interface 920 , a memory 930 , a program 940 , a processing circuitry 950 , a user output interface 955 , a transmitter 960 , a receiver 965 , and a bus 970 .

[0133] Although shown within a single housing, radar system 900 can be distributed across multiple housings or subsystems that collaborate to execute program instructions. In some embodiments, radar system 900 can include one or more blade server devices, standalone server devices, personal computers (including desktop computers, laptop computers, and tablet computers), routers, hubs, switches, bridges, firewall devices, intrusion detection devices, mainframe computers, network attached storage devices, smartphones and other mobile phones, and other computing devices. In many embodiments, radar system 900 can execute Windows OS, macOS, Android, or Linux. The device hardware can be configured according to a symmetric multiprocessing (SMP) architecture or a non-uniform memory access (NUMA) architecture.

[0134] The network interface 910 may provide one or more communication connections and / or one or more devices that allow communication between the radar system 900 and other computing systems (not shown). This communication may be performed via a communication network, a collection of networks, or over the air to support multi-target detection using iterative pulse gating as outlined herein. The network interface 910 may communicate using various networks (including both internal and external networks), such as near field communication (NFC), Wi-Fi, and other network interfaces. TM, Bluetooth, Ethernet, cellular (e.g., 3G, 4G, 5G), white space, 802.11x, satellite, Bluetooth, LTE, GSM / HSPA, CDMA / EVDO, DSRC, CAN, GPS, fax, or any other wired or wireless interface. Other interfaces may include physical ports (e.g., Ethernet, USB, HDMI), interfaces for wired and wireless internal subsystems, etc. Similarly, the nodes and user equipment (e.g., mobile devices) of the system may also include suitable interfaces for receiving, transmitting and / or otherwise communicating data or information in the network environment.

[0135] The user input interface 920 may receive one or more inputs from a human. The user input interface may be or include a mouse, touchpad, keyboard, touch screen, trackball, camera, microphone, joystick, game controller, scanner, light pen, or any other input device.

[0136] Memory 930 (also referred to as "storage device") may include or be one or more computer-readable storage media that can be read by processing circuit system 950 and store software. Memory 930 may be implemented as one storage device, or across multiple co-located or distributed storage devices or subsystems. Memory 930 may include additional elements, such as a controller, that communicate with processing circuit system 950. Memory 930 may also include storage devices and / or subsystems on which data and / or instructions are stored. Radar system 900 may access one or more storage resources to access information to implement the present disclosure and, in particular, Figure 7-8 Any of the processes indicated in .

[0137] In various embodiments, memory 930 stores program 940 to execute Figure 7-8 Furthermore, routine 940, when executed by radar system 900 generally and / or processing circuitry 950 specifically, may direct, among other functions, the performance of operations for multiple target detection utilizing iterative pulse gating, as described herein.

[0138] Memory 930 may be or include read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), random access memory (RAM), dynamic RAM (DRAM), static RAM (SRAM), field programmable gate array (FPGA), hard drive, cache memory, flash memory, removable disk, magnetic tape, or any other memory. Memory 930 may be or include resistive RAM (RRAM) or magnetoresistive RAM (MRAM). Depending on the particular embodiment, the information tracked, sent, received, or stored in memory 930 may be provided in any database, register, table, cache, queue, control list, or storage structure, all of which may be referenced within any suitable time frame.

[0139] Processing circuitry 950 may be or include one or more hardware processors and / or other circuitry that retrieves and executes software (particularly program 940) from memory 930. Processing circuitry 950 may be implemented within a single processing device, chip, or package, and may also be distributed across multiple cooperating processing devices, chips, packages, or subsystems. In some embodiments, processing circuitry 950 is or includes a graphics processing unit (GPU). Processing circuitry 950 is an example of a processing component.

[0140] Processing circuitry 950 may have any register size, such as 32-bit registers or 64-bit registers, etc. Processing circuitry 950 may include or interface with multiple processing cores. Implementations of processing circuitry 950 are not limited to any particular number of threads. Processing circuitry 950 may be manufactured using any process technology, such as 14 nm process technology.

[0141] The user output interface 955 can output information to a human user. The user output interface 955 can be or include a display (e.g., a screen), a touch screen, a speaker, headphones, a printer, or a tactile feedback unit. In many embodiments, the user output interface 955 can be combined with the user input interface 920. For example, some such embodiments include a touch screen, a head-mounted device including headphones and a microphone, or a joystick with tactile feedback.

[0142] Transmitter 960 is or includes one or more transmitter antennas that transmit information across a wide bandwidth (>500 MHz). Transmitter 960 is an example of transmitters 110, 210 and transmitting means.

[0143] Receiver 965 is or includes one or more receiver antennas that receive information across a wide bandwidth (>500 MHz).Receiver 965 is an example of receivers 130, 230 and receiving means.

[0144] Transmitter 960 and receiver 965 may send and receive information to and from memory 930 and processing circuitry 950 via bus 970 .

[0145] In embodiments including multiple radar systems, the server, or in serverless embodiments, the peer, can utilize one or more communication networks that facilitate communication between the radar systems to implement multi-target detection utilizing iterative pulse gating, as outlined herein. For example, the one or more communication networks can comprise or be a local area network (LAN) or wide area network (WAN) that facilitates communication between the radar systems. One or more direct communication links can be included between the radar systems. Additionally, in some cases, the radar systems can be installed at geographically distributed locations. In other cases, multiple radar systems can be installed at a single geographic location.

[0146] As used herein, the terms "storage media" or "computer-readable media" may refer to non-transitory storage media, such as non-limiting examples of hard drives, memory chips, ASICs, and cache memories. These terms may also refer to non-limiting examples of transitory storage media, such as software, carrier waves, or propagated signals.

[0147] Aspects of the radar system can be implemented in various ways, such as as a method, system, computer program product, or one or more computer-readable storage media. Accordingly, aspects of the present disclosure can take the form of a hardware implementation or a combination of software and hardware implementations, which can generally be referred to as a "module" or "system" in this article. The functions described in this disclosure can be implemented as an algorithm executed by one or more hardware processing units (e.g., processing circuit system 950). In various embodiments, the different operations and parts of the operations of the described algorithms can be performed by different processing cores. In some embodiments, operations can be implemented by shuttling software between a transmitter system and a receiver system. In addition, aspects of the present disclosure can take the form of one or more computer-readable media having a computer-readable program code implemented thereon (e.g., encoded or stored). In various embodiments, such computer programs can be, for example, downloaded to existing devices and systems or updated on existing devices and systems, or stored after manufacturing these devices and systems.

[0148] Any suitable arrangement may be used for the physical implementation, including the design of the communication network in which the system is implemented. In one embodiment, bus 970 may share hardware resources with memory 930 and processing circuitry 950. In this alternative embodiment, radar system 900 has separate hardware resources, including one or more processing cores, transmitters, receivers, and memory.

[0149] In an example embodiment, the various other components of radar system 900 may be mounted in different physical areas or may be mounted as a single unit.

[0150] Radar system 900 may be configured to facilitate communication with machine devices (e.g., vehicle sensors, instruments, electronic control units (ECUs), embedded devices, actuators, displays) via bus 970. Other suitable communication interfaces may also be provided for an Internet Protocol (IP) network, a User Datagram Protocol (UDP) network, or any other protocol or communication architecture that enables network communications with machine devices.

[0151] The innovations in this detailed description can be implemented in a variety of different ways, for example, as defined and encompassed by the claims and / or selected examples. In the specification, reference is made to the drawings, where the same reference numerals may indicate identical or functionally similar elements. The elements shown in the drawings are not necessarily drawn to scale. In addition, certain embodiments may include more elements than those shown in the drawings and / or a subset of the elements shown in the drawings. Furthermore, some embodiments may incorporate suitable combinations of features from two or more drawings.

[0152] The present disclosure describes various illustrative embodiments and examples for implementing its features and functionality. Components, arrangements, and / or features are described in conjunction with various embodiments and are merely examples to simplify the present disclosure and are not intended to be limiting. In the development of actual embodiments, implementation-specific decisions may be made to achieve specific goals, including compliance with system, business, and / or legal constraints that may vary from implementation to implementation. Furthermore, while this development effort may be complex and time-consuming, it is a routine undertaking for those of ordinary skill in the art who benefit from this disclosure.

[0153] The systems, methods, and devices of the present disclosure have several innovative aspects, no single aspect of which is solely responsible for all of the properties disclosed herein. Some objectives or advantages may not be achieved by the embodiments described herein. Thus, for example, certain embodiments may operate in a manner that achieves or optimizes one advantage or set of advantages as taught or suggested herein, but not other objectives or advantages as taught or suggested herein.

[0154] In one example embodiment, the circuit of the diagram can be implemented on the board of the associated electronic device. The board can be a general-purpose circuit board that can hold various components of the internal electronic system of the electronic device and further provide connectors for other peripheral devices. More specifically, the board can provide electrical connections through which other components of the system can communicate electrically. Any core (including digital signal processors, microprocessors, support chipsets) and computer-readable non-transient memory elements can be coupled to the board based on configuration, processing requirements and computer design. For example, other components such as external memory, other sensors, controllers for audio / video display and peripheral devices can be attached to the board as plug-in cards via cables, or integrated into the board itself. In various embodiments, some of the functionality described herein can be implemented in simulation form as software or firmware running in one or more configurable (e.g., programmable) elements arranged with a hardware structure that supports these functions. Non-transient computer-readable storage media can include instructions that allow one or more processing cores to implement simulation.

[0155] In another example embodiment, the circuit of the diagram can be implemented as a stand-alone module (e.g., a device having associated components and circuitry configured to perform a specific application or function) or as a plug-in module in dedicated hardware for an electronic device. The embodiments of the present disclosure can be easily included in a system on a chip (SOC) package. SOC represents an integrated circuit (IC) that integrates the components of a computer or other electronic system into a single chip. The SOC can contain digital, analog, mixed signal, and generally radio frequency functions on a chip substrate. Other embodiments can include a multi-chip module (MCM), in which multiple separate ICs are located within an electronic package and interact via the electronic package. In various other embodiments, one or more silicon processing cores can be implemented in application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), programmable array logic (PALs), general purpose array logic (GALs), and other semiconductor chips.

[0156] The specifications, dimensions, and relationships (e.g., the number of processing cores and logical operations) outlined herein are provided for non-limiting purposes of example and instruction. For example, various modifications and changes may be made to the arrangement of components. Accordingly, the description and drawings should be regarded as illustrative rather than restrictive.

[0157] For the sake of clarity and illustration, many examples provided herein describe interactions involving two, three, or more electrical components. Systems may be integrated in any manner. The components, modules, and elements shown in the drawings may be combined in various configurations within the scope of this disclosure, along with similar design alternatives. In some cases, one or more of the functionalities of a given set of processes may be more clearly described by reference to a limited number of electrical components. The schematic circuits may be easily scalable and may accommodate many components and more complex / sophisticated arrangements and configurations. Therefore, the examples provided do not limit the scope or inhibit the teachings of circuits that may be applied to a large number of other architectures.

[0158] In this disclosure, references to various features (e.g., elements, structures, modules, components, operations, characteristics) included in "one embodiment," "example embodiment," "an embodiment," "another embodiment," "some embodiments," "various embodiments," "other embodiments," "alternative embodiments," etc. are intended to mean that any such features may be included in one or more embodiments of the present disclosure and may or may not necessarily be combined in the same embodiment. Where appropriate, some operations may be deleted or omitted, or the operations may be substantially modified or changed. In addition, the timing of the operations may be substantially changed. The foregoing operational flows are provided for purposes of example and discussion. The embodiments described herein provide flexibility in that any arrangement, temporal structure, configuration, and timing mechanism may be provided.

[0159] example

[0160] In example M1, a method includes: transmitting, with a transmitter, a first radar detection frame; starting a timer based at least in part on the transmission; deactivating a receiver based at least in part on the transmission; enabling the receiver to receive a first radar detection response based at least in part on the timer and a detection duration of a gating window of the receiver; receiving, with the receiver, the first radar detection response, the first radar detection response including a first reflection of a first target; and increasing the detection duration of the gating window based at least in part on a determination that the first reflection of the first target is detected in the first radar detection response.

[0161] Example M2 is the method of example M1, further comprising measuring a channel impulse response based at least in part on the first radar detection response, wherein the determining is based at least in part on the channel impulse response.

[0162] Example M3 is a method according to any of examples M1-M2, further comprising determining a distance of the first target from the transmitter or receiver, wherein a detection duration of the gating window is increased based at least in part on the distance of the first target.

[0163] Example M4 is the method of Example M3, wherein the detection duration of the gating window is increased based at least in part on a sum of a duration corresponding to the range of the first target and a predetermined number of taps of the receiver.

[0164] Example M5 is a method according to example M3, further comprising: transmitting, with the transmitter, a radar initialization frame after transmitting the first radar detection frame; enabling, based at least in part on the increased detection duration of the gating window, the receiver to receive a radar initialization response to the radar initialization frame; and receiving, with the receiver, the radar initialization response, the radar initialization response excluding the first reflection of the first target.

[0165] Example M6 is a method according to any of Examples M1-M5, further comprising resetting the detection duration of the gating window to the initial duration of the gating window based at least in part on a determination that no reflection of the target was detected in the radar detection response.

[0166] Example M7 is a method according to any of Examples M1-M6, further comprising: transmitting a radar initialization frame with a transmitter; starting a timer based at least in part on transmitting the radar initialization frame; disabling a receiver based at least in part on transmitting the radar initialization frame; enabling the receiver based at least in part on the timer and an initial duration of a gating window; receiving a radar initialization response to the radar initialization frame with the receiver; estimating residual power based at least in part on the radar initialization response; setting a receiver gain of the receiver based at least in part on the residual power, wherein a first radar detection response is received based at least in part on the receiver gain; and resetting the timer.

[0167] Example M8 is a method according to any of Examples M1-M7, further comprising: transmitting a second radar detection frame with a transmitter; enabling a receiver to receive a second radar detection response based at least in part on an increased detection duration of the gating window; receiving the second radar detection response with the receiver, the second radar detection response including a first reflection of the second target; and determining that the first reflection of the second target is detected in the second radar detection response.

[0168] Example M9 is a method according to any of Examples M1-M8, further comprising: transmitting, with the transmitter, a second radar detection frame after transmitting the first radar detection frame; and enabling the receiver to receive a second radar detection response based at least in part on a detection duration of the gating window, wherein the detection duration of the gating window is increased to avoid a first reflection of the first target in the second radar detection response.

[0169] Example M10 is the method of example M9, wherein the first reflection of the first target is received in the first radar detection response before the first reflection of the second target is received in the first radar detection response.

[0170] Example M11 is a method according to any of Examples M1-M10, wherein the transmitter is co-located with the receiver.

[0171] Example M12 is a method according to any of Examples M1-M11, further comprising: transmitting a subsequent radar detection frame; enabling a receiver to receive a subsequent radar detection response based at least in part on an increased detection duration of the gating window; and detecting a reflection of a second target in the subsequent radar detection response.

[0172] Example M13 is a method according to any of Examples M1-M12, further comprising: performing transmission of a subsequent radar detection frame; and enabling the receiver to receive a subsequent radar detection response based at least in part on the increased detection duration of the gating window, wherein the first reflection of the target is not sensed in the subsequent radar detection response.

[0173] In Example A1, a radar system includes: one or more transmitters that perform transmission of radar detection frames; and processing circuitry configured to start a timer based at least in part on the transmission, disable a receiver based at least in part on the transmission, enable the receiver to receive radar detection responses based at least in part on the timer and a detection duration of a gating window of the receiver, and increase the detection duration of the gating window based at least in part on a determination that a target is detected in one of the radar detection responses.

[0174] Example A2 is the radar system of Example A1, wherein the processing circuitry is further configured to measure a channel impulse response based at least in part on the one of the radar detection responses, and the determining is based at least in part on the channel impulse response.

[0175] Example A3 is a radar system according to any of Examples A1-A2, wherein the processing circuit system is further configured to determine a distance of the target from the radar system and increase the detection duration of the gating window based at least in part on the distance of the target.

[0176] Example A4 is a radar system according to Example A3, wherein the processing circuit system is further configured to increase the detection duration of the gating window based at least in part on the sum of the duration corresponding to the range of the target and a predetermined number of taps of the radar system.

[0177] Example A5 is the radar system of Example A3, wherein the one or more transmitters transmit a radar initialization frame after transmitting the radar detection frame, the processing circuitry is further configured to enable a receiver to receive a radar initialization response to the radar initialization frame based at least in part on an increased detection duration of a gating window, and the receiver receives the radar initialization response, the radar initialization response not including a first reflection of a target.

[0178] Example A6 is a radar system according to any of Examples A1-A5, wherein the processing circuit system is further configured to reset the detection duration of the gating window to the initial duration of the gating window based at least in part on a determination that no target was detected in one of the radar detection responses.

[0179] Example A7 is a radar system according to any of Examples A1-A6, wherein the one or more transmitters perform transmission of a radar initialization frame, the processing circuit system is further configured to start a timer based at least in part on the transmission of the radar initialization frame, disable the receiver based at least in part on the transmission of the radar initialization frame, and enable the receiver based at least in part on the timer and an initial duration of a gating window, the receiver receives a radar initialization response to the radar initialization frame, the processing circuit system is further configured to estimate residual power based at least in part on the radar initialization response and set a receiver gain of the receiver based at least in part on the residual power, the receiver receives the one of the radar detection responses based at least in part on the receiver gain, and the processing circuit system is further configured to reset the timer.

[0180] Example A8 is a radar system according to any of Examples A1-A7, wherein the one or more transmitters transmit a second radar detection frame, the processing circuit system is further configured to enable the receiver to receive a second one of the radar detection responses based at least in part on the increased detection duration of the gating window, the receiver receives the second one of the radar detection responses, the second one of the radar detection responses includes a first reflection of the second target, and the processing circuit system determines that the first reflection of the second target is detected in the second one of the radar detection responses.

[0181] Example A9 is a radar system according to any of Examples A1-A8, wherein the one or more transmitters transmit a second radar detection frame after transmitting the radar detection frame, the processing circuit system is further configured to enable the receiver to receive a second one of the radar detection responses based at least in part on a detection duration of the gating window, and the detection duration of the gating window is increased to avoid a first reflection of the target in the second one of the radar detection responses.

[0182] Example A10 is the radar system of Example A9, wherein the first reflection of the target is received in the one of the radar detection responses before the first reflection of the second target is received in the one of the radar detection responses.

[0183] Example A11 is the radar system of any of Examples A1-A10, wherein the one or more transmitters are co-located with the receiver.

[0184] Example A12 is a radar system according to any of Examples A1-A11, wherein the one or more transmitters perform transmission of subsequent radar detection frames, the processing circuit system is further configured to enable the receiver to receive a subsequent radar detection response based at least in part on an increased detection duration of the gating window, and the processing circuit system is further configured to detect a reflection of a second target in the subsequent radar detection response.

[0185] Example A13 is a radar system according to any of Examples A1-A12, wherein the one or more transmitters perform transmission of subsequent radar detection frames, the processing circuit system is further configured to enable the receiver to receive subsequent radar detection responses based at least in part on an increased detection duration of the gating window, and the processing circuit system does not sense a first reflection of the target in the subsequent radar detection response.

[0186] In example C1, a computer-readable medium includes instructions that, when executed by a processing circuit system, perform operations including: starting a timer based at least in part on a transmitter transmitting a radar detection frame; disabling a receiver based at least in part on the transmission; enabling the receiver based at least in part on the timer and a detection duration of a gating window of the receiver, wherein the receiver receives a radar detection response based at least in part on the enabling; and increasing the detection duration of the gating window based at least in part on a determination that a first reflection of a target is detected in the radar detection response.

[0187] Example C2 is the computer-readable medium of Example C1, the operations further comprising measuring a channel impulse response based at least in part on the radar detection response, wherein the determining is based at least in part on the channel impulse response.

[0188] Example C3 is a computer-readable medium according to any of examples C1-C2, the operations further comprising: determining a distance of a target from a transmitter or a receiver, wherein a detection duration of a gating window is increased based at least in part on the distance of the target.

[0189] Example C4 is the computer-readable medium of Example C3, wherein the detection duration of the gating window is increased based at least in part on a sum of a duration corresponding to the range of the target and a predetermined number of taps of the receiver.

[0190] Example C5 is the computer-readable medium of example C3, the operations further comprising enabling a receiver to receive a radar initialization response to the radar initialization frame based at least in part on an increased detection duration of the gating window, wherein the transmitter transmits the radar initialization frame after transmitting the radar detection frame, and the receiver receives the radar initialization response, the radar initialization response not including a first reflection of the target.

[0191] Example C6 is a computer-readable medium according to any of Examples C1-C5, wherein the operation further includes: resetting the detection duration of the gating window to the initial duration of the gating window based at least in part on a determination that no reflection of the target is detected in the radar detection response.

[0192] Example C7 is a computer-readable medium according to any of Examples C1-C6, wherein the operations further include: starting a timer based at least in part on a transmitter transmitting a radar initialization frame; disabling a receiver based at least in part on the transmitter transmitting the radar initialization frame; enabling the receiver based at least in part on the timer and an initial duration of a gating window; estimating a residual power based at least in part on a radar initialization response to the radar initialization frame, wherein the receiver receives the radar initialization response; setting a receiver gain of the receiver based at least in part on the residual power, wherein the radar detection response is received based at least in part on the receiver gain; and resetting the timer.

[0193] Example C8 is a computer-readable medium according to any of examples C1-C7, the operations further comprising: enabling a receiver to receive a second radar detection response to a second radar detection frame based at least in part on an increased detection duration of the gating window, wherein the transmitter transmits the second radar detection frame; and determining that a first reflection of a second target is detected in the second radar detection response, wherein the receiver receives the second radar detection response.

[0194] Example C9 is a computer-readable medium according to any of examples C1-C8, wherein the operations further include enabling the receiver to receive a second radar detection response to a second radar detection frame based at least in part on a detection duration of a gating window, wherein the transmitter transmits the second radar detection frame after the transmitted radar detection frame, and the detection duration of the gating window is increased to avoid a first reflection of a target in the second radar detection response.

[0195] Example C10 is the computer-readable medium of Example C9, wherein the first reflection of the target is received in the radar detection response before the first reflection of the second target is received in the radar detection response.

[0196] Example C11 is a computer-readable medium according to any of Examples C1-C10, wherein the transmitter is co-located with the receiver.

[0197] Example C12 is a computer-readable medium according to any of examples C1-C11, the operations further comprising: enabling a receiver to receive a subsequent radar detection response to a subsequent radar detection frame based at least in part on an increased detection duration of the gating window, wherein the transmitter transmits the subsequent radar detection frame; and detecting a reflection of a second target in the subsequent radar detection response.

[0198] Example C13 is a computer-readable medium according to any of examples C1-C12, wherein the operations further include enabling the receiver to receive a subsequent radar detection response to the subsequent radar detection frame based at least in part on the increased detection duration of the gating window, wherein the transmitter performs the transmission of the subsequent radar detection frame and the first reflection of the target is not sensed in the subsequent radar detection response.

[0199] In Example F1, an apparatus includes transmitting means for performing transmission of a first radar detection frame; processing means for initiating timing means based at least in part on the transmission of the first radar detection frame, for disabling receiving means based at least in part on the transmission of the first radar detection frame, and for enabling receiving means to receive a first radar detection response based at least in part on the timing means and a detection duration of a gating window of the receiving means; and the receiving means for receiving the first radar detection response, the first radar detection response including a first reflection of a first target; wherein the processing means increases the detection duration of the gating window based at least in part on a determination that the first reflection of the first target is detected in the first radar detection response.

[0200] Example F2 is the apparatus of Example F1, wherein the processing means measures a channel impulse response based at least in part on the first radar detection response, and the determining is based at least in part on the channel impulse response.

[0201] Example F3 is the apparatus of any of Examples F1-F2, wherein the processing component determines a distance of a first object from the transmitting component or the receiving component, and increases a detection duration of a gating window based at least in part on the distance of the first object.

[0202] Example F4 is the apparatus of Example F3, wherein the detection duration of the gating window is increased based at least in part on a sum of a duration corresponding to the distance to the first target and a predetermined number of taps of the receiving member.

[0203] Example F5 is the apparatus of Example F3, wherein the transmitting means transmits a radar initialization frame after transmitting the first radar detection frame, the processing means enables the receiving means to receive a radar initialization response to the radar initialization frame based at least in part on the increased detection duration of the gating window, and the receiving means receives the radar initialization response, the radar initialization response not including the first reflection of the first target.

[0204] Example F6 is an apparatus according to any of Examples F1-F5, wherein the processing component resets the detection duration of the gating window to the initial duration of the gating window based at least in part on a determination that no reflection of the target is detected in the radar detection response.

[0205] Example F7 is the apparatus of any of Examples F1-F6, wherein the transmitting means performs transmission of a radar initialization frame, the processing means starts the timing means based at least in part on the transmission of the radar initialization frame, disables the receiving means based at least in part on the transmission of the radar initialization frame, and enables the receiving means based at least in part on the timing means and an initial duration of a gating window, the receiving means receives a radar initialization response to the radar initialization frame, the processing means estimates residual power based at least in part on the radar initialization response and sets a receive gain of the receiving means based at least in part on the residual power, the first radar detection response is received based at least in part on the receive gain, and the processing means resets the timing means.

[0206] Example F8 is an apparatus according to any of examples F1-F7, wherein the transmitting means transmits a second radar detection frame, the processing means enables the receiving means to receive a second radar detection response based at least in part on the increased detection duration of the gating window, the receiving means receives the second radar detection response, the second radar detection response includes a first reflection of the second target, and the processing means determines that the first reflection of the second target is detected in the second radar detection response.

[0207] Example F9 is an apparatus according to any of Examples F1-F8, wherein the transmitting means transmits a second radar detection frame after transmitting the first radar detection frame, the processing means enables the receiving means to receive the second radar detection response based at least in part on a detection duration of the gating window, and the detection duration of the gating window is increased to avoid a first reflection of the first target in the second radar detection response.

[0208] Example F10 is the apparatus of Example F9, wherein the first reflection from the first target is received in the first radar detection response before the first reflection from the second target is received in the first radar detection response.

[0209] Example F11 is the apparatus of any of Examples F1-F10, wherein the transmitting member is co-located with the receiving member.

[0210] Example F12 is the apparatus of any of Examples F1-F11, wherein the transmitting means transmits a subsequent radar detection frame, and the processing means enables the receiving means to receive a subsequent radar detection response based at least in part on the increased detection duration of the gating window, and detects a reflection of the second target in the subsequent radar detection response.

[0211] Example F13 is the apparatus of any of Examples F1-F12, wherein the transmitting means transmits a subsequent radar detection frame, the processing means enables the receiving means to receive a subsequent radar detection response based at least in part on the increased detection duration of the gating window, and the first reflection of the target is not sensed in the subsequent radar detection response.

Claims

1. A method, characterized in that include: transmitting, using a transmitter, a first radar detection frame; starting a timer based at least in part on the transmission; deactivating a receiver based at least in part on the transmission; enabling the receiver to receive a first radar detection response based at least in part on the timer and a detection duration of a gating window of the receiver; receiving, with the receiver, the first radar detection response, the first radar detection response comprising a first reflection from a first target; as well as The detection duration of the gating window is increased based at least in part on a determination that the first reflection of the first target is detected in the first radar detection response.

2. The method according to claim 1, characterized in that Also includes: A channel impulse response is measured based at least in part on the first radar detection response, wherein the determining is based at least in part on the channel impulse response.

3. The method according to claim 1, characterized in that Also includes: A distance of the first object from the transmitter or the receiver is determined, wherein the detection duration of the gating window is increased based at least in part on the distance of the first object.

4. The method according to claim 3, characterized in that Also includes: After transmitting the first radar detection frame, transmitting a radar initialization frame using the transmitter; enabling the receiver to receive a radar initialization response to the radar initialization frame based at least in part on the increased detection duration of the gating window; and The radar initialization response is received with the receiver, the radar initialization response excluding the first reflection of the first target.

5. The method according to claim 1, wherein Also includes: The detection duration of the gating window is reset to an initial duration of the gating window based at least in part on a determination that no reflection of the target is detected in the radar detection response.

6. The method according to claim 1, wherein Also includes: transmitting a radar initialization frame using the transmitter; starting the timer based at least in part on transmitting the radar initialization frame; deactivating the receiver based at least in part on the transmitting the radar initialization frame; enabling the receiver based at least in part on the timer and an initial duration of the gating window; receiving, by the receiver, a radar initialization response to the radar initialization frame; estimating residual power based at least in part on the radar initialization response; setting a receiver gain of the receiver based at least in part on the residual power, wherein the first radar detection response is received based at least in part on the receiver gain; and Reset the timer.

7. The method according to claim 1, characterized in that Also includes: transmitting a second radar detection frame using the transmitter; enabling the receiver to receive a second radar detection response based at least in part on the increased detection duration of the gating window; receiving, with the receiver, a second radar detection response comprising a first reflection from a second target; as well as It is determined that the first reflection of the second target is detected in the second radar detection response.

8. The method according to claim 1, characterized in that Also includes: After the transmitting of the first radar detection frame, transmitting a second radar detection frame using the transmitter; as well as The receiver is enabled to receive a second radar detection response based at least in part on the detection duration of the gating window, wherein the detection duration of the gating window is increased to avoid the first reflection of the first target in the second radar detection response.

9. A radar system, characterized in that: include: one or more transmitters that perform transmission of radar detection frames; as well as and processing circuitry configured to start a timer based at least in part on the transmission, disable a receiver based at least in part on the transmission, enable the receiver to receive radar detection responses based at least in part on the timer and a detection duration of a gating window for the receiver, and increase the detection duration of the gating window based at least in part on a determination that a target was detected in one of the radar detection responses.

10. A computer-readable medium comprising instructions, characterized in that The instructions, when executed by the processing circuitry, perform operations comprising: starting a timer based at least in part on the transmitter transmitting the radar detection frame; deactivating a receiver based at least in part on the transmission; enabling the receiver based at least in part on the timer and a detection duration of a gating window of the receiver, wherein the receiver receives a radar detection response based at least in part on the enabling; and The detection duration of the gating window is increased based at least in part on a determination that a first reflection of a target is detected in the radar detection response.

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